CN110517525A - A kind of valet parking method based on tag system - Google Patents
A kind of valet parking method based on tag system Download PDFInfo
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- CN110517525A CN110517525A CN201910749718.3A CN201910749718A CN110517525A CN 110517525 A CN110517525 A CN 110517525A CN 201910749718 A CN201910749718 A CN 201910749718A CN 110517525 A CN110517525 A CN 110517525A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—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
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Abstract
The valet parking method based on tag system that the present embodiments relate to a kind of, including place configuration information is obtained according to parking lot number information；Receive target parking stall；Global path planning algorithm is called to obtain Global motion planning topological path according to target parking stall and label topological diagram.The present invention is positioned using tag system, high cost field end improvement expenses or Ground Nuclear Magnetic Resonance are avoided to acquire expense, further, tag system of the invention is positioned as local positioning mode, it does not depend on and Global localization mode, be conducive to promote the use of in underground parking etc. without the place of GPS information, and the present invention uses fluorescence label, reduces the dependence in the local positioning mode based on forms such as label, road signs to ambient light.
Description
Technical field
The present invention relates to automatic Pilot field more particularly to a kind of valet parking methods based on tag system.
Background technique
In recent years, difficult problem of stopping is increasingly significant, is on the one hand the continuous growth of automobile quantity, on the other hand stops
The limited amount of parking lot parking stall causes driver to need to take a significant amount of time the idle parking stall of searching in parking lot, thus causes
Vehicle congestion and scratch Frequent Accidents.Therefore a kind of parking system of full-automation is needed to solve problems.
Full-automatic parking system relies primarily on the self-contained sensor of vehicle, real-time using Multi-sensor Fusion algorithm
Detect the information such as environment, road sign, the signal wire of parking lot and parking stall, automatic path planning, by control vehicle throttle,
Braking and steering system, completion parking stall measure and the process that VEHICLES MUST PARK WITHIN THE MARKED BAY.
Currently, valet parking scheme is roughly divided into two kinds:
The first is held on the spot without any transformation based on vehicle end modification scheme, using vehicle end using laser radar or
Camera is positioned using SLAM mode, in conjunction with roaming mode or is issued parking stall mode and is completed valet parking；
Another kind be based on field end modification scheme, i.e. vehicle end without any transformation, end on the scene arrange a large amount of laser radars,
The positioning devices such as camera or UWB, position vehicle, and cooperation roaming or other modes complete valet parking.
Although above two scheme principle of parking is simple, the problem of being mentioned before not can solve.
The first scheme needs to carry out the acquisition of high-precision map to field end, and end when changing on the spot, map maintenance at
This is higher.If using laser radar sensor, higher cost, if relied on using camera sensing device ambient
Property is higher.
Second end modification scheme higher cost, volume production resistance is larger, and when field end changes, and needs to increase more
Sensor is supplemented.
Summary of the invention
The purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of valet parking method based on tag system,
It is positioned using tag system, high cost field end improvement expenses or Ground Nuclear Magnetic Resonance is avoided to acquire expense, it is further, of the invention
Tag system is positioned as local positioning mode, do not depend on Global localization mode, be conducive in underground parking etc. without GPS information
Place is promoted the use of, and the present invention uses fluorescence label, is reduced in the local positioning mode based on forms such as label, road signs
Dependence to ambient light.
In view of this, the embodiment of the invention provides a kind of valet parking method based on tag system, the method packet
It includes:
Receive the parking lot number information that intelligent vehicle detects；
Place configuration information is obtained according to the parking lot number information；The place configuration information includes the parking lot
The corresponding label topological diagram in ground and parking stall management service mode；
Receive target parking stall；
Global path planning algorithm is called to obtain Global motion planning topology according to the target parking stall and the label topological diagram
Path.
Preferably, before the parking lot number information that the reception intelligent vehicle detects, the method also includes:
Obtain the cartographic information in parking lot；
The tag system in parking lot is established according to the cartographic information in the parking lot；It include parking lot in the tag system
Number information and corresponding label topological diagram.
It is further preferred that the label topological diagram includes area label, tracking label, section label, crossing label, limit
One of fast label, ramp label, parking stall label are a variety of；The cartographic information according to the parking lot establishes parking lot
Tag system specifically include:
According to the cartographic information in the parking lot configure the area label, tracking label, section label, crossing label,
One of speed limit label, ramp label, parking stall label are a variety of, to generate the label topological diagram in the parking lot；
The incidence relation between the parking lot number information and the label topological diagram is established, and generates the label system
System.
It is further preferred that the cartographic information includes parking space information and road section information；It is described according to the parking lot
Cartographic information configures the area label, tracking label, section label, crossing label, speed limit label, ramp label, parking space sign
One of label are a variety of, so that the label topological diagram for generating the parking lot specifically includes:
The parking stall label is configured according to the parking space information in the cartographic information；
The area label, tracking label, section label, crossing mark are configured according to the road section information in the cartographic information
One of label, speed limit label, ramp label are a variety of.
It is further preferred that after the cartographic information according to the parking lot establishes the tag system in parking lot,
The method also includes:
The parking stall label is arranged on corresponding parking stall；
The area label, tracking label, section label, crossing label, speed limit label, the setting of ramp label are stopped
The corresponding position of field.
Preferably, the parking stall management service mode includes that roam mode and server specify parking stall mode；
After the acquisition place configuration information according to the parking lot number information, the method also includes:
Judge whether the parking stall management mode is that server specifies parking stall mode；
When the parking stall management mode is that server specifies parking stall mode, the target carriage that the server issues is received
Position.
It is further preferred that it is described judge the parking stall management mode whether be server specify parking stall mode after,
The method also includes:
When the parking stall management mode is not that server specifies parking stall mode, then enter roam mode；
Roaming type global path planning is carried out according to the label topological diagram, judges whether to detect available parking stall；
It when detecting available parking stall, parks, and the state of parking is uploaded onto the server.
Preferably, the method also includes:
The Global motion planning topological path is sent to the intelligent vehicle；
The intelligent vehicle is parked according to the Global motion planning topological path.
Preferably, the parking space state information includes idle and occupies；In the intelligent vehicle according to the Global motion planning
After topological path is parked, the method also includes:
When the intelligent vehicle reaches target parking stall, the corresponding parking space state information in the target parking stall is changed to account for
With.
Preferably, the label in the tag system is made of fluorescence material.
A kind of valet parking method based on tag system provided in an embodiment of the present invention, is positioned using tag system, is kept away
Exempt from high cost field end improvement expenses or Ground Nuclear Magnetic Resonance acquisition expense, further, tag system of the invention is positioned as part
Positioning method, do not depend on Global localization mode, be conducive to underground parking etc. without GPS information place promote the use of, and
The present invention uses fluorescence label, reduces the dependence in the local positioning mode based on forms such as label, road signs to ambient light.
Detailed description of the invention
Fig. 1 is the valet parking method flow diagram provided in an embodiment of the present invention based on tag system；
Fig. 2 is the structural schematic diagram of tag system provided in an embodiment of the present invention；
Fig. 3 is tag system topological diagram provided in an embodiment of the present invention；
Fig. 4 is the route programming result schematic diagram provided in an embodiment of the present invention based on tag system.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Valet parking method provided in an embodiment of the present invention is realized based on tag system, is positioned, is avoided using tag system
High cost field end improvement expenses or Ground Nuclear Magnetic Resonance acquire expense, and tag system is positioned as local positioning mode, do not depend on
Global localization mode is conducive to promote the use of in underground parking etc. without the place of GPS information, wherein in the tag system
Label uses fluorescence material, reduces the dependence in the local positioning mode based on forms such as label, road signs to ambient light.
A kind of valet parking method based on tag system provided in an embodiment of the present invention is the label system based on parking lot
What system was realized, therefore before introducing valet parking method, first the foundation of tag system is illustrated, main includes following step
It is rapid:
Step 11, the cartographic information in parking lot is obtained.
What valet parking method provided in an embodiment of the present invention was realized based on tag system, therefore first to carry out tag system
Foundation, step 11 and step 12 are the establishment processes of tag system.
Tag system is what the cartographic information based on parking lot was established, and the cartographic information in parking lot can specifically pass through sensing
Device is acquired, and the advantage of the present invention compared with the existing technology is of less demanding to the accuracy of map of acquisition, is not required high-precision
Spend cartographic information.
Step 12, the tag system in parking lot is established according to the cartographic information in parking lot.
In conjunction with shown in Fig. 1 to Fig. 3, in tag system include parking lot number information and corresponding label topological diagram,
That is, may include multiple parking lot number informations and multiple label topological diagrams in tag system, each parking lot is compiled
The corresponding label topological diagram of number information, label topological diagram include area label, tracking label, section label, crossing label, limit
One of fast label, ramp label, parking stall label are a variety of, it should be noted that tag types include above-mentioned zone label,
Tracking label, section label, crossing label, speed limit label, ramp tag along sort, parking stall label, but above-mentioned tag class are not limited to,
Each label is described in expansible tag class, such as ramp label, deceleration label etc., lower mask body:
Area label: area label is placed in intelligent vehicle AVP starting point.The label is used to indicate that current goal stops
Field number, can download the parking lot configuration information and available parking space information from server.
Tracking label: the label is the label placed when no fork in the road, and the label is without special function, only for path planning life
It is used at reference path.
Section label: section label is placed in each section branch, the vehicle passing detection label, available vehicle
It is currently located at which section branch, is similar to road name.The label information is used for global path planning.
Crossing label: multiple crossing labels are placed at each crossing.Crossing label is used to that vehicle to be guided to drive towards correct direction,
The label information is used for global path planning.
Speed limit label: each section configures speed limit label, and the label for intelligent vehicle, believe by the speed limit in the sections of road
Breath.
Ramp label: for indicating the gradient situation in each section.
Parking stall label: including two parts.A part is parking stall enhancing label, and for detecting parking stall, another part is vehicle
Bit number label, for determining the parking stall numbering.The label information is planned for parking path.
Specifically, according to the cartographic information configuring area label in parking lot, tracking label, section label, crossing label,
One of speed limit label, ramp label, parking stall label are a variety of, to generate the label topological diagram in parking lot；Establish parking
Incidence relation between field number information and label topological diagram, and generate tag system.
More specifically, the cartographic information in parking lot includes parking space information and road section information；Believed according to the map in parking lot
Cease one of configuring area label, tracking label, section label, crossing label, speed limit label, ramp label, parking stall label
Or it is a variety of, so that the label topological diagram for generating parking lot specifically includes: the parking space information in information configures parking space sign according to the map
Label；According to the map the road section information configuring area label in information, tracking label, section label, crossing label, speed limit label,
One of ramp label is a variety of.
After this, parking stall label is arranged on corresponding parking stall, and by area label, tracking label, section
The corresponding position in parking lot is arranged in label, crossing label, speed limit label, ramp label.
It should be noted that the type of all labels can be extended to the other forms in addition to letter, number, such as two
Tie up code, number, monogram etc..Label setting rule can be used other similar rule and complete global path planning.Label is laid with
Also it is laid in the place in addition to ground, such as wall or ceiling.In a preferred embodiment, label of the invention is using glimmering
Photosensitiveness label reduces the dependence in the local positioning mode based on forms such as label, road signs to ambient light.
The present invention is positioned using tag system, and high cost field end improvement expenses or Ground Nuclear Magnetic Resonance is avoided to acquire expense.Mark
Label system is positioned as local positioning mode, do not depend on Global localization mode, be conducive in the field without GPS information such as underground parking
It promotes the use of on ground.
Fig. 1 is a kind of valet parking method flow diagram based on tag system provided in an embodiment of the present invention, such as Fig. 1 institute
Show, described method includes following steps:
Step 101, the parking lot number information that intelligent vehicle detects is received.
After intelligent vehicle specifies stop parking outside parking lot, start automobile valet parking using the end mobile phone terminal App
(Automated Valet Parking, AVP) function, onboard system detect the number information in parking lot.
Step 102, place configuration information is obtained according to parking lot number information.
Stopped to download place configuration information on the tag system that place number is prestored from server according to this, wherein match in place
Confidence breath includes the label topological diagram and parking stall management service mode in parking lot.
In a preferred embodiment, parking stall management service mode includes that roam mode and server specify parking stall mode two
Kind, server specifies parking stall mode declaration pattern specification that can enter AVP mode, and no server specifies parking stall mode declaration pattern specification not can enter
AVP mode then enters roaming and finds parking stall mode.Therefore, after obtaining place configuration information according to parking lot number information,
Method further include: judge whether parking stall management mode is that server specifies parking stall mode.
When parking stall management mode is that server specifies parking stall mode, illustrates that the parking space is AVP park mode, specify
Target carriage bit pattern refers to that cloud system can issue target parking stall, and vehicle stops according to the target parking stall issued.Receive clothes
The target parking stall that business device issues, executes step 103.
When parking stall management mode is not that server specifies parking stall mode, then the parking space enters roaming searching parking stall mould
Formula, roaming find parking stall mode and refer to that the target parking stall that do not specify issues, and vehicle independently finds vacant parking stall.After this,
Roaming type global path planning is carried out according to label topological diagram, judges whether to detect that the free time can use parking stall；It is available when detecting
It when parking stall, parks, and the state of parking is uploaded onto the server, the state of the parking stall is set as occupying by server.When not having
When detecting available parking stall, judge whether that the one cycle for completing parking lot is found, specifically, according to the road of vehicle driving
Diameter judges whether vehicle completes the searching of all parking stalls in a parking lot；When the one cycle for completing parking lot is found,
When still not finding available parking stall, uploads and find failure information to server；When do not have complete parking lot one cycle seek
When looking for, available parking stall is continually looked for.
Step 103, target parking stall is received.
Server can be detected according to status information of the parking lot where vehicle to the parking position, parking space state
Information includes idle and two kinds of occupancy, and it is that vehicle is handed down in target parking stall that server, which chooses idle parking stall, and vehicle receives server
The target parking stall issued.
When in a preferred embodiment, in order to guarantee server failure or bad network state, vehicle still can be normal
It parks, when onboard system does not receive the target parking stall that server issues within a preset time, is by valet parking pattern switching
Parking stall mode is found in roaming, it should be noted that and those skilled in the art, which can according to need, sets preset time, than
Such as 30 seconds or 1 minute.
Step 104, global path planning algorithm is called to obtain Global motion planning topology according to target parking stall and label topological diagram
Path.
Here Global motion planning topological path refers to Global motion planning topological path corresponding to specified target carriage bit pattern, vehicle
Loading system is according to current vehicle location, the position of target parking stall, and the label topological diagram based on parking space, with Global motion planning
Algorithm carries out that Global motion planning topological path is calculated, and Global motion planning topological path is made of multiple above-mentioned labels, specifically
As shown in Figure 4.
After this, Global motion planning topological path is sent to intelligent vehicle by server, and intelligent vehicle is according to Global motion planning
Topological path is parked.Specifically, being travelled according to Global motion planning topological path, until driving to target parking stall.For
Ensure whether parking stall currently before parking, also needs to judge target carriage in available mode after vehicle reaches target parking stall
Whether position can be used, i.e., detects whether parking stall has been occupied by other vehicles by onboard sensor.
When sensor is not when the parking stall measure is to other vehicles, then target parking stall can with when, then park, work as intelligence
When energy vehicle reaches target parking stall, the corresponding parking space state information in target parking stall is changed to occupy, and the state upload that will park
To server, the state of the parking stall is set as occupying by server.
When sensor is when the parking stall measure is to other vehicles, then target parking stall is unavailable, then updates cloud system, lays equal stress on
The new next target parking stall for receiving server and issuing.
It is specific with one below with reference to Fig. 2 to Fig. 4 in order to be better understood by valet parking method provided by the invention
Valet parking method is introduced in example.
Firstly, the end mobile phone A pp starts AVP function after intelligent vehicle specifies stop parking outside parking lot.At this point, intelligence
Energy vehicle detection is S1 to parking lot number, downloads from a server place with confidence as shown in Fig. 2, numbering according to the place
Breath, waiting for server issues available parking stall, while the label topological diagram for downloading the parking space is as shown in Figure 3.
Secondly, the available parking stall that intelligent vehicle receives cloud parking stall management service down distributing is S107-P123, which is set
For target parking stall.
According to target parking stall and field tag topological diagram, global path planning algorithm is investigated, obtains Global motion planning topology
Path: S101- > S201- > B- > E- > S105- > S106- > D- > C- > S107.
Path planning module detects label position, classification according to current vehicle, generates reference path paragraph by paragraph, and control vehicle
It is travelled according to reference path, as shown in Figure 4.
When driving to the section S107, start to detect parking stall label and parking stall numbering, investigation pool when detecting target parking stall
Vehicle path planning algorithm is parked.
A kind of valet parking method based on tag system provided in an embodiment of the present invention, is positioned using tag system, is kept away
Exempt from high cost field end improvement expenses or Ground Nuclear Magnetic Resonance acquisition expense, further, tag system of the invention is positioned as part
Positioning method, do not depend on Global localization mode, be conducive to underground parking etc. without GPS information place promote the use of, and
The present invention uses fluorescence label, reduces the dependence in the local positioning mode based on forms such as label, road signs to ambient light.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (generation visitor of the RA based on tag system
Park method), memory, read-only memory (valet parking method of the RO based on tag system), electrically programmable RO be based on label system
It is valet parking method of the valet parking method, electrically erasable RO of system based on tag system, register, hard disk, removable
Movable magnetic disc, CD-RO are based on any other form of storage known in the valet parking method or technical field of tag system
In medium.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of valet parking method based on tag system, which is characterized in that the described method includes:
Receive the parking lot number information that intelligent vehicle detects；
Place configuration information is obtained according to the parking lot number information；The place configuration information includes the parking space phase
Corresponding label topological diagram and parking stall management service mode；
Receive target parking stall；
Global path planning algorithm is called to obtain Global motion planning topological path according to the target parking stall and the label topological diagram.
2. the valet parking method according to claim 1 based on tag system, which is characterized in that in the reception intelligence
Before the parking lot number information that vehicle detection arrives, the method also includes:
Obtain the cartographic information in parking lot；
The tag system in parking lot is established according to the cartographic information in the parking lot；It include that parking lot is numbered in the tag system
Information and corresponding label topological diagram.
3. the valet parking method according to claim 2 based on tag system, which is characterized in that the label topological diagram
Including one of area label, tracking label, section label, crossing label, speed limit label, ramp label, parking stall label or
It is a variety of；The tag system that the cartographic information according to the parking lot establishes parking lot specifically includes:
The area label, tracking label, section label, crossing label, speed limit are configured according to the cartographic information in the parking lot
One of label, ramp label, parking stall label are a variety of, to generate the label topological diagram in the parking lot；
The incidence relation between the parking lot number information and the label topological diagram is established, and generates the tag system.
4. the valet parking method according to claim 3 based on tag system, which is characterized in that the cartographic information packet
Include parking space information and road section information；It is described that the area label, tracking label, road are configured according to the cartographic information in the parking lot
One of segment mark label, crossing label, speed limit label, ramp label, parking stall label are a variety of, to generate the parking lot
Label topological diagram specifically includes:
The parking stall label is configured according to the parking space information in the cartographic information；
According to the road section information in the cartographic information configure the area label, tracking label, section label, crossing label,
One of speed limit label, ramp label are a variety of.
5. the valet parking method according to claim 3 based on tag system, which is characterized in that described according to
The cartographic information in parking lot is established after the tag system in parking lot, the method also includes:
The parking stall label is arranged on corresponding parking stall；
Parking lot is arranged in the area label, tracking label, section label, crossing label, speed limit label, ramp label
Corresponding position.
6. the valet parking method according to claim 1 based on tag system, which is characterized in that the parking stall management clothes
Business mode includes that roam mode and server specify parking stall mode；
After the acquisition place configuration information according to the parking lot number information, the method also includes:
Judge whether the parking stall management mode is that server specifies parking stall mode；
When the parking stall management mode is that server specifies parking stall mode, the target parking stall that the server issues is received.
7. the valet parking method according to claim 6 based on tag system, which is characterized in that described in the judgement
Parking stall management mode whether be server specify parking stall mode after, the method also includes:
When the parking stall management mode is not that server specifies parking stall mode, then enter roam mode；
Roaming type global path planning is carried out according to the label topological diagram, judges whether to detect available parking stall；
It when detecting available parking stall, parks, and the state of parking is uploaded onto the server.
8. the valet parking method according to claim 1 based on tag system, which is characterized in that the method is also wrapped
It includes:
The Global motion planning topological path is sent to the intelligent vehicle；
The intelligent vehicle is parked according to the Global motion planning topological path.
9. the valet parking method according to claim 1 based on tag system, which is characterized in that the parking space state letter
Breath includes idle and occupies；After the intelligent vehicle is parked according to the Global motion planning topological path, the method
Further include:
When the intelligent vehicle reaches target parking stall, the corresponding parking space state information in the target parking stall is changed to occupy.
10. the valet parking method according to claim 1 based on tag system, which is characterized in that the tag system
In label be made of fluorescence material.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111369824A (en) * | 2020-01-22 | 2020-07-03 | 星汉智能科技股份有限公司 | Parking guiding method and system based on image recognition and positioning |
| CN112614379A (en) * | 2020-12-10 | 2021-04-06 | 奇瑞汽车股份有限公司 | Autonomous parking navigation method and device |
| CN113112847A (en) * | 2021-04-12 | 2021-07-13 | 蔚来汽车科技(安徽)有限公司 | Vehicle positioning method and system for fixed parking scene |
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| CN114333393A (en) * | 2020-09-30 | 2022-04-12 | 北京智行者科技有限公司 | Dispatching method and dispatching system for passenger-riding parking |
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