WO2021226908A1

WO2021226908A1 - Automatic vehicle parking/retrieving method for parking lot, parking lot system, and vehicle terminal

Info

Publication number: WO2021226908A1
Application number: PCT/CN2020/090154
Authority: WO
Inventors: 申琳; 粘凤菊; 丁树玺; 王昊; 姜兆娟
Original assignee: 舍弗勒技术股份两合公司; 申琳
Priority date: 2020-05-14
Filing date: 2020-05-14
Publication date: 2021-11-18
Also published as: CN115004276A

Abstract

An automatic vehicle parking/retrieving method for a parking lot (2A). In the process of automatic vehicle parking/retrieving, a parking lot system only needs to select a driving route and adjust and send route information in the driving route, the route information comprising direction information of road sections in the driving route and road feature parameters of marked points (211) in the road sections, and a vehicle terminal (1) realizes wayfinding on the basis of the route information to control a vehicle (1A) to automatically drive. Thus, the efficiency of the automatic vehicle parking/retrieving method is greatly improved. In addition, the parking lot system and the vehicle terminal (1) corresponding to the method are further provided, a large number of sensors and positioning devices are not necessary for the parking lot system, and thus the structure is simple and costs are low.

Description

Automatic parking/retrieving method for parking lot, parking lot system and vehicle terminal

Technical field

The present invention relates to the field of vehicle automatic control, in particular to a parking lot automatic parking/retrieving method, a parking lot system and a vehicle terminal adopting the parking lot automatic parking/retrieving method.

Background technique

For example, in the existing valet parking system described in the Chinese Patent Publication No. CN107209518A, not only the central control unit is required to establish an accurate route map for the parking lot and a large number of sensors are installed in the parking lot to assist parking, but also the vehicle Need to position itself and be guided by the central controller to realize parking.

Therefore, on the one hand, the parking strategy in the prior art mentioned above is low in efficiency, resulting in the low parking efficiency of the prior art parking method used in parking lots; on the other hand, it increases the cost of parking lots and the vehicles themselves. The cost leads to the complicated structure of the prior art parking system for parking lots and the high cost.

Summary of the invention

The present invention has been made in order to overcome or at least alleviate the above-mentioned shortcomings of the prior art. An object of the present invention is to provide a new type of automatic parking/retrieving method for parking lots, which is more efficient than the prior art parking/retrieving method for parking lots. Another object of the present invention is to provide a parking lot system and a vehicle terminal adopting the automatic parking/retrieving method of the parking lot.

In order to achieve the above-mentioned purpose of the invention, the present invention adopts the following technical solutions.

The present invention provides an automatic parking/retrieving method in a parking lot as follows, including:

The route selection step is to identify the starting position and the target position of the vehicle based on the request of the vehicle, and select a driving route from the route connecting the two positions included in the parking lot model, the parking lot model including the parking Route information of each route between each parking space and the entrance and exit of the parking lot, the route information including the direction information of each road section and the road characteristic parameters of the marking points set up in each road section; and

The route information sending step is to send the route information to the vehicle.

Preferably, the road feature parameters of each marking point include:

The distance parameter, which is the absolute distance along the driving route between the position corresponding to the marking point and the starting position, or the position corresponding to the marking point corresponds to the starting marking point of the road section where the marking point is located The relative distance between the locations of; and

The radius parameter, which is the radius of curvature of the road at the position corresponding to the marking point.

More preferably, when the request is a parking request,

The method further includes a route information adjustment step before the route information sending step, wherein the route information in the driving route is adjusted based on the driving route and the starting position, and

In the route information sending step, the adjusted route information is sent to the vehicle.

More preferably, the parking lot model further includes a first predetermined distance along a different route between the position corresponding to each of the marking points and the predetermined position,

The route information adjustment step includes using the relative deviation value between the starting position and the predetermined position to correct the first predetermined distance of each marking point in the driving route to obtain the absolute distance of each marking point.

More preferably, the parking lot model further includes a second predetermined distance along the road section between the position corresponding to each of the marker points and the position corresponding to the starting marker point of the road section where the marker point is located,

The route information adjustment step includes using the relative deviation value between the starting position and the position corresponding to the starting marking point to correct the second predetermined distance of each marking point in the road section where the starting position is located, so as to obtain the The relative distance of the marked points in the road section, and the second predetermined distance is used as the relative distance of the marked points on the road sections other than the road section where the starting position is located in the driving route.

More preferably, the route information adjustment step includes obtaining the relative deviation value by identifying the distance between the correction mark corresponding to the predetermined position in the parking lot and the starting position.

More preferably, the route information further includes the correction distance corresponding to each correction mark in the driving route.

More preferably, the route information adjustment step further includes determining a correction distance corresponding to each correction mark in the travel route based on the travel route and the starting position, and

The route information sending step further includes sending the corrected distance corresponding to the adjusted correction flag.

More preferably, the route selection step includes: among the routes from the starting position to the target position in the parking lot, excluding routes that conflict with other vehicles driving in the parking lot, Select the route with the shortest distance from the remaining routes as the driving route.

More preferably, the location of each of the parking spaces corresponds to one of the marking points, and both ends of each of the road sections correspond to one of the marking points;

In the same road section, the distances between adjacent marking points along the road section are different; and/or

The greater the change frequency of the radius of curvature of the curved road section in the parking lot, the smaller the distance between the adjacent marking points in the curved road section.

The present invention also provides a parking lot system as follows, the parking lot system includes:

A parking lot terminal, which is used to establish a parking lot model. The parking lot terminal can identify the starting position and the target position of the vehicle based on the request of the vehicle and connect all of the two positions in the parking lot model. Select a driving route in the route, the route information includes the direction information of each section in the driving route and the road characteristic parameters of all the marked points, and send the route information to the vehicle; and

An auxiliary driving terminal, the auxiliary driving terminal is installed in the parking lot and can be recognized by the vehicle, and the process of the vehicle automatically driving according to the route information can be corrected by using information corresponding to the auxiliary driving terminal.

Preferably, when the request is a parking request, the parking lot terminal can also adjust route information based on the driving route and the starting position, and send the adjusted route information to the vehicle.

More preferably, the parking lot terminal includes:

A master control unit, which is used to store data of the parking lot model, determine the target location, select a driving route, and adjust the route information;

A roadside communication unit, which is in data communication with the master control unit, and sends information to and receives information from the vehicle; and

Multiple roadside information collection units, which are in data communication with the master control unit and are used to at least identify the starting position of the vehicle, the usage state of the parking space in the parking lot, and the entrance and exit of the parking lot The state of use at the predetermined location.

More preferably, the driving assistance terminal includes a plurality of correction signs, which are arranged in the straight section of the parking lot. By identifying the correction signs, the route information can be adjusted and the driving calculated by the vehicle can be corrected. distance.

More preferably, the auxiliary driving terminal includes a lane line, which is arranged in each straight section of the parking lot and extends along the extension direction of the corresponding straight section, so that the vehicle can follow the lane line in the corresponding direction. Drive automatically in the straight section of the road.

The automatic parking/retrieving method for a parking lot of the present invention further includes:

The route information receiving step is to receive route information of a driving route from the starting position of the vehicle to the target position, the driving route is a route selected from a parking lot model, and the parking lot model includes each parking space of the parking lot. Route information of each route between the entrance and the exit, the route information including the direction information of each road section in each of the routes and the road characteristic parameters of the marking points set up in each road section; and

The vehicle driving control step is to control the vehicle to automatically travel from the starting position to the target position along the driving route according to the route information.

Preferably, the vehicle driving control step further includes sending positioning information when the vehicle passes through the position corresponding to the marked point, and the positioning information is used to locate the position of the vehicle in the parking lot.

More preferably, the road feature parameters of each marked point include:

The distance parameter, which is the absolute distance along the driving route between the position corresponding to the marking point and the starting position of the vehicle, or the position corresponding to the marking point and the starting marking point of the road section where the marking point is located The relative distance between corresponding locations; and

More preferably, the vehicle driving control step includes:

The actual driving distance of the vehicle is calculated based on the driving speed, wheel steering angle and driving time of the vehicle. When the driving distance is equal to the distance parameter of the mark point, the radius parameter of the mark point is used to calculate the wheel The steering angle, so as to adjust the actual steering angle of the corresponding wheel according to the steering angle of the wheel.

More preferably, the route information further includes the correction distance corresponding to each correction mark in the driving route,

The step of controlling the vehicle travel further includes: in the case of recognizing that the vehicle has passed the correction mark in the travel route, replacing the travel distance with the correction distance corresponding to the correction mark to correct the calculated Travel distance.

More preferably, the vehicle driving control step further includes: identifying a lane line of a straight section in the driving route to assist the vehicle to travel along the straight section.

The present invention also provides a vehicle terminal as follows, the vehicle terminal is set in the vehicle and used to make a request to the parking lot system, and the vehicle terminal can receive the start of the vehicle as determined by the parking lot system. The route information of the driving route from the starting position to the target position, the route information including the direction information of each section in the driving route and the road characteristic parameters of all marked points, and the vehicle terminal can control the vehicle along the The driving route is automatically driven from the starting position of the vehicle to the target position according to the route information.

Preferably, the vehicle terminal includes:

An on-board control unit that can calculate the driving distance of the vehicle and control the execution unit to perform actions, so that the vehicle can drive automatically;

A plurality of vehicle-mounted information collection units, which are in data communication with the vehicle-mounted control unit, and are used to measure at least the speed, wheel steering angle, and driving time of the vehicle;

The execution unit, which is used to adjust the speed and wheel steering angle of the vehicle; and

The vehicle-mounted communication unit is in data communication with the vehicle-mounted control unit, and is used for receiving information from the parking lot system and sending information to the parking lot system.

In this way, by adopting the above technical solution, in the process of using the above-mentioned parking lot automatic parking/retrieving method for automatic parking/retrieving, the parking lot system only needs to select the driving route and adjust the route information in the driving route ( (Optional) and sending, the route information includes the direction information of each section in the driving route and the road characteristic parameters of each marked point in the section, and the vehicle terminal realizes the path finding based on the received route information to control the automatic driving of the vehicle, thereby greatly Improved the efficiency of the automatic parking/retrieving method. In addition, the parking lot system corresponding to the above method omits a large number of sensors and positioning equipment, so the structure is simple and the cost is low.

Description of the drawings

Fig. 1a shows a schematic diagram of the overall structure of a parking lot system and a vehicle terminal according to an embodiment of the present invention; Fig. 1b shows a block diagram of the structure of the parking lot system and a vehicle terminal in Fig. 1a.

Fig. 2 shows a working flow chart of an example of an automatic parking/retrieving method for a parking lot according to the present invention adopted in the parking lot system and vehicle terminal shown in Figs. 1a and 1b.

Description of Reference Signs

1A vehicle 1 vehicle terminal 11 vehicle control unit 12a camera 12b wheel speed/steering angle sensor 12c radar 13 execution unit 14 vehicle communication unit

2A parking lot 2A1 calibration mark 2A2 lane line 2 parking lot terminal 21 master control unit 211 marking point 22 roadside information collection unit 23 roadside communication unit.

Detailed ways

Hereinafter, exemplary embodiments of the present invention will be described with reference to the drawings. Hereinafter, the structure of a parking lot system and a vehicle terminal according to an embodiment of the present invention will be explained first.

(Structure of parking lot system and vehicle terminal according to the present invention)

Specifically, as shown in Figures 1a and 1b, in this embodiment, the vehicle terminal 1 is installed in an appropriate part of the vehicle 1A. The vehicle terminal 1 includes a vehicle control unit 11, a plurality of vehicle information collection units 12a to 12c, and execution Unit 13 and in-vehicle communication unit 14.

The vehicle-mounted control unit 11 can store data (for example, data of route information in the driving route from the parking lot terminal 2, the route information including data corresponding to the direction information of each road section in the driving route and the data of each marking point 211 in each road section. Road feature parameters and the data corresponding to the correction mark 2A1), which can receive and temporarily store the sensing data from multiple on-board information collection units 12a to 12c (for example, the data of the correction mark 2A1 and the lane line 2A2 recognized by the camera 12a, and the wheel speed /The wheel speed and wheel steering angle sensed by the steering angle sensor 12b, and the data corresponding to other vehicles in motion sensed by the radar 12c, etc.) can be calculated based on the sensed data (for example, calculating the travel distance and wheel steering angle of the vehicle 1A) Etc.), it is possible to receive communication data from the vehicle-mounted communication unit 14 and send communication data to the vehicle-mounted communication unit 14, and can control other units including the execution unit 13 to perform operations.

A plurality of vehicle-mounted information collection units 12a to 12c are in data communication with the vehicle-mounted control unit 11. The in-vehicle information collection units 12a to 12c are used to sense the correction marks 2A1 and lane lines 2A2 in the driving route selected by the parking lot terminal 2, and are used to sense the vehicle 1A including the wheel speed, wheel steering angle, and driving time of the vehicle 1A Its own parameters and are used to sense the position of other vehicles in driving, and can transmit the sensed data to the on-board control unit 11, thereby assisting the on-board control unit 11 to control the vehicle 1A to automatically travel. In this embodiment, the multiple vehicle-mounted information collection units 12a to 12c include, but are not limited to, a camera 12a, a wheel speed/steering angle sensor 12b, and a radar 12c (for example, an ultrasonic radar).

The execution unit 13 is controlled by the in-vehicle control unit 11. The execution unit 13 includes at least a vehicle steering/braking device, which is used to adjust the steering angle of the wheels of the vehicle 1A and the driving speed of the vehicle 1A according to the control of the on-board control unit 11.

The in-vehicle communication unit 14 is in data communication with the in-vehicle control unit 11. In this embodiment, the in-vehicle communication unit 14 is a V2X vehicle device (an in-vehicle device used for communication between the vehicle 1A and various external devices), so that the vehicle terminal 1 of the vehicle 1A can communicate with the parking lot terminal 2 of the parking lot 2A and other vehicles. The vehicle terminal 1 of 1A communicates.

Specifically, as shown in FIGS. 1a and 1b, in this embodiment, the parking lot system includes a parking lot terminal 2 and an auxiliary driving terminal (correction mark 2A1 and lane line 2A2) installed in a parking lot 2A.

The parking lot terminal 2 is installed in a proper position of the parking lot 2A. The parking lot terminal 2 includes a master control unit 21, a roadside information collection unit 22 and a roadside communication unit 23.

The master control unit 21 can store data (for example, pre-store the route information of all the routes in the parking lot model, the route information includes data such as the direction information corresponding to all the road sections in each route, and the road characteristic parameters of each marked point 211 in all road sections. The data corresponding to the calibration mark 2A1), which can receive the sensing data from multiple roadside information collection units 22 (such as the recognized starting position of the vehicle 1A and the parking space of the parking lot 2A, and the use of predetermined locations such as entrances and exits) State) and perform processing (for example, determine the target position that the vehicle 1A is expected to arrive at, select a driving route based on the starting position and target position, and optionally adjust the route information in the driving route, etc.), and be able to receive communication data from the roadside communication unit 23 And it can send communication data to the roadside communication unit 23 and control other components to work.

The multiple roadside information collection units 22 are in data communication with the master control unit 21. A plurality of roadside information collection units 22 can sense the usage status of predetermined locations such as parking spaces and entrances and exits of the parking lot 2A, and can identify where the vehicle 1A is located when the vehicle 1A requests a parking or pick-up request. Start position, and send the status information and start position information to the master control unit 21.

The roadside communication unit 23 is in data communication with the master control unit 21. In this embodiment, the roadside communication unit 23 is a V2X roadside device, so that the parking lot terminal 2 of the parking lot 2A can communicate with the vehicle terminal 1 of each vehicle 1A.

In this embodiment, the auxiliary driving terminal includes correction marks 2A1 set at appropriate positions in each section of the parking lot 2A and lane lines 2A2 set at each straight section of the parking lot 2A for being recognized by the vehicle 1A to use the auxiliary The information corresponding to the driving terminal corrects the process in which the vehicle 1A automatically travels in accordance with the route information.

On the one hand, the calibration mark 2A1 can be set at the entrance of the parking lot 2A. Based on identifying the starting position of the vehicle 1A that issued the parking request, the starting position of the vehicle 1A is obtained relative to the entrance of the parking lot 2A. The relative deviation value of the correction mark 2A1 can be used to adjust the road characteristic parameter of the corresponding marking point 211 in the driving route and the correction distance of the correction mark 2A1. On the other hand, the calibration mark 2A1 can also be set at a predetermined position of each straight section in the parking lot 2A (for example, set at a position where the distance from one end of the straight section to the end of the section is 1/3 of the length of the section), which can be used The camera 12a of the vehicle terminal 1 recognizes the correction mark 2A1, and can use the correction distance corresponding to the correction mark 2A1 to correct the result of the travel distance of the vehicle 1A calculated by the vehicle terminal 1 during the automatic driving of the vehicle 1A, thereby eliminating the calculated vehicle 1A Cumulative error of travel distance. The specific method of using the calibration mark 2A1 to perform calibration will be described in detail in the following description of the automatic parking/retrieving method of the parking lot.

The lane line 2A2 is provided in each straight section in the parking lot 2A and extends along the extending direction of the corresponding section. In the case where the vehicle 1A can recognize the lane line 2A2 with the camera 12a, the lane line 2A2 can assist the vehicle 1A to automatically travel in each straight section.

It should be noted that although FIG. 1a shows that a plurality of marking points 211 are set up in each section of the parking lot 2A, the marking points 211 belong to the virtual markers set up in the process of building a model of the parking lot 2A. It does not exist physically. Therefore, the marking point 211 will be described in detail in the following description of the automatic parking/retrieving method of the parking lot.

The specific structure of the vehicle terminal and the parking lot system according to an embodiment of the present invention has been described above, and the automatic parking/retrieving method of the parking lot according to the present invention will be described below based on the vehicle terminal and the parking lot system.

(Process of automatic parking/retrieving method for parking lot according to the present invention)

The working process of the automatic parking/retrieving method for the parking lot according to the present invention can be divided into two parts, one part is completed in the vehicle terminal 1, and the other part is completed in the parking lot system. The process of this method can be summarized as follows.

A parking lot model corresponding to the parking lot 2A is pre-established in the parking lot terminal 2 of the parking lot system. The parking lot model includes all feasible routes (including route information) between each parking space of the parking lot 2A and the entrance and exit. The route information includes the link information of each link in the corresponding route, the road feature parameters of the multiple marking points 211 set up in each link of the parking lot 2A, and the correction distance corresponding to the correction mark 2A1. Based on the request of the vehicle terminal 1, the parking lot terminal 2 determines the starting position of the vehicle 1A and the intended target position of the vehicle 1A from the parking lot model, and selects a driving route among all the routes connecting the two positions. Based on the driving route and starting position, optionally adjust the direction information of each road segment in the driving route and the road characteristic parameters of all the marking points 211, and then (if adjusted, the adjusted) direction of each road segment in the driving route The information and the road characteristic parameters of all the marking points 211 in each road section are sent to the vehicle terminal 1 in the form of data packets.

The vehicle terminal 1 receives the above-mentioned data packet to obtain the direction information of each road segment in the travel route and the road characteristic parameters of all the marker points 211 in each road segment. Further, the vehicle terminal 1 controls the vehicle 1A to follow the travel route according to the direction of each road segment. The information and the road characteristic parameters of each marking point 211 are automatically driven from the starting position to the target position, so that the vehicle is parked in the corresponding parking space or the vehicle is waiting to be picked up at the exit of the parking lot 2A.

Hereinafter, the specific process of the automatic parking/retrieving method of the parking lot according to the present invention will be explained by taking the vehicle 1A at the entrance of the parking lot 2A and the vehicle terminal 1 making a parking request as an example.

As shown in FIG. 2, in S20, a parking lot model is established in the parking lot terminal 2 in advance.

Referring to Figure 1a, the parking lot 2A includes multiple straight road sections and multiple curved road sections connected to each other. Therefore, the corresponding parking lot model includes not only all feasible routes between parking spaces and entrances and exits, but also all routes. The direction information in each road section and the correction distance corresponding to a large number of marking points 211 established in each road section and the correction mark 2A1, and each marking point 211 includes the road characteristic parameter of the location where the marking point 211 is located. As described above, the marking point 211 does not actually exist but is only a set of data.

More specifically, the direction information in each road segment can be defined by using the marking point 211 corresponding to one of the two ends of the road segment as the starting marking point for the vehicle 1A to pass the road segment.

Each marking point 211 includes at least two parameters, a distance parameter and a radius parameter. For each vehicle 1A that requests parking, the distance parameter can be defined in two ways. In the first way, for each road section in the driving route, the distance parameter is the relative distance along the road section between the position corresponding to each mark point 211 in the road section and the position corresponding to the above-mentioned starting mark point; In one manner, for the entire driving route, the distance parameter is the absolute distance along the driving route between the position corresponding to the marking point 211 and the starting position of the vehicle 1A identified by the parking lot terminal 2. Compared with the second method, the first method is more preferable. Further, the radius parameter is the radius of curvature of the road section at the position corresponding to the marking point 211, and the radius parameter is zero when the road section is a straight road section.

In addition, at least the following conditions should be met during the establishment of the parking lot model.

(1) When the direction information of the road sections in the parking lot model is different, even if other parameters are the same, it should be regarded as two different road sections.

(2) In the process of setting up the marking point 211, no matter in the curved section or in the straight section, each road section contains a plurality of different marking points 211 and the distance between two adjacent marking points 211 can be different , The two ends of each road section correspond to a mark point 211 respectively.

(3) The distance between adjacent marking points 211 on a curve section where the radius of curvature changes frequently should be as small as possible (as shown in Table 1 and Table 2 below, Table 1 corresponds to the marking defined in the first method above) Point 211, Table 2 corresponds to the mark point 211 defined in the second way above), which can minimize the cumulative error during the automatic driving of the vehicle.

[Table 1]

[Table 2]

(4) In the straight section, each parking space in the parking lot 2A corresponds to a marking point 211 (it can be called a parking space marking point, which is used as the end marking point during parking and the starting point during the pick-up process) ), the following Table 3 shows the information corresponding to the straight road section containing the parking spot marking points and the correction mark 2A1. In Table 3, since the radius parameter is zero in the straight section, the data corresponding to the radius parameter is omitted in Table 3.

[table 3]

The above-mentioned parking space marking points not only correspond to each parking space as the starting marking point/ending marking point for the automatic driving of the vehicle 1A, but also can be used as the marking point corresponding to the end point of each road section, that is to say, the parking space marking point can be used To divide different road sections.

(5) In addition, when building the above parking lot model, the route information should include the correction distance corresponding to each correction mark 2A1, and the correction distance of the correction mark 2A1 is also adjusted while adjusting the road characteristic parameters of each marking point 211 as follows . It should be noted that the correction mark 2A1 set up at the entrance of the parking lot adjusts the route information based on the starting position of the vehicle 1A, and there is no need to adjust the correction distance corresponding to the correction mark 2A1.

In order to establish the above-mentioned parking lot model, the parking lot terminal 2 should collect in advance the road characteristic parameters of the marking points 211 of all road sections in the parking lot 2A. This can be obtained by driving the test vehicle slowly along all sections of the parking lot 2A at a fixed speed. In the process of collecting road characteristic parameters using the test vehicle, the driving speed, wheel steering angle and travel time of the test vehicle can be measured and recorded. These parameters can be used to obtain the desired road characteristics of each marker 211 through appropriate arithmetic operations. parameter.

By adopting the above method, in the process of establishing the parking lot model, all route information between any two locations in the parking lot 2A are all stored in the master control unit 21 of the parking lot terminal 2. After the main control unit 21 selects the driving route, the main control unit 21 will adjust the route according to the starting position and driving route of the vehicle 1A, and then transmit it to the vehicle-mounted communication unit 14 of the vehicle terminal 1 through the roadside communication unit 23 to further enable Transmitted to the on-board control unit 11.

In S11, when the vehicle 1A needs to be parked in the parking lot 2A, the vehicle terminal 1 of the vehicle 1A makes a parking request to the parking lot terminal 2.

In S21, the parking lot terminal 2 receives the parking request from the vehicle terminal 1 of the vehicle 1A, and performs the following operations in response to the parking request.

In S221, based on the parking request of the vehicle terminal 1, the parking lot terminal 2 first identifies the starting position of the vehicle 1A that made the parking request, and at the same time, uses the multiple roadside information collection units 22 of the parking lot terminal 2 to find unoccupied One of the parking spaces (for example, the unoccupied parking space closest to the starting position) and the position corresponding to the parking space marking point 211 corresponding to the parking space is designated as the target position that the vehicle 1A is scheduled to reach (the marking Point 211 is the termination mark point).

Further, after the above-mentioned starting position and target position are identified, based on the starting position and target position and the position information in the parking lot 2A fed back by each driving vehicle 1A received in S222, the parking lot is proposed for parking The requested vehicle 1A finds the most time-saving travel route (for example, the route with the shortest distance) without conflicting with other running vehicles 1A from all the routes connecting the starting position and the target position.

In step S23, based on the starting position and the driving route, the parking lot terminal 2 adjusts the route information, that is, adjusts the direction information of each road section in the driving route and the road characteristic parameters of all the marking points 211 in each road section and all the correction signs 2A1. Corresponding correction distance.

For the direction information of each road segment, after the driving route has been selected, the starting mark point of each road segment in the driving route is determined, so as to determine the direction information of each road segment that constitutes the driving route.

For the road feature parameters of the marked points 211 of each road segment, the road feature parameters contained in each of the marked points 211 in the driving route can be adjusted by the following method.

In the case that the distance parameter stored in the marking point 211 is the above-mentioned relative distance, when the starting position of the vehicle 1A requesting the parking is consistent with the predetermined position at the entrance of the above-mentioned parking lot 2A, the master control unit 21 is pre-stored The relative distance values along the road section between the marking point 211 in each road section and the starting marking point of the road section are assigned the distance parameters of the corresponding marking point 211 respectively. In the case where the distance parameter stored in the marker point 211 is the above-mentioned relative distance, when the starting position of the vehicle 1A requesting the parking is not consistent with the predetermined position at the entrance of the above-mentioned parking lot 2A, the difference between the two positions is identified The relative deviation value along the road section where it is located, and the relative deviation value is used to correct the relative distance along the road section between each mark point 211 and the start mark point in the road section pre-stored by the master control unit 21; for the driving route The distance parameters of the marking points 211 in the remaining road sections do not need to be corrected by the above-mentioned relative deviation value, and the distance between the marking point 211 of each road section stored by the master control unit 21 and the starting mark point of the road section is still along the road section. The relative distance value of is assigned to the distance parameter of the corresponding mark point 211, respectively.

In the case that the distance parameter stored in the marking point 211 is the above-mentioned absolute distance, when the starting position of the vehicle 1A requesting the parking is consistent with the predetermined position at the entrance of the above-mentioned parking lot 2A, the master control unit 21 is pre-stored The distance values along the travel route between each of the marked points 211 and the predetermined position at the entrance of the parking lot 2A are assigned distance parameters of the corresponding marked points 211, respectively. In the case where the distance parameter stored in the marking point 211 is the above-mentioned absolute distance, when the starting position of the vehicle 1A requesting the parking is not consistent with the predetermined position at the entrance of the above-mentioned parking lot 2A, the difference between the two positions is identified The relative deviation value along the driving route and the distance value along the driving route between each marked point 211 pre-stored by the master control unit 21 and the predetermined position at the entrance of the parking lot 2A are used to perform arithmetic After the calculation, the obtained result is assigned to the distance parameter of the corresponding marked point 211.

In this way, no matter whether the starting position of the vehicle 1A requesting the parking is consistent with the predetermined position at the entrance of the parking lot 2A, the distance parameter required by each marking point 211 can be accurately obtained.

In addition, since the radius parameter of each mark point 211 is consistent with the radius of curvature of the road section corresponding to each mark point 211, the radius parameter of each mark point 211 may be a constant constant. That is to say, when the road section corresponding to the position corresponding to each marking point 211 is a straight road section, the radius parameter of the marking point 211 is zero; when the road section corresponding to the position corresponding to each marking point 211 is a curved road section, the marking point 211 The radius parameter of is equal to the radius of curvature of the curve section at the position corresponding to the mark point 211.

In addition, the correction distance of each correction mark 2A1 in the travel route can be adjusted in the same way as the method of adjusting the distance parameter of each mark point 211 in the travel route.

The parking lot terminal 2 then transmits the adjusted route information to the vehicle-mounted communication unit 14 of the vehicle terminal 1 of the vehicle 1A via the roadside communication unit 23.

In S12, the in-vehicle communication unit 14 of the vehicle terminal 1 receives the adjusted route information of the traveling route from the roadside communication unit 23 of the parking lot terminal 2 and sends the information to the in-vehicle control unit 11 of the vehicle terminal 1.

In S13, the vehicle terminal 1 controls the vehicle 1A to automatically travel from the starting position to the target position along the travel route according to the adjusted route information.

In the above-mentioned automatic driving process, the vehicle terminal 1 calculates the distance traveled by the vehicle 1A through the wheel speed, wheel steering angle, and travel time collected by the on-board information collection unit. That is to say, the vehicle terminal 1 always uses the vehicle's above parameters to calculate the vehicle The current distance traveled. Then, the travel distance is compared with the distance parameter in each marked point 211 in the travel route. When the driving distance is consistent with the distance parameter, it means that the vehicle 1A is driving past the corresponding mark point 211. At this time, on the one hand, the vehicle terminal 1 can use the radius parameter of the marker point 211, or use the radius parameter of the next marker point 211 of the marker point 211 in the direction of the road section, or use all the marker points in the road section. The corresponding radius of curvature in the interpolation curve fitted by the radius parameter of 211 calculates the new wheel steering angle and controls the execution unit 13 to adjust the steering angle of each steering wheel; The position information of the vehicle 1A is transmitted (corresponding to S222). Therefore, using the distance parameter in each marking point 211 in the driving route as the judgment condition, when the vehicle 1A travels the same distance as the distance parameter of each marking point 211, the vehicle 1A realizes the position where each marking point 211 is located. Accurate adjustment of the steering angle of the wheels allows the vehicle 1A to travel automatically and correctly along the driving route. Moreover, during the automatic driving process, the vehicle terminal 1 can feed back position information to the parking lot terminal 2 for reference when the parking lot terminal 2 selects a driving route for other vehicles 1A.

In addition, in the above-mentioned automatic driving process, the travel distance calculated by the vehicle terminal 1 will produce cumulative errors due to various factors. This cumulative error will cause the travel distance calculated by the vehicle terminal 1 to not accurately reflect the driving route of the vehicle 1A. It is necessary to use the correction distance of the correction mark 2A1 set on the travel route to correct the travel distance calculated by the vehicle terminal 1. The calibration mark 2A1 can be identified by the on-board information collection unit of the vehicle terminal 1. When the on-board information collection unit of the vehicle terminal 1 recognizes the corresponding correction flag 2A1, the on-board control unit 11 of the vehicle terminal 1 will replace the correction distance corresponding to the correction flag 2A1 received by the parking lot terminal 2 with the correction distance calculated by the vehicle terminal 1 The travel distance is corrected so as to correct the cumulative error generated by the vehicle terminal 1 calculating the travel distance before the correction mark 2A1 is recognized. Moreover, when a vehicle is used to drive through a curve section, the marking points 211 in each curve section should be arranged as densely as possible, so as to eliminate the cumulative error caused by inaccurate turning when the vehicle is automatically driven by the above method.

Further, in order to assist the above-mentioned automatic driving, the on-board information collection unit 22 of the vehicle terminal 1 can also identify the lane line 2A2 on the straight section, so that the vehicle 1A drives along the lane line 2A2. This has a good assisting effect on the automatic driving of the vehicle 1A along the straight section.

Finally, in S14, the vehicle 1A reaches the target position corresponding to the termination mark point, that is, in front of the designated unoccupied parking space, and the vehicle terminal 1 controls the vehicle 1A to reverse and enter the parking space.

The specific implementations of the automatic parking/retrieving system in the parking lot and the automatic parking/retrieving method of the parking lot of the present invention have been described in detail above, but the following supplementary description is required.

i. Although in the above specific embodiments, only the parking method in which the vehicle terminal 1 requests a parking request is used to illustrate the automatic parking/retrieve method for a parking lot according to the present invention, it should be understood that when the vehicle terminal 1 requests a car The method of picking up the car is essentially the same as the parking method described above. However, it should be noted that when vehicle 1A makes a request for pick-up instead of a parking request, the starting position of vehicle 1A is the parking spot mark point corresponding to its parking spot, so you can directly use the pre-stored parking lot model from the parking lot. The route information of the driving route between the location marking point and the exit of the parking lot does not need to be adjusted.

In addition, the technical concept of the present invention is not limited to the realization of the above parking/retrieval, for example, when the vehicle 1A needs to move between two parking spaces in the parking lot 2A or when the vehicle 1A passes through the parking lot directly from the entrance of the parking lot 2A to arrive The method according to the present invention can be used at the exit of the parking lot 2A.

Moreover, the technical concept of the present invention can also be applied to places other than parking lots for vehicle scheduling.

ii. In the entire parking lot automatic parking/retrieving method, it should be understood that the execution unit 13 maintains the vehicle 1A at an appropriate driving speed (generally a lower driving speed). In addition, the vehicle 1A can be equipped with an adaptive cruise system, and it can be turned on to prevent a collision between the driving vehicles 1A.

iii. In the above embodiment, after the parking lot terminal 2 receives the request sent by the vehicle terminal 1, it only needs to select the driving route, selectively adjust the route information of the driving route, and send the route information to the vehicle terminal 1, and the vehicle terminal 1 There is no need to plan a route by itself, but only need to receive the above-mentioned data from the parking lot terminal 2 and drive automatically according to the route information contained in the above-mentioned data. Therefore, the automatic parking/retrieving system according to the present invention does not need to locate the position of the vehicle 1A based on GPS, so that the automatic parking/retrieving method and system according to the present invention are also suitable for places with very weak GPS signals such as underground parking lots. .

iv. Although explained in the above specific embodiments, after the correction distance corresponding to the correction mark 2A1 is adjusted, the vehicle terminal is sent to the vehicle terminal 1, and the vehicle terminal is corrected by the vehicle terminal 1’s on-board information collection system to identify the correction mark 2A1. 1 Calculated travel distance, but the present invention is not limited to this.

It is also possible that after adjusting the correction distance of the correction mark 2A1, it is not directly sent to the vehicle terminal 1 but stored in the parking lot terminal 2, and the vehicle 1A is identified through the information collection unit provided on the correction mark 2A1, and the vehicle is recognized After 1 (for example, the license plate of the vehicle 1A), the corrected distance corresponding to the correction flag 2A1 is sent to the vehicle terminal 1, and the corrected distance is used to replace the travel distance calculated by the vehicle terminal 1. In this case, the information collection unit provided on the calibration mark 2A1 may include a millimeter wave radar sensor and/or a license plate recognition camera.

v. Although it is not explained in the above specific embodiments how to divide the straight section and the curved section, it should be understood that the division can be carried out according to the radius of curvature of each section. For example, when the radius of curvature of the road section is greater than a specific value, the road section is a straight road section, and when the radius of curvature of the road section is less than or equal to the specific value, for example, the road section is a curved road section.

vi. Although it has been described in the above specific embodiments that the parking lot terminal 2 performs subsequent processing based on the request of the vehicle terminal 1, the present invention is not limited to this. For example, the parking lot terminal 2 may recognize that the vehicle 1A is driving to the entrance of the parking lot 2A and actively push the route for navigation. In addition, the parking lot terminal 2 of the present invention is not limited to being set only in the parking lot 2A, and may be a remote server (cloud server). In this way, the terminal can theoretically be set at any position as long as it can realize the functions described in the present invention; and in the case of using a cloud server, it can realize the function of controlling multiple parking lots at the same time.

Claims

An automatic parking/retrieving method in a parking lot, including:

The route selection step is to identify the starting position and target position of the vehicle (1A) based on the request of the vehicle (1A), and select the driving route from the route connecting the two positions included in the parking lot model, the parking The field model includes the route information of each route between each parking space of the parking lot (2A) and the entrance and exit. The route information includes the direction information of each road section and the roads of the marking points (211) set up in each road section. Characteristic parameters; and

The route information sending step is to send the route information to the vehicle (1A).
The automatic parking/retrieving method according to claim 1, wherein the road characteristic parameters of each marking point (211) include:

The distance parameter, which is the absolute distance along the driving route between the position corresponding to the marking point (211) and the starting position, or the position corresponding to the marking point (211) and the marking point (211). ) The relative distance between the positions corresponding to the starting marker points of the road section; and

The radius parameter is the road curvature radius at the position corresponding to the marking point (211).
The automatic parking/retrieving method for a parking lot according to claim 1 or 2, wherein when the request is a parking request,

The method further includes a route information adjustment step before the route information sending step, wherein the route information in the driving route is adjusted based on the driving route and the starting position, and

In the route information sending step, the adjusted route information is sent to the vehicle (1A).
The automatic parking/retrieving method for a parking lot according to claim 3, characterized in that the parking lot model further includes the first positions along different routes between the position corresponding to each of the marking points (211) and the predetermined position. A predetermined distance,

The route information adjustment step includes using the relative deviation value between the starting position and the predetermined position to correct the first predetermined distance of each marking point (211) in the driving route to obtain the value of each marking point (211). Absolute distance.
The automatic parking/retrieving method for a parking lot according to claim 3, wherein the parking lot model further includes a position corresponding to each of the marking points (211) and the starting marking point of the road section where the marking point is located. The second predetermined distance between corresponding locations along the road section,

The route information adjustment step includes using the relative deviation value between the starting position and the position corresponding to the starting marking point to correct the second predetermined distance of each marking point (211) in the road section where the starting position is located, To obtain the relative distance of the marked point (211) in the road section, and use the second predetermined distance as the distance of each marked point (211) of the road section except for the road section where the starting position is located in the driving route. The relative distance.
The automatic parking/retrieving method for a parking lot according to claim 4 or 5, wherein the route information adjustment step includes identifying a correction mark ( 2A1) the distance from the starting position to obtain the relative deviation value.
The automatic parking/retrieving method for a parking lot according to any one of claims 1 to 6, wherein the route information further includes the correction distance corresponding to each correction mark (2A1) in the driving route .
The automatic parking/retrieving method for a parking lot according to claim 7 citing any one of claims 3 to 6, characterized in that:

The route information adjustment step further includes determining a correction distance corresponding to each correction mark (2A1) in the travel route based on the travel route and the starting position, and

The route information sending step further includes sending the corrected distance corresponding to the adjusted correction mark (2A1).
The automatic parking/retrieving method for a parking lot according to any one of claims 1 to 8, wherein the route selection step comprises: in the parking lot (2A) from the starting position to Among the routes of the target location, the routes that conflict with other vehicles running in the parking lot (2A) are excluded, and the route with the shortest distance is selected from the remaining routes as the driving route.
The automatic parking/retrieving method for a parking lot according to any one of claims 1 to 9, characterized in that,

The location of each parking space corresponds to one mark point (211), and both ends of each road section correspond to one mark point (211);

In the same road section, the distances between adjacent marking points (211) along the road section are different; and/or

The greater the change frequency of the radius of curvature of the curved road section in the parking lot, the smaller the distance between the adjacent marking points (211) in the curved road section.
A parking lot system, the parking lot system includes:

A parking lot terminal (2), which is used to build a parking lot model. The parking lot terminal (2) can identify the starting position and the target position of the vehicle (1A) based on the request of the vehicle (1A) and stop at the vehicle (1A). The driving route is selected from all the routes connecting these two positions in the field model, and the route information includes the direction information of each section in the driving route and the road characteristic parameters of all the marked points (211) and the route The information is sent to the vehicle (1A); and

An auxiliary driving terminal, the auxiliary driving terminal is installed in the parking lot and can be recognized by the vehicle (1A), and the information corresponding to the auxiliary driving terminal can be used to correct the automatic driving of the vehicle (1A) according to the route information the process of.
The parking lot system according to claim 11, characterized in that, when the request is a parking request, the parking lot terminal (2) can also adjust route information based on the driving route and the starting position, And send the adjusted route information to the vehicle (1A).
The parking lot system according to claim 12, wherein the parking lot terminal (2) comprises:

A master control unit (21), which is used to store data of the parking lot model, determine the target location, select a driving route, and adjust the route information;

A roadside communication unit (23), which is in data communication with the master control unit (21), and sends information to and receives information from the vehicle (1A); and

Multiple roadside information collection units (22), which are in data communication with the master control unit (21) and are used at least to identify the starting position of the vehicle (1A) and the parking space in the parking lot (2A) The usage status of the parking lot (2A) and the usage status of the predetermined locations at the entrance and exit of the parking lot (2A).
The parking lot system according to claim 12 or 13, characterized in that the auxiliary driving terminal includes a plurality of correction signs (2A1), which are set in the straight section of the parking lot (2A), by identifying the The correction flag (2A1) can adjust the route information and can correct the travel distance calculated by the vehicle (1A).
The parking lot system according to any one of claims 12 to 14, characterized in that the auxiliary driving terminal comprises a lane line (2A2), which is arranged in each straight section of the parking lot (2A) and along the The extension direction of the corresponding straight section extends, so that the vehicle (1A) can automatically drive in the corresponding straight section according to the lane line (2A2).
An automatic parking/retrieving method in a parking lot, including:

The route information receiving step is to receive route information of a driving route from the starting position of the vehicle (1A) to the target position, where the driving route is a route selected from a parking lot model, and the parking lot model includes the parking lot ( 2A) Route information of each route between each parking space and the entrance and exit, where the route information includes the direction information of each road section in each of the routes and the road characteristic parameters of the marking points (211) set up in each road section; as well as

The vehicle driving control step is to control the vehicle (1A) to automatically travel from the starting position to the target position along the driving route according to the route information.
The automatic parking/retrieving method for a parking lot according to claim 16, characterized in that, the vehicle driving control step further comprises sending positioning when the vehicle (1A) passes through the position corresponding to the marking point (211). Information, the positioning information is used to locate the position of the vehicle (1A) in the parking lot (2A).
The automatic parking/retrieving method according to claim 16 or 17, wherein the road characteristic parameters of each marking point (211) include:

The distance parameter, which is the absolute distance along the driving route between the position corresponding to the marking point (211) and the starting position of the vehicle, or the position corresponding to the marking point (211) and the marking point ( 211) The relative distance between the positions corresponding to the starting marker points of the road section; and

The radius parameter is the road curvature radius at the position corresponding to the marking point (211).
The automatic parking/retrieving method for a parking lot according to claim 18, wherein the step of controlling the driving of the vehicle comprises:

Calculate the actual travel distance of the vehicle (1A) based on the travel speed, wheel steering angle and travel time of the vehicle (1A). When the travel distance is equal to the distance parameter of the marking point (211), use The radius parameter of the marking point (211) is calculated to obtain the steering angle of the wheel, so as to adjust the actual steering angle of the corresponding wheel according to the steering angle of the wheel.
The automatic parking/retrieving method for a parking lot according to claim 19, wherein the route information further includes the correction distance corresponding to each correction mark (2A1) in the driving route,

The vehicle driving control step further includes: in the case of recognizing that the vehicle (1A) passes the correction mark (2A1) in the driving route, replacing the correction distance corresponding to the correction mark (2A1) Travel distance to correct the calculated travel distance.
The automatic parking/retrieving method for a parking lot according to any one of claims 16 to 20, wherein the vehicle driving control step further comprises: identifying a lane line (2A2) of a straight section in the driving route. ) To assist the vehicle (1A) to drive along the straight section.
A vehicle terminal, the vehicle terminal (1) is set on the vehicle (1A) and used to make a request to the parking lot system, the vehicle terminal (1) can receive the vehicle terminal (1) determined by the parking lot system from the vehicle The route information of the driving route from the starting position to the target position of (1A), the route information includes the direction information of each section in the driving route and the road characteristic parameters of all the marking points (211), the vehicle terminal ( 1) The vehicle (1A) can be controlled to automatically drive from the starting position of the vehicle (1A) to the target position along the driving route according to the route information.
The vehicle terminal according to claim 22, characterized in that, the vehicle terminal (1) comprises:

An on-board control unit (11), which can calculate the driving distance of the vehicle (1A) and control the execution unit (13) to perform actions, so that the vehicle (1A) can travel automatically;

A plurality of vehicle-mounted information collection units, which are in data communication with the vehicle-mounted control unit (11) and used to measure at least the speed, wheel steering angle and driving time of the vehicle (1A);

The execution unit (13), which is used to adjust the speed and wheel steering angle of the vehicle (1A); and

A vehicle-mounted communication unit (14), which is in data communication with the vehicle-mounted control unit (11), and is used for receiving information from the parking lot system and sending information to the parking lot system.