Autonomous parking route coordination method based on topological map

A self-parking and topological map technology, which is applied in the direction of indicating various spaces in the parking lot, road vehicle traffic control systems, instruments, etc., can solve the problem of high hardware costs, the inability to realize the self-parking function in a targeted manner, and inapplicability, etc. question

Active Publication Date: 2019-01-04
TSINGHUA UNIV
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Problems solved by technology

However, the traditional automatic driving solution using high-precision maps not only has high computing costs and high hardware costs, but also is difficult to combine with existing parking methods. It is not suitable for the smooth transition of the current APA system upgrade, and it cannot realize the autonomous parking function in a targeted manner.

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  • Autonomous parking route coordination method based on topological map
  • Autonomous parking route coordination method based on topological map
  • Autonomous parking route coordination method based on topological map

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[0059] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the present invention. But those skilled in the art should know that the following examples are not the sole limitation to the technical solution of the present invention, and any equivalent transformation or modification made under the spirit of the technical solution of the present invention should be considered as belonging to the protection of the present invention scope.

[0060] A method for coordinating autonomous parking paths based on topological maps proposed by the present invention refers to topological map information of parking lots including road topological maps and parking space information, and then based on V2X communication, the autonomous parking controller provides The topological map...

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Abstract

The invention discloses an autonomous parking route coordination method based on topological map. Based on V2X communication, the autonomous parking controller provides a topological map of a parkinglot, the target vacant space and the dynamic road traffic matrix by a parking lot server, plans a global path and a parking path, and forms a smooth and complete autonomous parking path through fusionand coordination. The method of the invention realizes that the autonomous parking path from the parking lot entrance to the parking space is planned before the vehicle runs, realizes the unbiased fusion of the global path and the parking path, enables smooth transition of the low-speed automatic driving and the automatic parking, and solves the problem of high-efficiency switching between the low-speed automatic driving and the automatic parking.

Description

technical field [0001] The invention relates to the technical field of intelligent networked vehicles, in particular to a method for coordinating autonomous parking paths in parking lots based on topological maps. Background technique [0002] With the development of automobile intelligence, the automatic parking assistance system (Automated Parking Assist, APA) has helped people improve the efficiency and safety of parking in real life. However, traditional automatic parking requires the driver to find a parking space in the parking lot, and then park the vehicle accurately at the parking position. The whole process of parking still requires the driver to intervene, which fails to reduce the driving burden under this working condition. Therefore, the research and development A more intelligent autonomous parking system, or Automated Valet Parking (AVP), enables cars to autonomously complete the entire low-speed automatic driving and autonomous parking tasks from the entranc...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06G08G1/14
CPCB60W30/06G08G1/145
Inventor 罗禹贡王永胜江发潮陈锐黄晨秦兆博
Owner TSINGHUA UNIV
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