阅读说明：本技术 一种泊车控制方法、装置、控制设备及汽车 (Parking control method and device, control equipment and automobile ) 是由 韩智强 张友焕 王雪莹 于 2020-05-29 设计创作，主要内容包括：本发明提供一种泊车控制方法、装置、控制设备及汽车,泊车控制方法包括：获取车辆的GPS信号；根据GPS信号识别目标停车场；在车辆距离所述目标停车场的入口坐标为第一预设距离时,调用目标停车场所对应的第一地图；在距离所述目标停车场的入口坐标为第二预设距离时,开启Vslam功能,根据第一地图对所述车辆进行初始定位；在目标停车场的环境特征信息充足时,利用Vslam功能进行车辆自身定位和泊车路径识别,控制车辆完成泊车。本方案采用GPS信号确认停车场；采用360环视系统的摄像头数据实现视觉导航定位；采用IMU六轴信息和轮速脉冲信号,利用车辆运动学模型做车辆位置预估,完成代客泊车,无需新增传感器,可节约成本。(The invention provides a parking control method, a parking control device and an automobile, wherein the parking control method comprises the following steps: acquiring a GPS signal of a vehicle; identifying a target parking lot according to the GPS signal; calling a first map corresponding to a target parking place when the vehicle is at a first preset distance from the entrance coordinate of the target parking lot; when the entrance coordinate of the target parking lot is a second preset distance, starting a Vslam function, and initially positioning the vehicle according to a first map; when the environmental characteristic information of the target parking lot is sufficient, the Vslam function is used for positioning the vehicle and identifying the parking path, and the vehicle is controlled to finish parking. The scheme adopts GPS signals to confirm the parking lot; the camera data of the 360-degree look-around system is adopted to realize visual navigation positioning; by adopting IMU six-axis information and wheel speed pulse signals and utilizing a vehicle kinematics model to predict the vehicle position, the passenger-substitute parking is completed without adding a new sensor, and the cost can be saved.)

1. A parking control method characterized by comprising:

acquiring a Global Positioning System (GPS) signal of a vehicle;

identifying a target parking lot according to the GPS signal;

calling a first map corresponding to the target parking place when the vehicle is at a first preset distance from the entrance coordinate of the target parking lot;

starting a visual navigation Vslam function when the vehicle is at a second preset distance from the entrance coordinate of the target parking lot, and initially positioning the vehicle according to the first map; wherein the second preset distance is smaller than the first preset distance;

and when the environmental characteristic information of the target parking lot is sufficient, utilizing the Vslam function to perform vehicle self-positioning and parking path identification, and controlling the vehicle to finish parking.

2. The vehicle parking control method according to claim 1, wherein the identifying a target parking lot based on the GPS signal includes:

obtaining a first coordinate of the current position of the vehicle according to the GPS signal;

comparing the first coordinate with parking lot data prestored in the vehicle; the parking lot data comprises entrance coordinates of a plurality of parking lots supporting the function of passenger parking;

and when the distance between one of the entrance coordinates and the first coordinate is smaller than a preset value, identifying the parking lot corresponding to the entrance coordinate as a target parking lot.

3. The parking control method according to claim 1 or 2, characterized by further comprising:

when the environmental characteristic information of the target parking lot is insufficient, acquiring six-axis information of an Inertial Measurement Unit (IMU) and a wheel speed pulse signal of the vehicle;

according to the IMU six-axis information and the wheel speed pulse signal, positioning the vehicle per se;

carrying out parking space search by utilizing ultrasonic waves and a look-around camera;

and controlling the vehicle to finish parking according to the self positioning result and the parking space searching result of the vehicle.

4. The parking control method according to claim 1, wherein after the controlling the vehicle to complete parking, the parking control method further comprises:

and when the vehicle is powered off, storing the positioning result of the current position of the vehicle.

5. The parking control method according to claim 4, characterized by further comprising:

when remote calling information is received, utilizing the Vslam function to position the vehicle;

when the positioning is successful, starting a remote calling function; when the positioning fails, reading the positioning result stored when the vehicle is powered off and starting a remote calling function;

and controlling the vehicle to reach a target site according to the remote calling information and the positioning result.

6. A parking control apparatus, characterized by comprising:

the signal acquisition module is used for acquiring a Global Positioning System (GPS) signal of the vehicle;

the parking lot identification module is used for identifying a target parking lot according to the GPS signal;

the map calling module is used for calling a first map corresponding to the target parking place when the vehicle is at a first preset distance from the entrance coordinate of the target parking lot;

the initial positioning module is used for starting a visual navigation Vslam function when the vehicle is at a second preset distance from the entrance coordinate of the target parking lot, and initially positioning the vehicle according to the first map; wherein the second preset distance is smaller than the first preset distance;

and the parking control module is used for positioning the vehicle and identifying a parking path by utilizing the Vslam function when the environmental characteristic information of the target parking lot is sufficient, and controlling the vehicle to finish parking.

7. The parking control apparatus according to claim 6, wherein the yard identification module includes:

the coordinate acquisition unit is used for acquiring a first coordinate of the current position of the vehicle according to the GPS signal;

the data comparison unit is used for comparing the first coordinate with parking lot data prestored in the vehicle; the parking lot data comprises entrance coordinates of a plurality of parking lots supporting the function of passenger parking;

and the parking lot identification unit is used for identifying a parking lot corresponding to one of the entrance coordinates as a target parking lot when the distance between the one of the entrance coordinates and the first coordinate is smaller than a preset value.

8. The parking control apparatus according to claim 6 or 7, characterized by further comprising:

the data acquisition module is used for acquiring inertial measurement unit IMU six-axis information and a wheel speed pulse signal of the vehicle when the environmental characteristic information of the target parking lot is insufficient;

the first positioning module is used for positioning the vehicle according to the IMU six-axis information and the wheel speed pulse signal;

the parking space searching module is used for searching parking spaces by utilizing ultrasonic waves and the look-around camera;

and the first control module is used for controlling the vehicle to finish parking according to the self positioning result and the parking space searching result of the vehicle.

9. The parking control apparatus according to claim 6, further comprising:

and the result storage module is used for storing the positioning result of the current position of the vehicle when the vehicle is powered off.

10. The parking control apparatus according to claim 9, characterized by further comprising:

the second positioning module is used for positioning the vehicle by utilizing the Vslam function when remote calling information is received;

the result reading module is used for starting a remote calling function when the positioning is successful; when the positioning fails, reading the positioning result stored when the vehicle is powered off and starting a remote calling function;

and the third control module is used for controlling the vehicle to reach the target site according to the remote calling information and the positioning result.

11. A control device comprising a memory, a processor, and a program stored on the memory and executable on the processor; characterized in that the processor implements the parking control method according to any one of claims 1 to 5 when executing the program.

12. A vehicle characterized by comprising the parking control apparatus according to any one of claims 6 to 10.

Technical Field

The invention relates to the field of automobiles, in particular to a parking control method, a parking control device, parking control equipment and an automobile.

Background

With the rise of intelligent driving business, the intelligent parking technology is gradually popularized and accepted by the majority of users, and the passenger parking is paid more and more attention and attention on the basis. The passenger-replacing parking is the development direction of intelligent parking, is also the basis for realizing the unmanned technology, provides a solution for intelligently driving a 'driving terminal', effectively reduces the parking difficulty, saves the parking time and improves the parking experience of users. With respect to the future development trend of the parking system, the parking system is bound to develop towards a more intelligent passenger-assistant parking system.

Aiming at the realization scene of the passenger car parking, how to solve the problem of autonomous vehicle positioning of the vehicle in an open parking lot or an underground single-layer/multi-layer parking lot is the key for ensuring the normal use of the function.

The following problems are urgently solved:

firstly, the conventional Global Positioning System (GPS) and Real-time kinematic (RTK) differential Positioning method cannot solve the problem that there is no signal in the underground parking lot and affect the vehicle shape.

Secondly, an Ultra Wide Band (UWB) positioning scheme is adopted, a base station needs to be built at a parking lot end, the equipment cost is high, and large-scale mass production is not facilitated.

Disclosure of Invention

The embodiment of the invention provides a parking control method, a parking control device and an automobile, which are used for solving the problem that the automatic parking of the automobile in the prior art is difficult to independently position.

In order to solve the technical problems, the invention adopts the following technical scheme:

according to an aspect of the present invention, there is provided a parking control method including:

acquiring a Global Positioning System (GPS) signal of a vehicle;

identifying a target parking lot according to the GPS signal;

calling a first map corresponding to the target parking place when the vehicle is at a first preset distance from the entrance coordinate of the target parking lot;

starting a visual navigation Vslam function when the vehicle is at a second preset distance from the entrance coordinate of the target parking lot, and initially positioning the vehicle according to the first map; wherein the second preset distance is smaller than the first preset distance;

and when the environmental characteristic information of the target parking lot is sufficient, utilizing the Vslam function to perform vehicle self-positioning and parking path identification, and controlling the vehicle to finish parking.

Optionally, the identifying a target parking lot according to the GPS signal includes:

obtaining a first coordinate of the current position of the vehicle according to the GPS signal;

comparing the first coordinate with parking lot data prestored in the vehicle; the parking lot data comprises entrance coordinates of a plurality of parking lots supporting the function of passenger parking;

and when the distance between one of the entrance coordinates and the first coordinate is smaller than a preset value, identifying the parking lot corresponding to the entrance coordinate as a target parking lot.

Optionally, the parking control method further includes:

when the environmental characteristic information of the target parking lot is insufficient, acquiring six-axis information of an Inertial Measurement Unit (IMU) and a wheel speed pulse signal of the vehicle;

according to the IMU six-axis information and the wheel speed pulse signal, positioning the vehicle per se;

carrying out parking space search by utilizing ultrasonic waves and a look-around camera;

and controlling the vehicle to finish parking according to the self positioning result and the parking space searching result of the vehicle.

Optionally, after the controlling the vehicle to complete parking, the parking control method further includes:

and when the vehicle is powered off, storing the positioning result of the current position of the vehicle.

Optionally, the parking control method further includes:

when remote calling information is received, utilizing the Vslam function to position the vehicle;

when the positioning is successful, starting a remote calling function; when the positioning fails, reading the positioning result stored when the vehicle is powered off and starting a remote calling function;

and controlling the vehicle to reach a target site according to the remote calling information and the positioning result.

According to another aspect of the present invention, there is provided a parking control apparatus including:

the signal acquisition module is used for acquiring a Global Positioning System (GPS) signal of the vehicle;

the parking lot identification module is used for identifying a target parking lot according to the GPS signal;

the map calling module is used for calling a first map corresponding to the target parking place when the vehicle is at a first preset distance from the entrance coordinate of the target parking lot;

the initial positioning module is used for starting a visual navigation Vslam function when the vehicle is at a second preset distance from the entrance coordinate of the target parking lot, and initially positioning the vehicle according to the first map; wherein the second preset distance is smaller than the first preset distance;

and the parking control module is used for positioning the vehicle and identifying a parking path by utilizing the Vslam function when the environmental characteristic information of the target parking lot is sufficient, and controlling the vehicle to finish parking.

Optionally, the yard identification module comprises:

the coordinate acquisition unit is used for acquiring a first coordinate of the current position of the vehicle according to the GPS signal;

the data comparison unit is used for comparing the first coordinate with parking lot data prestored in the vehicle; the parking lot data comprises entrance coordinates of a plurality of parking lots supporting the function of passenger parking;

and the parking lot identification unit is used for identifying a parking lot corresponding to one of the entrance coordinates as a target parking lot when the distance between the one of the entrance coordinates and the first coordinate is smaller than a preset value.

Optionally, the parking control apparatus further includes:

the data acquisition module is used for acquiring inertial measurement unit IMU six-axis information and a wheel speed pulse signal of the vehicle when the environmental characteristic information of the target parking lot is insufficient;

the first positioning module is used for positioning the vehicle according to the IMU six-axis information and the wheel speed pulse signal;

the parking space searching module is used for searching parking spaces by utilizing ultrasonic waves and the look-around camera;

and the first control module is used for controlling the vehicle to finish parking according to the self positioning result and the parking space searching result of the vehicle.

Optionally, the parking control apparatus further includes:

and the result storage module is used for storing the positioning result of the current position of the vehicle when the vehicle is powered off.

Optionally, the parking control apparatus further includes:

the second positioning module is used for positioning the vehicle by utilizing the Vslam function when remote calling information is received;

the result reading module is used for starting a remote calling function when the positioning is successful; when the positioning fails, reading the positioning result stored when the vehicle is powered off and starting a remote calling function;

and the third control module is used for controlling the vehicle to reach the target site according to the remote calling information and the positioning result.

According to another aspect of the present invention, there is provided a control apparatus comprising a memory, a processor, and a program stored on the memory and executable on the processor; the processor implements the parking control method as described above when executing the program.

According to another aspect of the present invention, there is provided an automobile including the parking control apparatus as described above.

The invention has the beneficial effects that:

according to the scheme, the GPS signal of the vehicle navigation host is adopted to complete the confirmation of the specific parking lot; the method comprises the steps of adopting camera data of a 360-degree look-around system to realize Visual navigation And Mapping (Vslam for short) positioning; the method comprises the steps of adopting six-axis information of an Inertial Measurement Unit (IMU) at a Telematics system (T-BOX) end of a vehicle end and a wheel speed pulse signal, utilizing a vehicle kinematics model to estimate the position of a vehicle, and completing the self-positioning of the vehicle parked by a passenger on the basis of the positioning strategy. All sensors of the scheme do not need to be newly added, all adopt original vehicle signals, and effectively save development cost.

Drawings

FIG. 1 is a schematic diagram illustrating a parking control method according to an embodiment of the present invention;

fig. 2 is a schematic view of a parking control apparatus according to an embodiment of the present invention;

fig. 3 is a flowchart illustrating a parking control method according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

The invention provides a parking control method, a parking control device, parking control equipment and an automobile, aiming at the problem that the autonomous positioning of the automobile is difficult during automatic parking.

As shown in fig. 1, one embodiment of the present invention provides a parking control method, including:

s11: acquiring a Global Positioning System (GPS) signal of a vehicle;

s12: identifying a target parking lot according to the GPS signal;

s13: and calling a first map corresponding to the target parking place when the vehicle is at a first preset distance from the entrance coordinate of the target parking lot.

The parking control method can be realized by a passenger parking system of a vehicle, and the first map is a high-precision map. Specifically, a high-precision map provided by a first-level quality map surveying and mapping supplier can be adopted, and an ADASIS V3 interface is adopted to realize the communication between the valet parking system and the first map, so that the valet parking system can clearly determine semantic information required by vehicle positioning. In the normal running process of the vehicle after being electrified, the passenger-riding parking system can read the GPS signal in real time, so that whether the vehicle reaches a parking lot capable of supporting the passenger-riding parking is judged according to the GPS signal, namely, a target parking lot supporting the passenger-riding parking is identified.

Specifically, the step of identifying the target parking lot according to the GPS signal includes:

obtaining a first coordinate of the current position of the vehicle according to the GPS signal;

comparing the first coordinate with parking lot data prestored in the vehicle; the parking lot data comprises entrance coordinates of a plurality of parking lots supporting the function of passenger parking;

and when the distance between one of the entrance coordinates and the first coordinate is smaller than a preset value, identifying the parking lot corresponding to the entrance coordinate as a target parking lot.

Specifically, a plurality of pieces of parking lot data including high-precision maps of parking lots and entrance coordinates of the parking lots may be stored in advance in a map box of the vehicle. During the vehicle running process, the coordinates of the current position of the vehicle can be obtained according to the GPS signals, so that the coordinates are compared with the coordinates of the entrance of the parking lot prestored in the vehicle; when the distance between one of the entrance coordinates and the first coordinate is smaller than a preset value, the vehicle is close to a parking lot supporting the function of passenger car parking instead of the original parking lot, and the parking lot can be positioned at a target parking lot, so that the identification process of the target parking lot is realized.

It should be further noted that, after the target parking lot is successfully identified, when the vehicle reaches a range within a first preset distance from the entrance of the target parking lot (i.e., the entrance coordinates of the target parking lot), the high-precision map of the target parking lot, which is already stored in the map box, is called to complete map matching; wherein, the first preset distance is a standard quantity.

In the above process, the high-precision map is usually laser point cloud information, the Vslam is visual information, and positioning of the Vslam under the high-precision map condition can be realized by adopting a method of normalizing to semantic information, and is not limited to positioning under the environment of Vslam self-mapping, so that the Vslam is promoted to mass production.

S14: starting a visual navigation Vslam function when the vehicle is at a second preset distance from the entrance coordinate of the target parking lot, and initially positioning the vehicle according to the first map; wherein the second preset distance is smaller than the first preset distance.

It should be noted that, in order to avoid that the initial positioning cannot be completed due to insufficient characteristic information of the surrounding environment of the vehicle (i.e. too few characteristics of the surrounding environment) when the vehicle reaches the interior of the parking lot, the Vslam is automatically turned on by the background of the vehicle system for positioning when the vehicle is at a second preset distance from the entrance of the parking lot (i.e. the entrance coordinates of the target parking lot). And confirming that the initial positioning is successful, starting the valet parking function, and carrying out Vslam positioning in real time. The Vslam positioning is started by the background, and the success rate and the timeliness of initial positioning can be guaranteed.

S15: and when the environmental characteristic information of the target parking lot is sufficient, utilizing the Vslam function to perform vehicle self-positioning and parking path identification, and controlling the vehicle to finish parking.

It should be noted that, under normal conditions, when the environmental characteristic information of the target parking lot is sufficient, that is, the semantic information is sufficient, the vehicle can smoothly complete parking; when the vehicle runs in the parking lot and Vslam positioning fails due to insufficient semantic information, vehicle positioning can be completed within a certain range by utilizing vehicle IMU six-axis information and a wheel speed pulse signal and adopting a vehicle kinematics model.

Specifically, when the environmental characteristic information of the target parking lot is insufficient, the six-axis information and the wheel speed pulse signal of the inertial measurement unit IMU of the vehicle can be acquired;

and positioning the vehicle according to the IMU six-axis information and the wheel speed pulse signal.

It should be noted that the vehicle may use a vehicle kinematic model to position itself according to the IMU six-axis information and the wheel speed pulse signal.

Carrying out parking space search by utilizing ultrasonic waves and a look-around camera;

and controlling the vehicle to finish parking according to the self positioning result and the parking space searching result of the vehicle.

It should be noted that, when the semantic information is too little in the parking lot (i.e. the features of the surrounding environment of the vehicle for the camera to recognize are too little), the vehicle position can be estimated based on the kinematics model by using the six-axis information of the IMU and the wheel speed pulse signal, so as to avoid the loss of the vehicle self-positioning; the parking space can be searched by utilizing the ultrasonic radar system and the look-around system, a local coordinate system taking the vehicle end as the center is established, the positioning of the vehicle in the local coordinate system is completed, and the parking is further completed smoothly.

In the process, the parking space search can be completed by utilizing ultrasonic waves and a look-around camera, a local coordinate system with the vehicle as an origin is established, and the positioning of the vehicle in the local coordinate system is completed; and when the semantic information in the driving environment is sufficient, the correction of vehicle positioning can be automatically completed, so that the Vslam function is utilized to perform vehicle self-positioning and parking path recognition, and the vehicle is controlled to complete parking. Specifically, the parking trajectory planning and trajectory following, that is, the parking path recognition, may be performed by using the vehicle positioning result obtained through the Vslam function and the parking space information obtained through sensing, so as to control the vehicle to complete parking.

Optionally, after the controlling the vehicle to complete parking, the parking control method further includes:

and when the vehicle is powered off, storing the positioning result of the current position of the vehicle.

After parking is completed, the vehicle is powered off, and the positioning result obtained when parking is completed can be stored in a charged Erasable Programmable read only memory (EEPROM). By the mode of storing the Vslam positioning result in the power-off mode, when the vehicle cannot finish initial positioning under the condition of three-side blocking, the vehicle positioning result stored in the previous power-on period can be read, and therefore the initial positioning of the vehicle can be finished smoothly.

Optionally, the parking control method further includes:

when remote calling information is received, utilizing the Vslam function to position the vehicle;

when the positioning is successful, starting a remote calling function; when the positioning fails, reading the positioning result stored when the vehicle is powered off and starting a remote calling function;

and controlling the vehicle to reach a target site according to the remote calling information and the positioning result.

Specifically, when the remote call is started by the owner of the vehicle, the situation that the initial positioning cannot be completed due to the fact that other barrier vehicles block the two sides of the vehicle may exist, the positioning result stored when the power is off is read, the call function of the vehicle is started, the Vslam is positioned in real time, the vehicle is controlled to reach the target point, and the call is completed.

The following description will be made in conjunction with a flow of a parking control method according to an embodiment of the present invention, as shown in fig. 3:

s301: acquiring a GPS signal of a vehicle in real time;

s302: judging that the vehicle arrives at a parking lot which can support passenger parking, namely identifying a target parking lot according to the GPS signal; if yes, executing S303; otherwise, executing S301;

s303: calling high-precision map data of the target parking lot to complete matching; calling a first map corresponding to the target parking place when the vehicle is at a first preset distance from the entrance coordinate of the target parking lot;

s304: starting Vslam positioning at a background outside a target parking lot, wherein the initial positioning is successful; when the vehicle is at a second preset distance from the entrance coordinate of the target parking lot, starting a visual navigation Vslam function, and initially positioning the vehicle according to the first map;

s305: the valet parking function is started, and Vslam positioning is carried out in real time; namely, the Vslam function is utilized to carry out vehicle self-positioning and parking path identification;

s306: judging whether the semantic information is sufficient, namely determining the manner of positioning the vehicle according to the environmental characteristic information of the target parking lot; if yes, go to S307; otherwise, executing S309;

s307: positioning Vslam in real time, and finishing parking; the Vslam function is utilized to carry out vehicle self-positioning and parking path identification, and the vehicle is controlled to finish parking;

s308: when the vehicle is powered off, the positioning result is stored in the EEPROM; namely, when the vehicle is powered off, the positioning result of the current position of the vehicle is stored.

S309: the vehicle kinematic model utilizes IMU and wheel speed pulse signal to complete the position estimation of the vehicle in a certain range; acquiring six-axis information and a wheel speed pulse signal of the vehicle; according to the IMU six-axis information and the wheel speed pulse signal, positioning the vehicle per se;

s310: judging whether the semantic information is sufficient; if yes, go to step S311; otherwise, go to S312;

s311: positioning and correcting; namely, the Vslam function is utilized to position the vehicle;

s312: the parking space search is realized by utilizing ultrasonic waves and a look-around camera, the relative position of a local coordinate system is positioned, and the parking is finished; namely, carrying out parking space search by utilizing ultrasonic waves and a look-around camera; controlling the vehicle to finish parking according to the self positioning result and the parking space searching result of the vehicle;

s313: remote calling; namely, when remote calling information is received, the Vslam function is utilized to position the vehicle;

s314: judging whether the initial positioning is successful; if yes, go to S315; otherwise, executing S317;

s315: starting a calling function, and positioning Vslam in real time;

s316: when the target point is reached, calling is completed; controlling the vehicle to reach a target site according to the remote calling information and the positioning result;

s317: and reading the positioning result stored when the power is off.

In summary, compared to the prior art, one embodiment of the present invention has the following improvements: in the past, a GPS (global positioning system) and RTK (real-time kinematic) differential positioning mode is generally adopted, and when the GPS signal is not good or does not have RTK (real-time kinematic) in an underground environment, the GPS signal is usually abandoned due to overlarge error. The embodiment of the invention only utilizes a pure GPS signal to complete the confirmation of the target parking lot, and adopts a GPS coarse positioning mode to confirm whether the parking lot which can be used for passenger-substitute parking is reached; in addition, the traditional GPS plus RTK differential positioning mode can influence the shape of the vehicle, and the sensors and signals required by the embodiment of the invention are provided by the original vehicle, so that the configuration or the rearrangement is not needed to be added, and the shape of the vehicle is not influenced; the traditional mode can also adopt a UWB positioning scheme, but a base station needs to be built at the parking lot end, so that the equipment cost is high, the large-scale mass production attribute of the scheme is low, and the sensors and the signal original vehicles used in the technology are provided, so that the cost can be effectively controlled; the accumulated error of the IMU positioning mode is larger, and the positioning effect is better because the GPS, the Vslam positioning, the IMU positioning, the wheel speed pulse signal and the like are adopted to compensate each other, so that the problem of difficulty in initial positioning of the Vslam is solved, and the positioning problem of the passenger-substitute parking system in any scene is realized.

In the embodiment of the invention, the GPS signal at the vehicle navigation host end is adopted to confirm the specific parking lot; visual navigation Vslam positioning is realized by adopting camera data of a 360-degree look-around system; the method comprises the steps of adopting IMU six-axis information and wheel speed pulse signals of a T-BOX end of a vehicle end, utilizing a vehicle kinematics model to predict the position of the vehicle, and completing the self-positioning of the vehicle parked in a passenger car based on the positioning strategy. All sensors of the scheme do not need to be newly added, all adopt original vehicle signals, and effectively save development cost.

As shown in fig. 2, an embodiment of the present invention further provides a parking control apparatus, including:

a signal acquisition module 21, configured to acquire a global positioning system GPS signal of a vehicle;

the parking lot identification module 22 is used for identifying a target parking lot according to the GPS signal;

the map calling module 23 is configured to call a first map corresponding to the target parking place when the vehicle is a first preset distance from the entrance coordinate of the target parking lot.

The parking control method can be realized by a passenger parking system of a vehicle, and the first map is a high-precision map. Specifically, a high-precision map provided by a first-level quality map surveying and mapping supplier can be adopted, and an ADASIS V3 interface is adopted to realize the communication between the valet parking system and the first map, so that the valet parking system can clearly determine semantic information required by vehicle positioning. In the normal running process of the vehicle after being electrified, the passenger-riding parking system can read the GPS signal in real time, so that whether the vehicle reaches a parking lot capable of supporting the passenger-riding parking is judged according to the GPS signal, namely, a target parking lot supporting the passenger-riding parking is identified.

Optionally, the yard identification module 22 comprises:

the coordinate acquisition unit is used for acquiring a first coordinate of the current position of the vehicle according to the GPS signal;

the data comparison unit is used for comparing the first coordinate with parking lot data prestored in the vehicle; the parking lot data comprises entrance coordinates of a plurality of parking lots supporting the function of passenger parking;

and the parking lot identification unit is used for identifying a parking lot corresponding to one of the entrance coordinates as a target parking lot when the distance between the one of the entrance coordinates and the first coordinate is smaller than a preset value.

Specifically, a plurality of pieces of parking lot data including high-precision maps of parking lots and entrance coordinates of the parking lots may be stored in advance in a map box of the vehicle. During the vehicle running process, the coordinates of the current position of the vehicle can be obtained according to the GPS signals, so that the coordinates are compared with the coordinates of the entrance of the parking lot prestored in the vehicle; when the distance between one of the entrance coordinates and the first coordinate is smaller than a preset value, the vehicle is close to a parking lot supporting the function of passenger car parking instead of the original parking lot, and the parking lot can be positioned at a target parking lot, so that the identification process of the target parking lot is realized.

It should be further noted that, after the target parking lot is successfully identified, when the vehicle reaches a range within a first preset distance from the entrance of the target parking lot (i.e., the entrance coordinates of the target parking lot), the high-precision map of the target parking lot, which is already stored in the map box, is called to complete map matching; wherein, the first preset distance is a standard quantity.

In the above process, the high-precision map is usually laser point cloud information, the Vslam is visual information, and positioning of the Vslam under the high-precision map condition can be realized by adopting a method of normalizing to semantic information, and is not limited to positioning under the environment of Vslam self-mapping, so that the Vslam is promoted to mass production.

The parking control apparatus further includes:

the initial positioning module 24 is configured to start a Vslam function of visual navigation when the vehicle is a second preset distance from the entrance coordinate of the target parking lot, and perform initial positioning on the vehicle according to the first map; wherein the second preset distance is smaller than the first preset distance.

It should be noted that, in order to avoid that the initial positioning cannot be completed due to insufficient characteristic information of the surrounding environment of the vehicle (i.e. too few characteristics of the surrounding environment) when the vehicle reaches the interior of the parking lot, the Vslam is automatically turned on by the background of the vehicle system for positioning when the vehicle is at a second preset distance from the entrance of the parking lot (i.e. the entrance coordinates of the target parking lot). And confirming that the initial positioning is successful, starting the valet parking function, and carrying out Vslam positioning in real time. The Vslam positioning is started by the background, and the success rate and the timeliness of initial positioning can be guaranteed.

And the parking control module 25 is configured to perform vehicle self-positioning and parking path recognition by using the Vslam function when the environmental characteristic information of the target parking lot is sufficient, and control the vehicle to complete parking.

It should be noted that, under normal conditions, when the environmental characteristic information of the target parking lot is sufficient, that is, the semantic information is sufficient, the vehicle can smoothly complete parking; when the vehicle runs in the parking lot and Vslam positioning fails due to insufficient semantic information, vehicle positioning can be completed within a certain range by utilizing vehicle IMU six-axis information and a wheel speed pulse signal and adopting a vehicle kinematics model.

Optionally, the parking control apparatus further includes:

the data acquisition module is used for acquiring inertial measurement unit IMU six-axis information and a wheel speed pulse signal of the vehicle when the environmental characteristic information of the target parking lot is insufficient;

and the first positioning module is used for positioning the vehicle according to the IMU six-axis information and the wheel speed pulse signal.

It should be noted that the vehicle may use a vehicle kinematic model to position itself according to the IMU six-axis information and the wheel speed pulse signal.

The parking space searching module is used for searching parking spaces by utilizing ultrasonic waves and the look-around camera;

and the first control module is used for controlling the vehicle to finish parking according to the self positioning result and the parking space searching result of the vehicle.

It should be noted that, when the semantic information is too little in the parking lot (i.e. the features of the surrounding environment of the vehicle for the camera to recognize are too little), the vehicle position can be estimated based on the kinematics model by using the six-axis information of the IMU and the wheel speed pulse signal, so as to avoid the loss of the vehicle self-positioning; the parking space can be searched by utilizing the ultrasonic radar system and the look-around system, a local coordinate system taking the vehicle end as the center is established, the positioning of the vehicle in the local coordinate system is completed, and the parking is further completed smoothly.

In the process, the parking space search can be completed by utilizing ultrasonic waves and a look-around camera, a local coordinate system with the vehicle as an origin is established, and the positioning of the vehicle in the local coordinate system is completed; and when the semantic information in the driving environment is sufficient, the correction of vehicle positioning can be automatically completed, so that the Vslam function is utilized to perform vehicle self-positioning and parking path recognition, and the vehicle is controlled to complete parking. Specifically, the parking trajectory planning and trajectory following, that is, the parking path recognition, may be performed by using the vehicle positioning result obtained through the Vslam function and the parking space information obtained through sensing, so as to control the vehicle to complete parking.

Optionally, the parking control apparatus further includes:

and the result storage module is used for storing the positioning result of the current position of the vehicle when the vehicle is powered off.

It should be noted that, after parking is completed, the vehicle is powered off, and the positioning result obtained when parking is completed can be stored in the electrically-charged erasable programmable read-only memory EEPROM. By the mode of storing the Vslam positioning result in the power-off mode, when the vehicle cannot finish initial positioning under the condition of three-side blocking, the vehicle positioning result stored in the previous power-on period can be read, and therefore the initial positioning of the vehicle can be finished smoothly.

Optionally, the parking control apparatus further includes:

the second positioning module is used for positioning the vehicle by utilizing the Vslam function when remote calling information is received;

the result reading module is used for starting a remote calling function when the positioning is successful; when the positioning fails, reading the positioning result stored when the vehicle is powered off and starting a remote calling function;

and the third control module is used for controlling the vehicle to reach the target site according to the remote calling information and the positioning result.

Specifically, when the remote call is started by the owner of the vehicle, the situation that the initial positioning cannot be completed due to the fact that other barrier vehicles block the two sides of the vehicle may exist, the positioning result stored when the power is off is read, the call function of the vehicle is started, the Vslam is positioned in real time, the vehicle is controlled to reach the target point, and the call is completed.

In the embodiment of the invention, the GPS signal at the vehicle navigation host end is adopted to confirm the specific parking lot; visual navigation Vslam positioning is realized by adopting camera data of a 360-degree look-around system; the method comprises the steps of adopting IMU six-axis information and wheel speed pulse signals of a T-BOX end of a vehicle end, utilizing a vehicle kinematics model to predict the position of the vehicle, and completing the self-positioning of the vehicle parked in a passenger car based on the positioning strategy. All sensors of the scheme do not need to be newly added, all adopt original vehicle signals, and effectively save development cost.

The embodiment of the invention also provides control equipment, which comprises a memory, a processor and a program which is stored on the memory and can be operated on the processor; the processor implements the parking control method as described above when executing the program.

The embodiment of the invention also provides an automobile which comprises the parking control device.

While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.