Parking lot-vehicle cooperated intelligent parking system and method based on robot vision

Abstract

The invention provides a parking lot-vehicle cooperated intelligent parking system and a method based on robot vision. The system consists of a parking lot service center, vehicle-mounted equipment of an intelligent vehicle and a user mobile terminal, wherein the parking lot service center comprises a vehicle tracking module, a path planning module, a data management module and a communication module; the vehicle tracking module is used for detecting a vehicle target in a driving area of the parking lot, and obtaining the correct position, and comprises a global tracker, a plurality of local vision sensor groups and corresponding local trackers; the path planning module is used for planning a driving path from the current position of the vehicle to a terminal point; the vehicle-mounted equipment comprises a communication module and a vehicle control module; the vehicle control module is used for controlling the intelligent vehicle to automatically drive to the terminal point according to the path which is planned by the service center and received by the communication module; the user mobile terminal is used for sending the request information of driving into/out of the parking lot to the parking lot service center. The system is used for realizing the automation and intelligence of the vehicle driving into/out of the parking lot.

Description

technical field [0001] The invention belongs to the field of intelligent transportation and automatic control, and in particular relates to an intelligent parking system and method based on machine vision-based parking lot-vehicle coordination. Background technique [0002] Traditional parking lots only realize simple service functions such as hourly charging and parking space inquiry. Indoor parking lots usually have the characteristics of complex environment, narrow roads, and limited vision. It is troublesome for vehicles to search for free parking spaces when they drive in and to find vehicles when they drive out. In addition, the current solutions to the parking problem of intelligent vehicles are usually limited to automatic parking, lack of effective coordination between the parking lot and the vehicle, cannot provide higher-quality parking services, and the level of automation and intelligence is not high. [0003] Chinese patent application: An intelligent assisted...

AI Technical Summary

Problems solved by technology

Indoor parking lots usually have the characteristics of complex environment, narrow roads, and limited vision. It is troublesome for vehicles to find free parking spaces when driving in and to find vehicles when driving out.

In addition, the current solutions to the parking problem of intelligent vehicles are usually limited to automatic parking, lack of effective coordination between the parking lot and the vehicle, cannot provide higher-quality parking services, and the level of automation and intelligence is not high

[0003] Chinese patent application: An intelligent assisted parking method and its realization system (Application No.: 201210429726.8) discloses an intelligent assisted parking method and its realization system. It mainly involves the path planning method during automatic parking, and there is no coordination between the vehicle and the parking lot

Chinese patent application: visual aid system and method for guiding vehicles (application number: 200580045956.2) discloses a visual aid system and method for guiding vehicles, the system obtains the vehicle position by weighting the position data obtained by GPS and the visual position data obtained by the visual sensor , mainly based on GPS, aided by vision, not suitable for automatic parking needs in indoor parking lots

Chinese patent application: An intelligent vehicle automatic driving system and method coordinated with an intelligent parking lot (application number: 201610107483.4) discloses an intelligent vehicle automatic driving system and method coordinated with an intelligent parking lot, which realizes the vehicle and parking Collaboration between fields, but the background service system only performs location allocation and map transmission, while environment detection and path planning are performed by vehicles, relying on the support of on-board sensors

Chinese patent application: Parking lot-vehicle coordination intelligent parking system and method based on centralized vision (application number: 201710100828.8) discloses a centralized vision-based parking lot-vehicle coordination intelligent parking system and method, in the system All visual sensors transmit images to the parking lot service center, and the service center fuses all the images before detecting the vehicle target. When the number of visual sensors in a large parking lot is large, the processing capacity of the service center cannot meet the real-time requirements

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