阅读说明：本技术 自动泊车方法以及系统 (Automatic parking method and system ) 是由 刘金龙 于 2020-06-17 设计创作，主要内容包括：本发明公开了一种自动泊车方法以及系统,所述自动泊车方法包括以下步骤：S1、根据停车场的空闲车位和车辆的当前位置计算出车辆泊车路线；S2、根据车辆泊车路线在停车场的路面上生成泊车信号；S3、车辆识别泊车信号,并根据泊车信号实施泊车。根据本发明实施例的方法,车辆根据泊车路线即可完成自动泊车,可有效降低车辆研发成本。此外,本发明从根本上减少不必要的停车次数,节省行车时间,同时能够维持停车场秩序,减缓停车场拥堵情况。(The invention discloses an automatic parking method and a system, wherein the automatic parking method comprises the following steps: s1, calculating a vehicle parking route according to the free parking spaces of the parking lot and the current position of the vehicle; s2, generating parking signals on the road surface of the parking lot according to the parking route of the vehicle; and S3, recognizing the parking signal by the vehicle, and parking according to the parking signal. According to the method provided by the embodiment of the invention, the vehicle can finish automatic parking according to the parking route, and the vehicle research and development cost can be effectively reduced. In addition, the invention fundamentally reduces unnecessary parking times, saves driving time, and can maintain the order of the parking lot and slow down the congestion condition of the parking lot.)

1. An automatic parking method for controlling automatic parking of a vehicle entering a parking lot, comprising the steps of:

s1, calculating a vehicle parking route according to the free parking spaces of the parking lot and the current position of the vehicle;

s2, generating parking signals on the road surface of the parking lot according to the vehicle parking route;

and S3, recognizing the parking signal by the vehicle, and parking according to the parking signal.

2. The automatic parking method according to claim 1, wherein a road surface of the parking lot is provided with a tracking baseband that receives the vehicle parking route and generates the parking signal according to the vehicle parking route.

3. The automatic parking method according to claim 2, wherein a road surface of the parking lot is provided with a vehicle position correction area in which the vehicle corrects the position of entering the tracking base band according to the vehicle parking route.

4. The automatic parking method according to claim 3, wherein in step S2, the parking signals include a vehicle forward signal, a parking signal and a reverse signal, and the tracking baseband reflects different colors of light at different positions according to the parking route of the vehicle to indicate different parking signals.

5. The automated parking method of claim 4 wherein the vehicle parking route comprises:

a forward path line formed as a straight line perpendicular to the parking space, one end of the forward path line communicating with the vehicle position correction area and the other end of the forward path line forming a parking spot, the tracking base reflecting a first light on the forward path line and a second light at the parking spot;

and one end of the backing route is communicated with the parking point, the other end of the backing route extends from the parking point to the parking space, and the tracking base band reflects a third light ray on the backing route.

6. The automatic parking method according to claim 4, wherein in step S3, the vehicle receives and recognizes the light reflected by the tracking base band, and controls the vehicle to move forward, park or reverse according to the light of different colors.

7. An automatic parking system, comprising:

the parking lot route planning management module is used for calculating a vehicle parking route according to the free parking spaces of the parking lot and the positions of the vehicles;

the tracking base band is arranged on the road surface of the parking lot, receives the vehicle parking route and generates a parking signal according to the vehicle parking route;

the signal receiving module is arranged on the vehicle to receive the parking signal;

and the vehicle control module controls the vehicle to advance, park or back up according to the parking signal received by the signal receiving module.

8. The automatic parking system according to claim 7 wherein a road surface of the parking lot is provided with a vehicle position correction area in which the vehicle corrects the position of entering the tracking base band according to the vehicle parking route.

9. The automated parking system of claim 8 wherein the parking signals include a vehicle forward signal, a parking signal and a reverse signal, and wherein the tracking baseband reflects different colored lights at different locations according to the vehicle parking route to indicate different parking signals.

10. The automated parking system of claim 8 wherein the vehicle parking route comprises:

a forward path line formed as a straight line perpendicular to the parking space, one end of the forward path line communicating with the vehicle position correction area and the other end of the forward path line forming a parking spot, the tracking base reflecting a first light on the forward path line and a second light at the parking spot;

and one end of the backing route is communicated with the parking point, the other end of the backing route extends from the parking point to the parking space, and the tracking base band reflects a third light ray on the backing route.

Technical Field

The invention relates to the technical field of intelligent parking, in particular to an automatic parking method and an automatic parking system adopting the automatic parking method.

Background

With the development of science and technology, the living standard of people is continuously improved, and the slow speed of automobiles also becomes a necessity of life. More and more automobiles enter the market, the current automobile parking is divided into manual parking and automatic parking, the manual parking often needs to go forward and back for multiple times to stop in a parking space repeatedly, the driving time is wasted, and the congestion condition of the parking lot is increased. The image sensor, the radar sensor and the automatic driving algorithm analysis module which are mainly depended on by automatic parking are all integrated on the vehicle, the research and development cost of the whole vehicle is high, and meanwhile, the image acquired by the image sensor is greatly limited by the outside, so that the automatic parking is not ideal in many cases.

Disclosure of Invention

In view of the above, the present invention provides an automatic parking method and system, in which a vehicle can complete automatic parking only according to a parking signal of a parking lot, so as to effectively reduce vehicle development cost, reduce unnecessary parking times, save driving time, maintain order of the parking lot, and alleviate congestion of the parking lot.

In order to solve the above technical problem, in one aspect, the present invention provides an automatic parking method, including the steps of: s1, calculating a vehicle parking route according to the free parking spaces of the parking lot and the current position of the vehicle; s2, generating parking signals on the road surface of the parking lot according to the vehicle parking route; and S3, recognizing the parking signal by the vehicle, and parking according to the parking signal.

According to the automatic parking method provided by the embodiment of the invention, after a parking lot or a vehicle determines a parking route, a corresponding parking signal is displayed on the road surface of the parking lot, the automatic parking can be completed only by configuring the vehicle control module and the tracking module for identifying the parking signal on the vehicle, an image sensing module, a radar sensing module, an automatic parking algorithm module and the like for automatic parking are not required to be integrated on the vehicle, and the vehicle research and development cost can be effectively reduced.

According to one embodiment of the invention, the road surface of the parking lot is provided with a tracking baseband, and the tracking baseband receives the vehicle parking route and generates the parking signal according to the vehicle parking route.

According to one embodiment of the present invention, the road surface of the parking lot is provided with a vehicle position correction area in which the vehicle corrects the position of entering the tracking base band according to the vehicle parking route.

According to an embodiment of the present invention, in step S2, the parking signal includes a vehicle forward signal, a parking signal and a reverse signal, and the tracking baseband reflects different colors of light at different positions according to the parking route of the vehicle to indicate different parking signals.

According to one embodiment of the invention, the vehicle parking route includes: a forward path line formed as a straight line perpendicular to the parking space, one end of the forward path line communicating with the vehicle position correction area and the other end of the forward path line forming a parking spot, the tracking base reflecting a first light on the forward path line and a second light at the parking spot; and one end of the backing route is communicated with the parking point, the other end of the backing route extends from the parking point to the parking space, and the tracking base band reflects a third light ray on the backing route.

According to an embodiment of the invention, in step S3, the vehicle receives and recognizes the light reflected by the tracking baseband, and controls the vehicle to move forward, stop or reverse according to the light with different colors.

In a second aspect, an embodiment of the present invention provides an automatic parking system, including: the parking lot route planning management module is used for calculating a vehicle parking route according to the free parking spaces of the parking lot and the positions of the vehicles; the tracking base band is arranged on the road surface of the parking lot, receives the vehicle parking route and generates a parking signal according to the vehicle parking route; the signal receiving module is arranged on the vehicle to receive the parking signal; and the vehicle control module controls the vehicle to advance, park or back up according to the parking signal received by the signal receiving module.

According to one embodiment of the present invention, the road surface of the parking lot is provided with a vehicle position correction area in which the vehicle corrects the position of entering the tracking base band according to the vehicle parking route.

According to one embodiment of the invention, the parking signals comprise vehicle forward signals, parking signals and reverse signals, and the tracking baseband reflects different colors of light rays at different positions according to the parking route of the vehicle to represent different parking signals.

According to one embodiment of the invention, the vehicle parking route includes: a forward path line formed as a straight line perpendicular to the parking space, one end of the forward path line communicating with the vehicle position correction area and the other end of the forward path line forming a parking spot, the tracking base reflecting a first light on the forward path line and a second light at the parking spot; and one end of the backing route is communicated with the parking point, the other end of the backing route extends from the parking point to the parking space, and the tracking base band reflects a third light ray on the backing route.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of an automatic parking method according to an embodiment of the present invention;

fig. 2 is a schematic view of a parking lot of an automatic parking method according to an embodiment of the present invention;

fig. 3 is a schematic diagram of an automatic parking system according to an embodiment of the present invention.

Reference numerals:

a parking lot 100;

an automatic parking system 200;

a tracking base band 10;

a parking route 11; the forward route 111; a reverse route 112; a parking spot 113;

a correction zone 20;

a parking lot route planning management module 30;

a signal receiving module 40;

a vehicle control module 50.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

First, an automatic parking method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1, the automatic parking method according to the embodiment of the present invention includes the steps of:

s1, calculating a vehicle parking route according to the free parking spaces of the parking lot and the current position of the vehicle;

s2, generating parking signals on the road surface of the parking lot according to the vehicle parking route;

and S3, recognizing the parking signal by the vehicle, and parking according to the parking signal.

In other words, according to the automatic parking method of the embodiment of the present invention, after a vehicle enters a parking lot, a parking route from a current position to an allocated parking space is first calculated according to a free parking space of the parking lot and a position of the vehicle, a road surface of the parking lot may receive the parking route of the vehicle, and a suitable parking signal, such as a light with different colors or an arrow indicator light signal, may be displayed on the road surface, and the vehicle may recognize the parking signal displayed on the road surface, so as to perform parking according to an indication of the parking signal.

The method for calculating a parking route from a current position to a parking position of a vehicle by a parking lot or the vehicle according to the position of the vehicle is understood and easily implemented by those skilled in the art, for example, by an image sensing module, a radar sensing module, an automatic parking algorithm module, a vehicle control module, and the like, and thus will not be described in detail. The method for receiving the parking route sent by the parking lot or the vehicle on the road surface of the parking lot may be conventional wireless signal transmission, or may be other signal transmission methods understood by those skilled in the art, and the parking signal displayed on the road surface may be an electrical signal easily recognized by a camera of the vehicle, or may be a physical signal. The method is used for controlling the automatic parking of the vehicle, the research and development cost of the modules integrated on the vehicle can be greatly reduced, and the automatic parking can be completed only by configuring the vehicle control module and the tracking module for identifying the parking signal on the vehicle.

Therefore, according to the automatic parking method provided by the embodiment of the invention, after the parking lot or the vehicle determines the parking route, the corresponding parking signal is displayed on the road surface of the parking lot, the automatic parking can be completed only by configuring the vehicle control module and the tracking module for identifying the parking signal on the vehicle, an image sensing module, a radar sensing module, an automatic parking algorithm module and the like for automatic parking do not need to be integrated on the vehicle, and the vehicle research and development cost can be effectively reduced.

As shown in fig. 2, in some embodiments of the present invention, the pavement of the parking lot 100 is provided with a tracking baseband 10, and the tracking baseband 10 receives the vehicle parking route 11 and generates a parking signal according to the vehicle parking route 11.

That is, fig. 2 shows the ground of the parking lot 100, the parking situation on the ground, and the tracking baseband 10 capable of displaying the parking signal, the tracking baseband 10 may be disposed on the driving road surface and the parking space of the parking lot 100, the tracking baseband 10 may generate different parking signals, such as different color lights, according to the parking route 11, and the tracking module of the vehicle may control the vehicle to park according to the identified different lights. Therefore, by arranging the tracking base band 10 on the road surface of the parking lot 100, the parking signal can be sent out conveniently and quickly, and the vehicle identification is facilitated.

Further, the road surface of the parking lot 100 is provided with a vehicle position correction area 20, and the vehicle corrects the position of entering the tracking base band 10 in the vehicle position correction area 20 according to the vehicle parking route 11.

As shown in fig. 2, the road surface of the parking lot 100 is provided with a correction area 20 capable of correcting the position of the vehicle in addition to the parking area, the correction area 20 is located adjacent to the arrangement area of the tracking base belt 10 on the ground, and the vehicle can directly enter the parking area provided with the tracking base belt 10 after being corrected in the correction area 20 after entering the parking lot 100. The correction area 20 is set to guide the vehicle to run, so that the vehicle can accurately enter the tracking base band 10.

According to an embodiment of the present invention, in step S2, the parking signals include a vehicle forward signal, a parking signal and a reverse signal, and the tracking baseband 10 reflects different colors of light at different positions according to the parking route 11 of the vehicle to indicate different parking signals.

Optionally, in some embodiments of the present invention, the vehicle parking route 11 includes: a forward route 111 and a reverse route 112.

Specifically, the forward path 111 is formed as a straight line perpendicular to the parking space, one end of the forward path 111 communicates with the vehicle position correction area 20, the other end of the forward path 111 is formed as a parking point 113, the tracking base band 10 reflects a first light on the forward path 111, reflects a second light at the parking point 113, one end of the reverse path 112 communicates with the parking point 113, the other end of the reverse path 112 extends from the parking point 113 to the parking space, and the tracking base band 10 reflects a third light on the reverse path 112. The first light is a black light, the second light is a white light, and the third light is a red light.

According to one embodiment of the present invention, in step S3, the vehicle receives and recognizes the light reflected by the tracking base band 10, and controls the vehicle to move forward, stop or reverse according to the light of different colors.

As shown in fig. 2, the vehicle parking path 11 is composed of a forward path 111 and a reverse path 112, the forward path 111 and the reverse path 112 are connected by a parking point 113, the forward path 111 is a straight line perpendicular to the parking space, one end is connected to the correction area 20, the other end is connected to the parking point 113, and the reverse path 112 is a calculated curve from the parking point 113 to the parking space.

The following describes the tracking base belt 10 according to an embodiment of the present invention in detail with reference to the following embodiments.

The tracking baseband 10 can display the color from the starting point of the vehicle to the parking point 113 and the color of the route from the parking point 113 to the parking space according to the signal of the system. The tracking baseband 10 can be changed into colors such as black, red, white and the like according to signals when the vehicle is powered on, the vehicle body or the vehicle bottom can be provided with an infrared sensing module capable of emitting light rays with different colors, infrared light emitted by the infrared sensing module reflects light rays with different colors on different color basebands, the black baseband absorbs all light rays, at the moment, a command of going forward is sent to the vehicle, red light is reflected on the white baseband, and a command of stopping driving is sent to the vehicle. And reflecting red light on the red base band to send a reversing instruction to the vehicle. The vehicle can be controlled to move forwards, stop or reverse through three commands.

In some embodiments of the present invention, automatic parking includes three steps:

first, the vehicle travels from the vehicle correction area 20 to the parking point 113, and the tracking base band 10 is powered on and turns into a black light so that the vehicle automatically travels to the parking point 113 along the track of the tracking base band 10.

Then, the vehicle is automatically parked after reaching the parking spot 113, and the tracking base band 10 is powered on and turns into a white light.

Finally, the vehicle moves back from the parking spot 113 to the parking space, and the tracking base band 10 is powered on and turns into red light.

By changing the color of the parking route 11, the vehicle recognizes the parking route 11 according to the light sensed by the infrared sensor at the bottom of the vehicle, and performs a parking operation according to the parking route 11.

In summary, according to the automatic parking method of the embodiment of the present invention, a vehicle performs parking by identifying a parking signal, and only a vehicle control module and a tracking module 10 for identifying a parking signal need to be configured on the vehicle to complete automatic parking, and an image sensing module, a radar sensing module, an automatic parking algorithm module, and the like for automatic parking are not required to be integrated on the vehicle, so that the development cost of the vehicle can be effectively reduced, the vehicle can accurately enter the tracking baseband 10 by setting the correction area 20 to guide the vehicle to travel, and the parking signal can be conveniently and rapidly sent out by setting the tracking baseband 10 on the road surface of the parking lot 100, so that the vehicle can rapidly identify the parking route 11, and the parking efficiency is improved.

As shown in fig. 3, an embodiment of the present invention further provides an automatic parking system 200, where the automatic parking system 200 includes: a parking lot route planning management module 30, a tracking baseband 10, a signal receiving module 40, and a vehicle control module 50.

Specifically, as shown in fig. 2 to 3, the parking lot route planning management module 30 calculates a vehicle parking route 11 according to the free parking spaces of the parking lot 100 and the position of the vehicle, the tracking baseband 10 is disposed on the road surface of the parking lot 100, the tracking baseband 10 receives the vehicle parking route 11 and generates a parking signal according to the vehicle parking route 11, the signal receiving module 40 is disposed on the vehicle to receive the parking signal, and the vehicle control module 50 controls the vehicle to move forward, park or reverse according to the parking signal received by the signal receiving module. The parking lot system 200 with the module reduces unnecessary parking times, saves driving time, and can maintain the order of the parking lots 100 and alleviate the congestion condition of the parking lots 100.

Alternatively, the road surface of the parking lot 100 is provided with a vehicle position correction area 20, and the vehicle corrects the position of entering the tracking base band 10 in the vehicle position correction area 20 according to the vehicle parking route 11.

As shown in fig. 2, the calibration zone 20 is connected to the tracking base belt 10, and the vehicle enters the parking lot 100, is calibrated in the calibration zone 20, and then enters the position of the tracking base belt 10. The correction area 20 is set to guide the vehicle to run, so that the vehicle can accurately enter the tracking base band 10.

According to an embodiment of the present invention, the parking signals include a vehicle forward signal, a parking signal and a reverse signal, and the tracking baseband 10 reflects different colors of light at different positions according to the parking route 11 of the vehicle to represent different parking signals.

Further, the vehicle parking route 11 includes: a forward route 111 and a reverse route 112.

Specifically, the forward path 111 is formed as a straight line perpendicular to the parking space, one end of the forward path 111 of the vehicle communicates with the vehicle position correction area 20, the other end of the forward path 111 is formed as a parking point 113, the tracking base band 10 reflects a first light on the forward path 111, reflects a second light at the parking point 113, one end of the reverse path 112 communicates with the parking point 113, the other end of the reverse path 112 extends from the parking point 113 to the parking space, and the tracking base band 10 reflects a third light on the reverse path 112.

Since the automatic parking method according to the above-described embodiment of the present invention has the above-described technical effects, the parking system including the automatic parking method according to the embodiment of the present invention also has a corresponding technical effect, that is, after the parking lot 100 or the vehicle determines a parking route, a corresponding parking signal is displayed on the road surface of the parking lot 100, and the automatic parking can be completed only by configuring the vehicle control module and the tracking module 10 for identifying the parking signal on the vehicle, and it is not necessary to integrate the image sensing module, the radar sensing module, the automatic parking algorithm module, and the like for automatic parking on the vehicle, so that the development cost of the vehicle can be effectively reduced. In addition, the invention fundamentally reduces unnecessary parking times, saves driving time, and simultaneously can maintain the order of the parking lot 100 and slow down the congestion condition of the parking lot 100.

While the foregoing is directed to the preferred embodiment of the present invention, 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 appended claims.