CN113479195A - Method for automatic valet parking and system for carrying out said method - Google Patents
Method for automatic valet parking and system for carrying out said method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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Abstract
The invention provides a method for automatic passenger-riding parking, which comprises the following steps: requesting the user to input information on the automated valet parking function (S1); collecting data for a parking environment of the vehicle based on the inputted information (S2); creating a parking environment map of the vehicle from the data (S3); after obtaining the parking environment map, the user inputs an automated valet parking and/or call instruction (S4); planning a driving route of the vehicle and creating a driving environment model of the vehicle according to the inputted command (S5); and controlling the vehicle to perform driving behaviors according to the planned vehicle driving route and the driving environment model so as to complete the automatic valet parking and/or calling function (S6). The invention also provides an automatic passenger-assistant parking system for executing the method. According to some embodiments of the invention, the perception decision precision and reliability of the automatic driving vehicle in the scene are effectively improved, so that the personalized requirements and the commercialized landing of different users for automatic passenger-replacing parking are met.
Description
Technical Field
The invention relates to a method for automated valet parking and to an automated valet parking system for carrying out the method.
Background
With the development of basic subjects such as sensors, mobile interconnection, high-performance computing, artificial intelligence and the like, the automatic driving technology has been advanced greatly in recent years. But is limited by the defects of the current key technologies such as environment perception, high-precision positioning, planning control and the like, and the requirements of laws, regulations, information safety and the like, and the full unmanned driving under the open road still cannot be released in a large scale in a short period and realize commercial application. However, in a limited scene such as a parking lot, a port, and a logistics freight yard, since road participants are relatively fixed and the environment is relatively controllable, unmanned driving is becoming a reality in a limited scene such as unmanned logistics and automated valet parking.
From the solution point of view, the automatic passenger-replacing parking is mainly divided into two schemes based on an intelligent field terminal and an intelligent vehicle terminal. The smart-field-side based solution requires that infrastructure such as sensors (e.g., laser radar, cameras, etc.), a central computing unit, and a communication module are pre-installed in a parking lot, and a high-precision map of the parking environment is drawn in advance. When an automatic passenger-replacing parking request is received, the current position of the vehicle and the global environment information (other vehicles, pedestrians, parking spaces, other obstacles and the like) of the parking lot are obtained through the field end sensor and the communication module, then the field end central computing unit is used for planning the information of a target parking space, a global parking route, a current execution signal and the like, and the information is sent to the vehicle end through the communication module, so that the vehicle is guided to finish parking. Different from a solution based on an intelligent field terminal, the automatic passenger-replacing parking scheme based on the intelligent vehicle terminal does not require that the parking lot is provided with basic facilities such as a sensor, a central processing unit and the like in advance, and the vehicle senses and positions the environment of the parking lot through a vehicle-mounted sensor, a parking environment high-precision map drawn in advance and a vehicle terminal computing unit, so that the automatic parking operation is completed. In general, the technical scheme based on the intelligent field terminal and the technical scheme based on the intelligent vehicle terminal need to draw a parking environment high-precision map in advance at the vehicle terminal and keep updating the parking environment high-precision map.
However, in limited scenes, the cost of building an automatic driving infrastructure and mapping is relatively high, so that in order to reduce unit cost, the commercial release is more prone to scenes with heavy traffic, such as public parking lots. However, most of the current vehicle models do not have automatic driving capability, so that the automatic parking application frequency of the automatic parking lot is not high, so that the current automatic passenger-replacing parking is mainly based on demonstration experience, and large-scale commercial operation is not available, thereby further influencing technical iteration to a certain extent. On the other hand, certain vehicle types equipped with automatic driving kits are difficult to find a proper application scene, so that the function use frequency is extremely low, and the enthusiasm of consumers on the automatic driving function is struck to a certain extent, and the commercial landing of the technology is influenced.
Therefore, how to effectively improve the reliability of automatic passenger-replacing parking in the individual home parking scene becomes a ubiquitous technical difficulty at present.
Disclosure of Invention
The invention is based on the object of specifying a method for automated passenger parking and an automated passenger parking system for carrying out the method. The core concept of the invention is that a parking environment map and a driving environment model of the vehicle are created through data acquisition of the parking environment of the vehicle, so that the vehicle is controlled to complete the automatic passenger-replacing parking and/or calling functions. Specifically, it is possible to create not only a parking environment map but also a real-time environment perception regarding the surrounding environment of the current position of the vehicle and a passable area on the traveling route from the collected data of the parking environment, and create a driving environment model from the parking environment map and the real-time environment perception result. Aiming at the defects of high dynamic change of individual home parking environment, high sensing difficulty, high unit map building cost and the like, the method effectively improves the sensing decision precision and reliability of the automatic driving vehicle in the scene, thereby solving the personalized requirements and the commercialized landing of different users on automatic passenger-replacing parking.
According to a first aspect of the present invention, a method for automated valet parking is provided. The method comprises the following steps:
step S1: requesting a user to input information about an automatic valet parking function;
step S2: collecting data for a parking environment of the vehicle based on the inputted information;
step S3: creating a parking environment map of the vehicle according to the data;
step S4: after obtaining a parking environment map, a user inputs an automatic passenger-replacing parking and/or calling instruction;
step S5: planning a driving route of the vehicle and creating a driving environment model of the vehicle according to the input instruction;
step S6: and controlling the vehicle to drive according to the planned vehicle driving route and the driving environment model so as to finish the automatic passenger-replacing parking and/or calling functions.
Optionally, in step S1, the information content input by the user about the automatic valet parking function includes, but is not limited to: it is desirable to enable the geographic location of automated valet parking, the location of getting on and off a vehicle, data usage agreements, user permissions, and the like.
Optionally, in step S4, the user inputs an automated valet parking and/or call instruction through the vehicle-side human machine interface and/or the mobile-side human machine interface. If the user inputs a calling instruction, the calling instruction is sent to a vehicle-end computing and storing unit through an automatic driving background cloud server; and if the user inputs an automatic passenger-replacing parking instruction, the automatic passenger-replacing parking instruction is directly sent to the vehicle-end computing and storing unit, and vehicle state information is synchronized to the automatic driving background cloud server.
Alternatively, in order to implement the creation of the parking environment map of the vehicle from the collected data, the step S3 may include the steps of:
step S301: the collected data are directly and/or processed and then sent to an automatic driving background cloud server;
step S302: the automatic driving background cloud server creates a parking environment map of the vehicle according to the obtained data;
step S303: evaluating the integrity status of the created parking environment map;
step S304: checking whether the integrity state of the parking environment map meets a preset integrity requirement or not;
step S305: if the map integrity requirement is not met, sending a data requirement related to the missing information, and jumping back to the step S301;
step S306: and if the parking environment map meets the preset map integrity requirement, sending the parking environment map to a vehicle end calculating and storing unit, and sending a message that the automatic passenger-replacing parking function is ready to a user.
Optionally, in order to evaluate the functional feasibility of automated valet parking and/or summoning, the method may further include the following steps:
step S401: after a user inputs an automatic passenger-riding parking and/or calling instruction, checking the functional feasibility of automatic passenger-riding parking and/or calling;
step S402: if the function is feasible, entering an automatic passenger-replacing parking and/or calling mode;
step S403: if the function is not available, the user is notified that the automated valet parking and/or summoning function is not complete.
Alternatively, the functional feasibility of the automated valet parking and/or summons can be checked by: the current positions of the vehicle and the user are located, and the current positions of the vehicle and the user are compared with a preset function implementation position range.
Alternatively, in order to implement planning of the driving route of the vehicle and creation of the driving environment model of the vehicle, the step S5 may include the steps of:
step S501: processing the acquired data and positioning the current position of the vehicle according to the processed data;
step S502: planning a driving route of the vehicle according to the parking environment map, the current position of the vehicle and the input target position;
step S503: creating a static environment model of the vehicle surroundings based on the parking environment map;
step S504: the method comprises the steps of carrying out real-time environment perception on the surrounding environment of the current position of a vehicle and a passable area on a driving route, wherein the real-time environment perception result comprises static environment information and dynamic environment information;
step S505: and creating a driving environment model according to the static environment model and the real-time environment perception result.
Optionally, in order to update the parking environment map, the method may further include the steps of:
step S506: updating the static environment information of the parking environment map according to the static environment information in the real-time environment perception result;
step S507: and sending the updated parking environment map to an automatic driving background cloud server.
According to a second aspect of the invention, an automated valet parking system for performing the method is provided. The automatic passenger-replacing parking system comprises the following components:
the system comprises a vehicle end sensor platform, a vehicle body sensor platform and a vehicle body monitoring platform, wherein the vehicle end sensor platform is used for acquiring data of a parking environment of a vehicle;
the vehicle end calculating and storing unit is used for processing and transmitting the acquired data, creating a driving environment model of the vehicle, planning a driving route of the vehicle and controlling the vehicle to finish driving behaviors;
the vehicle-end communication hardware unit is used for data transmission between the automatic driving background cloud server and the vehicle-end computing and storing unit;
the automatic driving background cloud server is used for constructing a parking environment map according to the data;
the human-computer interaction interface is used for inputting user instructions and/or sending messages to the user.
Optionally, the vehicle-end calculating and storing unit includes the following modules:
the system comprises a vehicle end positioning module and a vehicle end map module, wherein the vehicle end positioning module and the vehicle end map module are used for processing acquired data and positioning the current position of a vehicle according to the processed data, the vehicle end positioning module is also used for checking whether a preset function implementation position range is met or not according to the current positions of the vehicle and a user, and the vehicle end map module is also used for creating a static environment model of the surrounding environment of the vehicle according to the current position of the vehicle and a parking environment map;
the vehicle end sensing module is used for processing the acquired data and sensing the environment around the vehicle in real time according to the processed data, and the vehicle end positioning module, the vehicle end map module and the vehicle end sensing module create a driving environment model according to a static environment model and a real-time environment sensing result;
the vehicle-end communication module is used for sending data to the automatic driving background cloud server and/or receiving data from the automatic driving background cloud server;
the vehicle end path planning module is used for planning a driving route of the vehicle according to the parking environment map, the current position of the vehicle and the target position;
and the vehicle end decision and control module is used for controlling the vehicle according to the driving environment model and the planned driving route.
It is to be understood that the modules are only functional modules defined based on functions, not hardware components separately provided.
Optionally, the human-computer interaction interface is a vehicle-end human-computer interaction interface and/or a mobile-end human-computer interaction interface.
Optionally, the vehicle-end sensor platform includes, but is not limited to, a laser radar, a camera, a millimeter wave radar, an ultrasonic radar, a global satellite navigation system, and/or a vehicle state sensor, etc. The vehicle state sensor is, for example, an inertial measurement unit and/or a wheel speed sensor.
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The principles, features and advantages of the present invention may be better understood by describing the invention in more detail below with reference to the accompanying drawings. The figures show:
FIG. 1 illustrates a workflow diagram of a method according to an exemplary embodiment of the invention;
FIG. 2 shows a workflow diagram of a method according to another exemplary embodiment of the invention;
FIG. 3 shows a workflow diagram of a method according to another exemplary embodiment of the invention;
FIG. 4 shows a workflow diagram of a method according to another exemplary embodiment of the invention;
FIG. 5 illustrates an automated valet parking system for performing the method according to the present invention;
fig. 6 is a functional application flow diagram of the automated valet parking system according to the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and exemplary embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
Fig. 1 shows a workflow diagram of a method for automated valet parking according to an exemplary embodiment of the present invention.
In step S1, the user is requested to input information about the automated valet parking function. Here, the information content input by the user includes, but is not limited to: it is desirable to enable the geographic location of automated valet parking, the location of getting on and off a vehicle, data usage agreements, user permissions, and the like.
In step S2, data is collected for the parking environment of the vehicle based on the input information. For example, after the permission of the user is obtained, the automatic passenger-replacing parking system enters a data acquisition mode, and data acquisition is performed on the parking environment through the vehicle-end sensor platform 1. It should be noted that, in the data collection process, a special repeated driving process is not required, but data collection can be performed on the parking environment of the vehicle in a daily commuting process after permission of the user is obtained.
In step S3, a parking environment map of the vehicle is created from the data.
In step S4, after obtaining the parking environment map, the user inputs an automated valet parking and/or summoning instruction. In the method, a user inputs an automatic passenger-replacing parking and/or calling instruction through a vehicle-end human-machine interaction interface and/or a mobile-end human-machine interaction interface. If the user inputs a calling instruction, the calling instruction is sent to a vehicle-end computing and storing unit through an automatic driving background cloud server; and if the user inputs an automatic passenger-replacing parking instruction, the automatic passenger-replacing parking instruction is directly sent to the vehicle-end computing and storing unit, and vehicle state information is synchronized to the automatic driving background cloud server.
In step S5, according to the input instruction, a driving route of the vehicle is planned and a driving environment model of the vehicle is created.
In step S6, the vehicle is controlled to perform driving behavior according to the planned driving route of the vehicle and the driving environment model, so as to complete the automatic valet parking and/or calling function.
Fig. 2 shows a workflow diagram of a method for automated valet parking according to a further exemplary embodiment of the present invention. Only the differences from the embodiment shown in fig. 1 are set forth below, and the description of the same steps is not repeated for the sake of brevity.
Step S3 includes steps S301 to S306 to create a parking environment map of the vehicle.
In step S301, the collected data is directly and/or after being processed, sent to the autopilot background cloud server. Here, the data collected by the vehicle-end sensor platform 1 may be sent to the autopilot background cloud server 9 in a raw data format. Or the acquired data may be preprocessed and the required data is extracted, and then the extracted data is sent to the autopilot background cloud server 9. In order to ensure the normal automatic driving function of the vehicle and avoid the occupation of computing resources by vehicle-end data preprocessing and data uploading, the vehicle-end calculating and storing unit 2 judges the use state of the vehicle and starts the data processing and uploading function only in the night parking state for a long time.
In step S302, the automated driving back office cloud server 9 creates a parking environment map of the vehicle from the obtained data.
Next, the integrity status of the created parking environment map is evaluated in step S303, and it is checked in step S304 whether the integrity status of the parking environment map meets a preset map integrity requirement. If the map integrity requirement is not met, sending a data requirement about missing information in step S305, and jumping back to step S301; if the preset integrity requirement is met, in step S306, the parking environment map is sent to the vehicle-side calculation and storage unit 2, and a message that the automatic valet parking function is ready is sent to the user.
Fig. 3 shows a workflow diagram of a method for automated valet parking according to a further exemplary embodiment of the present invention. Only the differences from the embodiment shown in fig. 1 are set forth below, and the description of the same steps is not repeated for the sake of brevity.
In step S401 following step S4, after the user inputs the automated valet parking and/or summoning instruction, the functional feasibility of automated valet parking and/or summoning is checked. If the function is available, entering an automatic valet parking and/or calling mode in step S402; if the function is not available, the user is notified in step S403 that the auto valet parking and/or summoning function is not yet complete.
In this case, the functional feasibility of the automated valet parking and/or summons can be checked by: the current positions of the vehicle and the user are located, and the current positions of the vehicle and the user are compared with a preset function implementation position range.
Fig. 4 shows a workflow diagram of a method for automated valet parking according to a further exemplary embodiment of the present invention. Only the differences from the embodiment shown in fig. 1 are set forth below, and the description of the same steps is not repeated for the sake of brevity.
Step S5 includes steps S501 to S505 to implement planning of a driving route of the vehicle according to the input instruction and creation of a driving environment model of the vehicle.
In step S501, the acquired data is processed and the current position of the vehicle is located according to the processed data.
Next, in step S502, a travel route of the vehicle is planned according to the parking environment map, the current position of the vehicle, and the input target position.
In step S503, a static environment model of the vehicle surroundings is created based on the parking environment map.
In step S504, real-time environment sensing is performed on the surroundings of the current position of the vehicle and the passable area on the driving route, wherein the real-time environment sensing result includes static environment information and dynamic environment information.
In step S505, a driving environment model is created from the static environment model and the real-time environment sensing result.
Further, in order to update the parking environment map, the static environment information of the parking environment map is updated according to the static environment information in the real-time environment sensing result in step S506. Finally, in step S507, the updated parking environment map is transmitted to the automated driving background cloud server.
In addition, it should be noted that the sequence numbers of the steps described herein do not necessarily represent a sequential order, but merely one kind of reference numeral, and the order may be changed according to circumstances as long as the technical object of the present invention can be achieved.
Fig. 5 shows an automated valet parking system according to the invention for carrying out the method. The automatic passenger-replacing parking system comprises the following components: the system comprises a vehicle end sensor platform 1, a vehicle end sensor platform and a vehicle body, wherein the vehicle end sensor platform 1 is used for acquiring data of a parking environment of a vehicle; the vehicle end calculating and storing unit 2 is used for processing and transmitting the acquired data, creating a driving environment model of the vehicle, planning a driving route of the vehicle and controlling the vehicle to finish driving behaviors; the vehicle-end communication hardware unit 11 is used for data transmission between the automatic driving background cloud server 9 and the vehicle-end computing and storing unit 2; the automatic driving background cloud server 9 is used for constructing a parking environment map according to the automatic driving background cloud server 9; a human-computer interaction interface 10, wherein the human-computer interaction interface 10 is used for inputting user instructions and/or sending messages to a user.
The human-machine interaction interface 10 can be a vehicle-end human-machine interaction interface and/or a mobile-end human-machine interaction interface.
The vehicle-end sensor platform 1 includes, but is not limited to, a laser radar 104, a camera 103, a millimeter wave radar 102, an ultrasonic radar 101, a global satellite navigation system 105, and/or a vehicle state sensor, etc. The vehicle state sensor is, for example, an inertial measurement unit and/or a wheel speed sensor.
Further, the vehicle-end calculating and storing unit 2 includes the following modules: the system comprises a vehicle end positioning module 3, a vehicle end map module 5, a vehicle end sensing module 4, a vehicle end communication module 8, a vehicle end path planning module 6 and a vehicle end decision and control module 7.
The functions of the various modules of the vehicle-end computing and storage unit 2 are described in detail below in conjunction with fig. 6. Fig. 6 is a functional application flow diagram of the automated valet parking system according to the present invention.
The vehicle end positioning module 3 and the vehicle end map module 5 process the acquired data and position the current position of the vehicle according to the processed data. The vehicle-end positioning module 3 may also check whether a preset function implementation position range is present according to the current positions of the vehicle and the user. The vehicle-end map module 5 may also create a static environment model of the vehicle surroundings according to the current position of the vehicle and the parking environment map.
The vehicle-end sensing module 4 processes the acquired data and senses the environment around the vehicle in real time according to the processed data. The vehicle end positioning module 3, the vehicle end map module 5 and the vehicle end sensing module 4 create a driving environment model according to a static environment model and a real-time environment sensing result.
The vehicle end path planning module 6 plans a driving route of the vehicle according to the parking environment map, the current position of the vehicle and the target position.
And the vehicle end decision and control module 7 is used for controlling the vehicle according to the driving environment model and the planned driving route.
The vehicle-end communication module 8 sends data to the automatic driving background cloud server 9 and/or receives data from the automatic driving background cloud server 9 through the vehicle-end communication hardware unit 11.
Although specific embodiments of the invention have been described herein in detail, they have been presented for purposes of illustration only and are not to be construed as limiting the scope of the invention. Various alternatives and modifications can be devised without departing from the spirit and scope of the present invention.
Claims (10)
1. A method for automated valet parking, the method comprising the steps of:
step S1: requesting a user to input information about an automatic valet parking function;
step S2: collecting data for a parking environment of the vehicle based on the inputted information;
step S3: creating a parking environment map of the vehicle according to the data;
step S4: after obtaining a parking environment map, a user inputs an automatic passenger-replacing parking and/or calling instruction;
step S5: planning a driving route of the vehicle and creating a driving environment model of the vehicle according to the input instruction;
step S6: and controlling the vehicle to drive according to the planned vehicle driving route and the driving environment model so as to finish the automatic passenger-replacing parking and/or calling functions.
2. The method according to claim 1, wherein the step S3 comprises the steps of:
step S301: the collected data are directly and/or processed and then sent to an automatic driving background cloud server (9);
step S302: the automatic driving background cloud server (9) creates a parking environment map of the vehicle according to the obtained data;
step S303: evaluating the integrity status of the created parking environment map;
step S304: checking whether the integrity state of the parking environment map meets a preset map integrity requirement or not;
step S305: if the map integrity requirement is not met, sending a data requirement related to the missing information, and jumping back to the step S301;
step S306: and if the parking environment map meets the preset map integrity requirement, sending the parking environment map to a vehicle end calculating and storing unit (2), and sending a message that the automatic passenger-replacing parking function is ready to the user.
3. Method according to any of the preceding claims, characterized in that it further comprises the steps of:
step S401: after a user inputs an automatic passenger-riding parking and/or calling instruction, checking the functional feasibility of automatic passenger-riding parking and/or calling;
step S402: if the function is feasible, entering an automatic passenger-replacing parking and/or calling mode;
step S403: if the function is not available, the user is notified that the automated valet parking and/or summoning function is not complete.
4. Method according to any of the preceding claims, characterized in that in step S401 the checking of the functional feasibility of automated valet parking and/or summoning is carried out by: the current positions of the vehicle and the user are located, and the current positions of the vehicle and the user are compared with a preset function implementation position range.
5. Method according to any of the preceding claims, characterized in that said step S5 comprises the steps of:
step S501: processing the acquired data and positioning the current position of the vehicle according to the processed data;
step S502: planning a vehicle driving route according to the parking environment map, the current position of the vehicle and the input target position;
step S503: creating a static environment model of the vehicle surroundings based on the parking environment map;
step S504: the method comprises the steps of carrying out real-time environment perception on the surrounding environment of the current position of a vehicle and a passable area on a driving route, wherein the real-time environment perception result comprises static environment information and dynamic environment information;
step S505: creating a driving environment model according to the static environment model and the real-time environment sensing result;
step S506: updating the static environment information of the parking environment map according to the static environment information in the real-time environment perception result;
step S507: sending the updated parking environment map to an autopilot background cloud server (9).
6. The method according to any one of the preceding claims, wherein in step S1, the information content input by the user about the automated valet parking function includes, but is not limited to: it is desirable to enable the geographic location of automated valet parking, the location of getting on and off a vehicle, data usage agreements, user permissions, and the like.
7. The method according to any one of the preceding claims, wherein in step S4, the user inputs an automated valet parking and/or summoning instruction through the vehicle-side human machine interface and/or the mobile-side human machine interface, wherein if the user inputs a summoning instruction, the summoning instruction is sent to the vehicle-side computing and storing unit (2) through the automated driving back-office cloud server (9), and if the user inputs an automated valet parking instruction, the automated valet parking instruction is directly sent to the vehicle-side computing and storing unit (2), and vehicle state information is synchronized to the automated driving back-office cloud server (9).
8. An automated valet parking system for performing the method, comprising:
the vehicle-end sensor platform (1), wherein the vehicle-end sensor platform (1) is used for acquiring data of a parking environment of a vehicle;
the vehicle end calculating and storing unit (2) is used for processing and transmitting the acquired data, creating a driving environment model of the vehicle, planning a driving route of the vehicle and controlling the vehicle to finish driving behaviors;
the vehicle-end communication hardware unit (11), wherein the vehicle-end communication hardware unit (11) is used for data transmission between the automatic driving background cloud server (9) and the vehicle-end computing and storing unit (2);
the automatic driving background cloud server (9), wherein the automatic driving background cloud server (9) is used for constructing a parking environment map according to data;
a human-machine interaction interface (10), the human-machine interaction interface (10) being used for inputting user instructions and/or sending messages to a user.
9. The automated valet parking system according to claim 8, wherein the vehicle-side calculation and storage unit (2) comprises the following modules:
the system comprises a vehicle end positioning module (3) and a vehicle end map module (5), wherein the vehicle end positioning module (3) and the vehicle end map module (5) are used for processing acquired data and positioning the current position of a vehicle according to the processed data, the vehicle end positioning module (3) is also used for checking whether the current positions of the vehicle and a user meet a preset function implementation position range or not according to the current positions of the vehicle and the user, and the vehicle end map module (5) is also used for creating a static environment model of the surrounding environment of the vehicle according to the current position of the vehicle and a parking environment map;
the vehicle end sensing module (4) is used for processing the acquired data and sensing the environment around the vehicle in real time according to the processed data, and the vehicle end positioning module (3), the vehicle end map module (5) and the vehicle end sensing module (4) establish a driving environment model according to a static environment model and a real-time environment sensing result;
the vehicle-end communication module (8) is used for sending data to the automatic driving background cloud server (9) and/or receiving data from the automatic driving background cloud server (9) through the vehicle-end communication hardware unit (11);
the vehicle end path planning module (6) is used for planning a vehicle driving route according to a parking environment map, the current position of the vehicle and a target position;
and the vehicle end decision and control module (7) is used for controlling the vehicle according to the driving environment model and the planned driving route.
10. The automated valet parking system according to claim 8 or 9, wherein the human machine interface (10) is a vehicle-end human machine interface and/or a mobile-end human machine interface; and/or
The vehicle-end sensor platform (1) comprises, but is not limited to, a laser radar (104), a camera (103), a millimeter wave radar (102), an ultrasonic radar (101), a global satellite navigation system (105), and/or a vehicle state sensor, such as an inertial measurement unit and/or a wheel speed sensor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114141043A (en) * | 2021-12-06 | 2022-03-04 | 广东飞翔云计算有限公司 | Automatic passenger-riding-substituting parking demand prediction method and device based on big data |
| CN114228702A (en) * | 2021-11-30 | 2022-03-25 | 江铃汽车股份有限公司 | Passenger-riding parking method and device, storage medium and vehicle |
| CN114348010A (en) * | 2021-12-15 | 2022-04-15 | 华人运通(上海)自动驾驶科技有限公司 | Parking scoring system and vehicle |
| CN114545812A (en) * | 2021-12-15 | 2022-05-27 | 株式会社Iat | Remote vehicle driving method and system |
| CN114802215A (en) * | 2022-05-31 | 2022-07-29 | 重庆长安汽车股份有限公司 | Automatic parking system and method based on calculation force sharing and edge calculation |
| CN114937369A (en) * | 2022-04-06 | 2022-08-23 | 福思(杭州)智能科技有限公司 | Autonomous valet parking method, system, vehicle, parking lot terminal, device and medium |
| CN115460243A (en) * | 2022-08-30 | 2022-12-09 | 重庆长安汽车股份有限公司 | Remote driving receiving method, system and computer readable storage medium |
| CN116105761A (en) * | 2023-04-07 | 2023-05-12 | 禾多科技（北京）有限公司 | Method and device for determining travel path, storage medium and electronic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114228702A (en) * | 2021-11-30 | 2022-03-25 | 江铃汽车股份有限公司 | Passenger-riding parking method and device, storage medium and vehicle |
| CN114228702B (en) * | 2021-11-30 | 2024-01-26 | 江铃汽车股份有限公司 | Method and device for parking passengers, storage medium and vehicle |
| CN114141043A (en) * | 2021-12-06 | 2022-03-04 | 广东飞翔云计算有限公司 | Automatic passenger-riding-substituting parking demand prediction method and device based on big data |
| CN114141043B (en) * | 2021-12-06 | 2023-04-07 | 广东飞翔云计算有限公司 | Automatic passenger-riding-substituting parking demand prediction method and device based on big data |
| CN114348010A (en) * | 2021-12-15 | 2022-04-15 | 华人运通(上海)自动驾驶科技有限公司 | Parking scoring system and vehicle |
| CN114545812A (en) * | 2021-12-15 | 2022-05-27 | 株式会社Iat | Remote vehicle driving method and system |
| CN114937369A (en) * | 2022-04-06 | 2022-08-23 | 福思(杭州)智能科技有限公司 | Autonomous valet parking method, system, vehicle, parking lot terminal, device and medium |
| CN114802215A (en) * | 2022-05-31 | 2022-07-29 | 重庆长安汽车股份有限公司 | Automatic parking system and method based on calculation force sharing and edge calculation |
| CN114802215B (en) * | 2022-05-31 | 2024-04-19 | 重庆长安汽车股份有限公司 | Automatic parking system and method based on calculation force sharing and edge calculation |
| CN115460243A (en) * | 2022-08-30 | 2022-12-09 | 重庆长安汽车股份有限公司 | Remote driving receiving method, system and computer readable storage medium |
| CN116105761A (en) * | 2023-04-07 | 2023-05-12 | 禾多科技（北京）有限公司 | Method and device for determining travel path, storage medium and electronic device |
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