CN117765754A - Indoor parking guidance method and system applied to automatic driving - Google Patents
Indoor parking guidance method and system applied to automatic driving Download PDFInfo
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Abstract
The application relates to the technical field of parking lot navigation, in particular to an indoor parking guidance method and system applied to automatic driving, and the technical scheme is as follows: the parking management system acquires the mapping information of the parking lot, calculates a plurality of route data according to the mapping information of the parking lot, maps the mapping information of the parking lot and the route data, and maps the mapping information of the parking lot to obtain map information of the parking lot; the parking management system acquires berth image information, and adjusts the idle state of the map information of the parking lot according to the berth image information to obtain real-time berth information of the parking lot; the parking management system acquires vehicle position information, selects the optimal free berth of real-time berth information of the parking lot according to the vehicle position information, sends the optimal free berth to the unmanned aerial vehicle, and the unmanned aerial vehicle acquires the optimal free berth to execute automatic driving induction operation, so that the vehicle can more accurately find the berth, and the indoor automatic driving parking efficiency is improved.
Description
Technical Field
The application relates to the technical field of parking lot navigation, in particular to an indoor parking guidance method and system applied to automatic driving.
Background
In order to improve the efficiency of finding an idle parking place by a vehicle in a current parking lot, a sensor is generally arranged on each parking place, so that the vehicle in-out state of the parking place is obtained, meanwhile, the result sensed by the sensor is fed back to a management platform, the management platform counts the empty parking place distribution in the parking lot, and the indication equipment is used for displaying the remained parking places in the direction on the road of the parking lot, so that the intellectualization of the parking lot is improved, and the convenience of finding the parking place by the vehicle in the parking lot is further improved.
Along with the development of technology, more and more vehicles carry with auxiliary driving or automatic driving functions, so that unmanned parking of the vehicles in the indoor parking lot is realized, images such as surrounding environment, parking space scanning, reaction to sudden environment and the like are required to be considered, because light and space influence, indoor automatic locating parking has high requirements on vehicle sensor hardware and software algorithms, and indoor signals are generally poor, so that the positioning of the vehicle-mounted high-precision map is easily influenced by building shielding, the accuracy and efficiency of vehicle locating parking are influenced, and the problems are to be solved.
Disclosure of Invention
In order to enable a vehicle to more accurately find a berth and improve the efficiency of indoor automatic driving parking, the application provides an indoor parking induction method and system applied to automatic driving, and the technical scheme is as follows:
in a first aspect, the present application provides an indoor parking guidance method applied to automatic driving, including:
the parking management system acquires the mapping information of the parking lot, calculates a plurality of route data according to the mapping information of the parking lot, maps the mapping information of the parking lot and the route data, and maps the mapping information of the parking lot to obtain map information of the parking lot;
the parking management system acquires berth image information, and adjusts the idle state of the map information of the parking lot according to the berth image information to obtain real-time berth information of the parking lot;
the parking management system acquires vehicle position information, selects an optimal idle berth of real-time berth information of a parking lot according to the vehicle position information, sends the optimal idle berth to the unmanned aerial vehicle, and the unmanned aerial vehicle acquires the optimal idle to execute automatic driving induction operation.
Preferably, the method further comprises:
and determining the optimal route of the vehicle according to the optimal free berth, and dividing the optimal route of the vehicle into a plurality of journey distance information and a plurality of specific direction information according to steps.
Preferably, the method further comprises:
and acquiring the information of the converging image shot by the unmanned aerial vehicle, judging whether a vehicle exists in the current converging according to the information of the converging image, and sending driving suspension information to the unmanned aerial vehicle when the information of the converging image judges that the vehicle exists.
Preferably, after the selecting the optimal free berth of the real-time berth information of the parking lot according to the vehicle position information is executed, the method further comprises:
and selecting a plurality of alternative idle berths of the real-time berth information of the parking lot according to the vehicle position information, and sending one of the alternative idle berths to the unmanned aerial vehicle under the condition that the berthing state of the optimal idle berths is changed, and the unmanned aerial vehicle acquires the alternative idle berths to execute automatic driving induction operation.
Preferably, the method further comprises:
and determining an optimal route of the vehicle according to the alternative idle berth, and splitting the optimal route of the vehicle into a plurality of journey distance information and a plurality of specific direction information according to steps.
Preferably, the specific step of selecting the optimal free berth of the real-time berth information of the parking lot according to the vehicle position information comprises the following steps:
and acquiring a plurality of comprehensive distance data, wherein the comprehensive distance data comprises a vehicle driving distance and a pedestrian distance, and selecting an idle berth with the minimum comprehensive distance data as an optimal idle berth.
Preferably, the pedestrian distance is specifically the walking distance from the optimal free berth to the nearest pedestrian entrance.
In a second aspect, the present application provides a parking management system comprising:
a first receiving module: the method comprises the steps of obtaining mapping information of a parking lot, calculating a plurality of route data according to the mapping information of the parking lot, and mapping the mapping information of the parking lot and the route data to obtain map information of the parking lot;
and a second receiving module: the method comprises the steps of acquiring berth image information, and adjusting the idle state of parking lot map information according to the berth image information to obtain real-time berth information of a parking lot;
and a third receiving module: and the optimal idle berth is used for acquiring the vehicle position information, selecting the optimal idle berth of the real-time berth information of the parking lot according to the vehicle position information, and transmitting the optimal idle berth to the unmanned aerial vehicle.
In a third aspect, the present application provides an in-house parking guidance platform for autopilot comprising a memory storing a computer program and a processor arranged to run the computer program to perform an in-house parking guidance method as described above for autopilot applications.
In a fourth aspect, the present application provides a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to, when run, perform an indoor parking guidance method as described above for use in autopilot.
To sum up, compared with the prior art, the beneficial effects brought by the technical scheme provided by the application at least include:
according to the method, route data are obtained through calculation of the mapping information of the parking lot, the mapping information of the parking lot and the route data are mapped to obtain the map information of the parking lot, the map information of the parking lot is marked according to the image information of the parking lot, so that real-time parking information of the parking lot is obtained, the optimal free parking space is selected according to the position information of the vehicle and the real-time parking information of the parking lot, and corresponding automatic driving induction operation is executed through the unmanned aerial vehicle, so that the automatic driving vehicle is accurately and rapidly induced to a proper parking space to park, the vehicle can be more accurately found out, and the indoor automatic driving parking efficiency is improved.
Drawings
Fig. 1 is a schematic flow chart of an indoor parking guidance method applied to automatic driving according to an embodiment of the present application.
Fig. 2 is a schematic block diagram of a parking management system according to an embodiment of the present application.
Reference numerals illustrate:
1. a first receiving module; 2. a second receiving module; 3. and a third receiving module.
Detailed Description
The following further details the application in connection with fig. 1-2, and the terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting.
Under the condition of automatic driving and parking indoors, vehicle-mounted high-precision map positioning is influenced by building shielding, prior information is lost, and a vehicle is difficult to position and plan a path. If the map is built and positioned through the vehicle-mounted image or the laser radar, the vehicle-mounted image or the laser radar needs to be wound or collected in advance, and the automatic parking requirement of a strange place is difficult to deal with. The control of vehicles in complex scenes needs to have planning control and embedded software and hardware of environment perception, and more vehicles have L2-level automatic driving capability and even higher-level automatic driving capability. When a plurality of single vehicles are used for automatic parking of passengers in the same place, the unified coordination party and coordination rule are not available for the collaborative scene such as intersection congestion, simultaneous parking of adjacent parking spaces and the like, and the situation that all vehicles cannot move or wait for a long time according to the rule is easy to occur, so that the accuracy and the efficiency of vehicle parking are affected.
Referring to fig. 1, an indoor parking guidance method applied to automatic driving according to the present application specifically includes:
step S1: the parking management system acquires the mapping information of the parking lot, calculates a plurality of route data according to the mapping information of the parking lot, maps the mapping information of the parking lot and the route data, and maps the mapping information of the parking lot to obtain map information of the parking lot.
Step S2: the parking management system acquires the berth image information, and adjusts the idle state of the map information of the parking lot according to the berth image information to obtain the real-time berth information of the parking lot.
Step S3: the parking management system acquires vehicle position information, selects an optimal idle berth of real-time berth information of a parking lot according to the vehicle position information, sends the optimal idle berth to the unmanned aerial vehicle, and the unmanned aerial vehicle acquires the optimal idle to execute automatic driving induction operation.
The method comprises the steps that the mapping information of a parking lot is specifically a map of the parking lot, a plurality of route data corresponding to a plurality of vehicle entrances are calculated according to the mapping information of the parking lot, the route data is specifically an optimal route from the vehicle entrances to each berth, the mapping information of the parking lot and the route data are mapped to obtain map information of the parking lot, and the map information of the parking lot is a map of the parking lot. The berth image information is a real-time image in a parking lot obtained by shooting of the unmanned aerial vehicle, and the parking state of the berths shot at the moment is confirmed according to the real-time image, so that the states of the berths in the map information of the parking lot are adjusted, and the real-time berth information of the parking lot with the berth parking state marked in real time is obtained. After a vehicle enters a parking lot, the unmanned aerial vehicle acquires that the vehicle is in a parking lot entrance to be parked, the parking lot entrance into which the vehicle enters at the moment is vehicle position information, the optimal free berth of real-time berth information of the parking lot is selected according to the vehicle position information, and the unmanned aerial vehicle acquires the optimal free berth to execute automatic driving guidance operation.
According to the method and the device, route data are obtained through calculation of the mapping information of the parking lot, the mapping is conducted on the mapping information of the parking lot and the route data, the mapping information of the parking lot is obtained, the mapping information of the parking lot is marked according to the image information of the parking lot, real-time parking information of the parking lot is obtained, the optimal free parking space is selected according to the position information of the vehicle and the real-time parking information of the parking lot, and the corresponding automatic driving induction operation is conducted through the unmanned aerial vehicle to induce the vehicle to the free parking space, so that the automatic driving vehicle is accurately and rapidly induced to the proper parking space to park, the vehicle can find the parking space more accurately, and the indoor automatic driving parking efficiency is improved.
As one implementation manner, the embodiment of the application determines the optimal route of the vehicle according to the optimal free berth, and divides the optimal route of the vehicle into a plurality of journey distance information and a plurality of specific direction information according to steps.
Specifically, a plurality of path distance information and a plurality of specific direction information are sent to the unmanned aerial vehicle to execute automatic driving induction operation, the unmanned aerial vehicle executes action instructions according to steps according to the received path distance information and the specific direction information, forward action is executed through the path distance information, turning action with a set angle is executed through the specific direction information after the unmanned aerial vehicle runs to a set position, and the unmanned aerial vehicle continues to move forward until one automatic driving induction operation is completed.
Before the unmanned aerial vehicle executes the automatic driving guidance operation, the unmanned aerial vehicle acquires license plate information of the vehicle to be guided, after the vehicle stops at the berth, the license plate information confirms whether the berth is stopped by the vehicle executing the task, judges whether the automatic driving guidance operation of the vehicle is completed, corresponds to the vehicle and the berth, and is convenient for searching the vehicle position subsequently. And during the period that the unmanned aerial vehicle executes the automatic driving induction operation, the unmanned aerial vehicle acquires the berth image information in the parking lot in real time. And a projection module is arranged in the unmanned aerial vehicle, and an image convenient for a driver to observe is obtained by processing the currently executed path distance information and the specific direction information, and the projection module projects the image to the ground, so that the driver can intuitively acquire corresponding driving information.
As one embodiment, the method includes acquiring the junction image information shot by the unmanned aerial vehicle, judging whether a vehicle is present on the current junction according to the junction image information, and transmitting driving suspension information to the unmanned aerial vehicle when the junction image information judges that the vehicle is present.
Specifically, any unmanned aerial vehicle in the parking lot can acquire the converging image information, according to the converging image information, the current position of the unmanned aerial vehicle for executing automatic driving guidance operation is combined, whether a vehicle is present in the converging is judged, driving suspension information is sent to the unmanned aerial vehicle under the condition that the converging image information judges that the vehicle is present, at the moment, the driving suspension information is specifically sent to all unmanned aerial vehicles in the converging, and the unmanned aerial vehicle suspends guidance operation. And then distributing execution sequences to a plurality of unmanned aerial vehicles of the tandem road according to the sequence, and recovering automatic driving induction operation by the unmanned aerial vehicles according to the sequence, so that the driving condition of the tandem road is ordered.
The unmanned aerial vehicle is provided with an indicator light module, and the indicator light module converts the distance information, the specific direction information and the converging image information into an indicator signal which can be identified by the automatic driving system of the vehicle. In the L2 level or higher level auxiliary driving, when the underground parking lot automatically parks, the vehicle-mounted high-precision map is invalid in positioning, the vehicles are difficult to position and plan paths, when a plurality of vehicles are in the same place to automatically park, the situation that all vehicles cannot move or wait for a long time according to own rules easily occurs due to the fact that a unified coordination party and coordination rules do not exist for the collaborative scene such as intersection congestion, parking in adjacent parking places and the like. The indicator light module arranged at the tail of the unmanned aerial vehicle guides the running direction of the vehicle through traffic lights according to the unified coordination and planning of the rear-end guiding platform, and meanwhile, in order to avoid multi-vehicle congestion during automatic parking, the waiting time is set at a multi-vehicle intersection according to the unified coordination and planning, so that the overall optimal driving waiting of the multiple vehicles is realized.
As one implementation mode, the specific step of selecting the optimal free berth of the real-time berth information of the parking lot according to the vehicle position information comprises the steps of acquiring a plurality of comprehensive path data, wherein the comprehensive path data comprise the vehicle driving distance and the pedestrian distance, and selecting the free berth with the minimum comprehensive path data as the optimal free berth.
Specifically, before the automatic driving guidance operation is performed, the comprehensive distance of all the idle berths is calculated, and the comprehensive distance at this time is calculated as dzmn=a×dtn+b×dcmn.
DZ is the comprehensive distance; DTn is the walking distance from berth n to the nearest pedestrian entrance elevator; DCmn is the distance of the current vehicle from entrance m to berth n; a is the weight of walking distance, and b is the weight of car walking distance.
Whereas the speed at which a person walks is typically about 4.32km/h, the speed in an underground parking is about 15km/h, so from the point of time saving, the ratio of weights a and b is typically 15/4.32, and in actual parking, a person is typically more prone to driving, so the ratio of the embodiments of the present application at a and b is set to: 3.4-6.
As one embodiment, after the optimal free berth of the real-time berth information of the parking lot is selected according to the vehicle position information, a plurality of alternative free berths of the real-time berth information of the parking lot are selected according to the vehicle position information, one of the alternative free berths is sent to the unmanned aerial vehicle under the condition that the berthing state of the optimal free berth is changed, and the unmanned aerial vehicle acquires the alternative free berths to execute automatic driving induction operation.
And determining an optimal route of the vehicle according to the alternative idle berth, and splitting the optimal route of the vehicle into a plurality of journey distance information and a plurality of specific direction information according to steps.
Specifically, before the unmanned aerial vehicle executes the automatic driving induction operation, after selecting the optimal idle berth, the embodiment of the application also selects two alternative idle berths, wherein the optimal idle berth is the first idle berth, and the alternative idle berths comprise a second idle berth and a third idle berth. The embodiment of the application provides a method for selecting an optimal first free berth based on comprehensive comparison of walking distances between pedestrian entrances of a shopping mall and shopping centers in parking lots and free berths and vehicle driving distances between the parking entrances of the shopping mall and the shopping centers and the free berths. Meanwhile, in order to reduce the influence caused by the occupation of the first idle berth in the vehicle driving process, the optimal second idle berth is selected based on comprehensive comparison of walking distances of a pedestrian entrance of a mall and a shopping mall in a parking lot and other idle berths except the first idle berth and vehicle driving distances of the first idle berth and the other idle berths. Meanwhile, the optimal third free berth is selected based on comprehensive comparison of walking distances between a pedestrian entrance of a parking lot and other free berths except the first free berth and the second free berth of a mall and a shopping center and vehicle driving distances between the second free berth and other free berths except the first free berth and the second free berth. The first, second and third free berths provided based on the system can effectively guide the vehicle to the free berths.
When the automatic driving induction operation to the optimal idle berth is executed, if the optimal idle berth is occupied, and the operation to the second idle berth is needed to be executed, calculating the comprehensive distance from the first idle berth to the rest idle berths except the first idle berth, wherein the comprehensive distance is calculated as dxnp=a×dtp+b×ddnp.
DXnp is the integrated distance from berth n to berth p to the nearest elevator entrance's pedestrian distance; DTp is the walking distance from the berth p to the nearest pedestrian entrance elevator; DDnp is the distance of the vehicle from berth n to berth p; a is the weight of the pedestrian distance, and b is the weight of the vehicle distance.
After guiding the corresponding vehicle to the appointed free berth, the unmanned aerial vehicle takes a photo to the parking guidance platform and returns to the vehicle entrance of the parking lot; and the parking guidance platform updates the berth state according to the berth number and the vehicle picture contained in the received photo.
Referring to fig. 2, a parking management system is provided for an embodiment of the present application, the system including:
the first receiving module 1: the method comprises the steps of obtaining mapping information of a parking lot, calculating a plurality of route data according to the mapping information of the parking lot, and mapping the mapping information of the parking lot and the route data to obtain map information of the parking lot;
the second receiving module 2: the method comprises the steps of acquiring berth image information, and adjusting the idle state of parking lot map information according to the berth image information to obtain real-time berth information of a parking lot;
the third receiving module 3: and the optimal idle berth is used for acquiring the vehicle position information, selecting the optimal idle berth of the real-time berth information of the parking lot according to the vehicle position information, and transmitting the optimal idle berth to the unmanned aerial vehicle.
An embodiment of the present application provides an indoor parking guidance platform for use in autopilot, comprising a memory storing a computer program and a processor arranged to run the computer program to perform an indoor parking guidance method for use in autopilot as described above.
Embodiments of the present application provide a computer readable storage medium having a computer program stored therein, wherein the computer program is configured to perform, when run, an indoor parking guidance method as described above for use in autopilot.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working procedures of the apparatus and the product described above may refer to the corresponding procedures in the foregoing method embodiments, which are not described herein again.
In the several embodiments provided herein, it should be understood that the disclosed methods, systems, apparatus, and program products may be embodied in other ways.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The above embodiments are merely for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. An indoor parking guidance method applied to automatic driving, characterized by comprising the following steps:
the parking management system acquires the mapping information of the parking lot, calculates a plurality of route data according to the mapping information of the parking lot, maps the mapping information of the parking lot and the route data, and maps the mapping information of the parking lot to obtain map information of the parking lot;
the parking management system acquires berth image information, and adjusts the idle state of the map information of the parking lot according to the berth image information to obtain real-time berth information of the parking lot;
the parking management system acquires vehicle position information, selects an optimal idle berth of real-time berth information of a parking lot according to the vehicle position information, sends the optimal idle berth to the unmanned aerial vehicle, and the unmanned aerial vehicle acquires the optimal idle to execute automatic driving induction operation.
2. The indoor parking guidance method for automatic driving according to claim 1, further comprising:
and determining the optimal route of the vehicle according to the optimal free berth, and dividing the optimal route of the vehicle into a plurality of journey distance information and a plurality of specific direction information according to steps.
3. The indoor parking guidance method for automatic driving according to claim 1, further comprising:
and acquiring the information of the converging image shot by the unmanned aerial vehicle, judging whether a vehicle exists in the current converging according to the information of the converging image, and sending driving suspension information to the unmanned aerial vehicle when the information of the converging image judges that the vehicle exists.
4. The method for inducing indoor parking for automatic driving according to claim 2, wherein after the selecting the optimal free berth for real-time berth information of the parking lot according to the vehicle position information, further comprising:
and selecting a plurality of alternative idle berths of the real-time berth information of the parking lot according to the vehicle position information, and sending one of the alternative idle berths to the unmanned aerial vehicle under the condition that the berthing state of the optimal idle berths is changed, and the unmanned aerial vehicle acquires the alternative idle berths to execute automatic driving induction operation.
5. The method for inducing indoor parking for autopilot of claim 4 further comprising:
and determining an optimal route of the vehicle according to the alternative idle berth, and splitting the optimal route of the vehicle into a plurality of journey distance information and a plurality of specific direction information according to steps.
6. The method for inducing indoor parking for automatic driving according to claim 1, wherein the selecting an optimal free parking place of real-time parking place information of the parking lot according to the vehicle position information comprises:
and acquiring a plurality of comprehensive distance data, wherein the comprehensive distance data comprises a vehicle driving distance and a pedestrian distance, and selecting an idle berth with the minimum comprehensive distance data as an optimal idle berth.
7. The method for inducing indoor parking for automatic driving according to claim 6, wherein the pedestrian distance is a walking distance from the optimal free berth to the nearest pedestrian entrance.
8. A parking management system, comprising:
a first receiving module: the method comprises the steps of obtaining mapping information of a parking lot, calculating a plurality of route data according to the mapping information of the parking lot, and mapping the mapping information of the parking lot and the route data to obtain map information of the parking lot;
and a second receiving module: the method comprises the steps of acquiring berth image information, and adjusting the idle state of parking lot map information according to the berth image information to obtain real-time berth information of a parking lot;
and a third receiving module: and the optimal idle berth is used for acquiring the vehicle position information, selecting the optimal idle berth of the real-time berth information of the parking lot according to the vehicle position information, and transmitting the optimal idle berth to the unmanned aerial vehicle.
9. An indoor parking guidance platform for use in autopilot, comprising a memory and a processor, the memory storing a computer program, the processor being arranged to run the computer program to perform the indoor parking guidance method for use in autopilot of any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program, wherein the computer program is arranged to execute the indoor parking guidance method for automatic driving according to any one of claims 1-7 at run-time.
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| CN202311087720.1A CN117765754A (en) | 2023-08-28 | 2023-08-28 | Indoor parking guidance method and system applied to automatic driving |
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| CN202311087720.1A CN117765754A (en) | 2023-08-28 | 2023-08-28 | Indoor parking guidance method and system applied to automatic driving |
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