Intelligent network connection vehicle cloud cooperation automatic valet parking system and control method

Abstract

The invention discloses an intelligent network connection vehicle cloud cooperation automatic valet parking system and a control method, and the system comprises a cloud system which is used for completing the scheduling and management; the vehicle end system comprises a data fusion processing unit and a planning control unit, and the data fusion processing unit is used for carrying out fusion processing on various data acquired by the vehicle and providing the data to the planning control unit; the planning control unit is used for planning a parking path and controlling the vehicle to execute a parking action according to the data obtained through fusion processing; and the field end system comprises a field end visual perception unit, a laser radar and an MEC unit, the field end visual perception unit, the laser radar and other sensors are used for perceiving the surrounding environment of the vehicle, the MEC unit is used for processing real-time data, the data perceived by the field end are processed and analyzed in real time through the MEC unit, and a decision result is generated. The control method is implemented based on the system. The method has the advantages of being simple in principle, easy and convenient to operate, low in cost, high in intelligent degree, wide in application range and the like.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of intelligent networked vehicles, and in particular to an intelligent networked vehicle cloud-coordinated automatic valet parking system and a control method. Background Art

[0002] The gradual popularization of driverless cars will lead to fewer and fewer traffic accidents, and the problem of traffic jams will be relatively and gradually alleviated. However, from the perspective of actual needs, the first to be popularized should be the so-called "last mile" autonomous driving.

[0003] At present, parking difficulties have become one of the biggest pain points of modern people's travel, and solving the parking difficulties of urban residents is an urgent and rigid need. In other words, "parking difficulties" have now become a problem that every urban passenger car user has to face almost every day, especially in areas with tight demand for public resources such as hospitals, commercial entertainment, and office buildings. According to relevant industry data analysis, nearly 30% of traffic congestion worldwide comes from a large number of car owners trying to find parking spaces. The long search for parking spaces has caused a large amount of road congestion, which not only wastes the car owners' time and fuel resources, but also brings a lot of environmental pollution problems. It also brings new problems to the operation and management of urban traffic. Therefore, the application of automatic parking systems in the field of autonomous driving is more urgent.

[0004] Regarding the difficulty of parking, the first thing that most users want is to automatically park in the garage and find a parking space on their own, saving a lot of time for car owners. Secondly, due to the shortage of parking space resources, various strange, narrow, and difficult parking spaces have emerged one after another, and there are constant scratches on the entrance and exit channels. The automatic parking solution needs to completely solve the high-tech driving and parking requirements in some cases.

[0005] Therefore, from a technical point of view, the current parking difficulty solution faces the following problems: 1. High cost: The installation and maintenance of a single-vehicle intelligent automatic parking system requires a lot of costs, including hardware equipment, software development and system integration costs, which may limit its promotion and application in ordinary parking lots.

[0006] 2. Technical complexity: The automatic parking system involves a variety of technologies, including sensors, image recognition, path planning, etc. The construction and debugging of the system require the participation of professional technicians. The technical complexity may increase the system's failure rate and maintenance costs.

[0007] 3. Limited scope of application: Currently, the single-vehicle intelligent automatic parking system is mainly applicable to fixed parking lots or specific scenarios, such as commercial complexes, office buildings, etc. For open parking lots or scenarios with more dispersed parking spaces, the applicability of the system may be limited.

[0008] 4. Safety considerations: The automatic parking system involves vehicle control and driving path planning, and safety is an important consideration. During the design and implementation of the system, various safety risks, such as collisions and misoperation, need to be considered to ensure the safety of users and vehicles. Summary of the invention

[0009] The technical problem to be solved by the present invention is: in response to the technical problems existing in the prior art, the present invention provides a smart connected vehicle cloud-coordinated automatic valet parking system and control method which has simple principle, easy operation, low implementation cost, high degree of intelligence and wide application range.

[0010] In order to solve the above technical problems, the present invention adopts the following technical solutions: An intelligent network-connected vehicle cloud-coordinated automatic valet parking system, comprising: The cloud system is used to complete scheduling and management to achieve vehicle management and smart parking in the parking lot; The vehicle-side system includes a data fusion processing unit and a planning control unit. The data fusion processing unit is used to fuse various data acquired by the vehicle and provide the data to the planning control unit. The planning control unit is used to plan a parking path and control the vehicle to perform a parking action based on the data obtained by the fusion processing. The field-side system includes a field-side visual perception unit, a laser radar and an MEC unit. The field-side visual perception unit and sensors such as the laser radar are used to perceive the vehicle's surrounding environment. The MEC unit is used to process real-time data. The data perceived by the field side is processed and analyzed in real time by the MEC to generate a decision result. As a further improvement of the present invention: the cloud system includes: The parking space management unit is responsible for managing the parking space information in the parking lot; Vehicle management unit, used to manage vehicle information; The ground lock management unit is used to manage the ground lock equipment on the parking space and control the lifting and lowering status of the ground lock; The map management unit is used to maintain the map information of the parking lot.

[0011] As a further improvement of the present invention: the data fusion processing unit specifically includes: The vehicle-side sensing unit obtains information about the vehicle's surroundings through on-board sensors; A high-precision map unit is used to obtain map information of the vehicle's location, and the map information is used for vehicle path planning and navigation; Positioning system, which uses positioning technology to obtain the current precise location information of the vehicle; The receiving roadside perception data unit OBU is used to receive the perception data transmitted by the roadside RSU device to assist the vehicle in parking decision.

[0012] As a further improvement of the present invention: the planning control unit comprises: The path planning unit is used to determine the optimal parking path based on the vehicle's current position, the target parking space and the surrounding environment; The control execution unit is used to transmit the instructions obtained from the path planning to the vehicle's control system, controlling the vehicle to perform corresponding driving and steering actions to achieve the goal of automatic parking.

[0013] As a further improvement of the present invention: the field-side sensing data in the field-side system interacts with the intelligent system inside the vehicle to provide intelligent decision support for the driver.

[0014] As a further improvement of the present invention: based on the field-side perception and the data processing capability of MEC in the field-side system, communication and collaboration between vehicles and between vehicles and infrastructure are achieved.

[0015] The present invention further provides a control method based on the above-mentioned intelligent network-connected vehicle cloud-coordinated automatic valet parking system, which includes automatic valet parking reservation, and its process includes: Reservation parking: Users initiate a reservation request for automatic valet parking on the mobile terminal and select the parking time and location information; Ground lock rises: After receiving the reservation request, the system controls the ground lock to rise at the reserved parking location to reserve a parking space for the vehicle; Reservation completed: After the ground lock rises, the system will send a reservation completion message to the user to confirm that the reservation is successful.

[0016] The present invention further provides a control method based on the above-mentioned intelligent connected vehicle cloud-coordinated automatic valet parking system, including one-key parking. After the parking space is reserved, the vehicle drives to the docking point near the garage, the driving vehicle gear is shifted to N gear, the user clicks one-key parking, and the mobile terminal calls the service interface of the cloud system, and the interface transmits the license plate number, parking lot ID, starting longitude and latitude, and end longitude and latitude to the vehicle end and the yard end; the yard end confirms the yard end status, the vehicle end confirms the vehicle end status, the vehicle end performs path planning, the vehicle end and the yard end perform V2X interactive clock synchronization, path planning information synchronization, and the yard end reports surrounding obstacle information and location information to the vehicle end in real time.

[0017] As a further improvement of the present invention: the one-key parking process includes: 1) Parking space reservation and vehicle docking: Users reserve a parking space through the mobile application and drive the vehicle to the docking point near the garage after the reservation is successful; 2) Start one-touch parking: The user puts the vehicle into N gear and then clicks the one-touch parking button on the mobile terminal; 3) Calling the cloud service interface: The mobile terminal calls the service interface of the cloud system and sends a request to the cloud containing the license plate number, parking lot ID, and the starting and ending latitude and longitude information; 4) Cloud information is transmitted to the vehicle and field side: After receiving the request, the cloud transmits the relevant information to the vehicle and field side systems; 5) Status confirmation and path planning: The terminal and vehicle side confirm their own status respectively. The vehicle side confirms the current location of the vehicle and plans the best path to the target location. 6) V2X interaction and clock synchronization: The vehicle and the field interact through V2X communication to synchronize clock and path planning information to ensure data consistency and collaborative operation between the two parties; 7) Real-time reporting of surrounding obstacle information: The terminal reports surrounding obstacle information and location information to the vehicle terminal in real time; 8) Path synchronization and execution: The vehicle and the terminal perform parking operations based on the synchronized path planning information; the autonomous driving vehicle optimizes the planned path and drives to the target location based on the integrated terminal information; 9) Complete the parking operation.

[0018] The present invention further provides a control method based on the above-mentioned intelligent network-connected vehicle cloud-coordinated automatic valet parking system, including a one-key car call, and the process includes: 1) One-click car-calling: The user clicks the one-click car-calling button on the mobile terminal to send a car-calling wake-up command; 2) Vehicle autonomous ignition: After the vehicle receives the wake-up command, it autonomously determines whether to start the ignition; 3) The car call wake-up is successful: If the vehicle is successfully ignited and started, the car call wake-up is successful; 4) Apply for route planning: After the vehicle is successfully called, it sends a route planning application to the site to request the generation of a route plan to reach the target location; 5) Path planning generation: The vehicle generates the best path planning based on the input target location information; 6) Clock synchronization and path planning information synchronization: The vehicle side and the yard side synchronize their clocks to ensure that the clocks of both sides are consistent; at the same time, the vehicle side and the yard side synchronize path planning information to ensure the accuracy and consistency of path planning; 7) Real-time reporting of surrounding obstacle information: The terminal monitors surrounding obstacle information in real time and reports it to the vehicle terminal in real time to ensure the safety of the vehicle during driving; 8) Vehicle arrives at the target location: The vehicle integrates the information from the field to optimize the route planning in real time and drives to the target location. After arriving, the user requests the parking location; 9) Personnel takes over the vehicle: After the vehicle arrives at the target location, the personnel takes over the vehicle and completes the entire vehicle-hailing process.

[0019] Compared with the prior art, the advantages of the present invention are: 1. The intelligent network-connected vehicle cloud-coordinated automatic valet parking system and control method of the present invention have simple principles, easy operation, low implementation cost, high intelligence and wide application range. It includes the optimized layout and data fusion algorithm of sensors such as visual perception and lidar to achieve accurate and comprehensive perception of the parking environment; integrate MEC technology into the field system to achieve real-time processing and analysis of perception data, improve the efficiency of data processing and decision-making, and reduce data transmission delay; use network technology to achieve real-time data interaction between the field and the cloud, including the transmission of real-time environmental perception data, path planning and feedback of decision results, etc., to achieve collaborative operation of autonomous driving vehicles.

[0020] 2. The intelligent connected vehicle cloud-coordinated automatic valet parking system and control method of the present invention improve the efficiency and safety of automatic valet parking; the improvement of field perception capabilities and the support of autonomous driving technology can make the automatic valet parking system more efficient and safe, reducing the risk of errors and accidents caused by manual operation or single-vehicle intelligence.

[0021] 3. The intelligent connected vehicle cloud-coordinated automatic valet parking system and control method of the present invention optimizes the utilization of parking lot resources: by real-time monitoring of the parking space utilization in the parking lot, parking resources can be dispatched and managed in a timely manner, thereby improving the utilization rate and management efficiency of parking spaces.

[0022] 4. The intelligent connected vehicle cloud-coordinated automatic valet parking system and control method of the present invention greatly improve the user experience: the efficiency and safety of the automatic valet parking system will enhance the user's parking experience, reduce parking time and cost, and improve user satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the topological structure principle of the present invention.

[0024] Figure 2 It is a schematic diagram of the structural principle of the present invention in a specific embodiment.

[0025] Figure 3 It is a schematic diagram of the process of automatic valet parking reservation in a specific embodiment of the present invention.

[0026] Figure 4 It is a schematic diagram of the process of one-key parking in a specific embodiment of the present invention.

[0027] Figure 5 It is a schematic diagram of the process of one-key car calling in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0031] In this application, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0032] The intelligent networked vehicle cloud-coordinated automatic valet parking system of the present invention adopts a combination of field-side visual perception, lidar, and MEC (Multi-access Edge Computing) technologies to enhance the field-side perception capability, and then assists autonomous driving vehicles in solving the automatic valet parking problem through networked technology.

[0033] like Figure 1 and Figure 2 As shown, the intelligent network-connected vehicle cloud-coordinated automatic valet parking system of the present invention includes: The cloud system is used to complete scheduling and management functions. Through the management and scheduling of the cloud system, efficient management and intelligent parking services of vehicles in the parking lot can be achieved, thereby improving the utilization rate and management efficiency of the parking lot.

[0034] The vehicle-side system includes a data fusion processing unit and a planning control unit. The data fusion processing unit is used to fuse various data obtained by the vehicle to provide more comprehensive and accurate information to the planning control system. The planning control unit is responsible for planning the parking path and controlling the vehicle to perform parking actions based on the data obtained by the fusion processing. The field-side system, including the field-side visual perception unit, LiDAR and MEC unit (Multi-access Edge Computing), can enhance the field-side perception capability, and then solve the problem of single-vehicle intelligence through networking technology. Among them, the field-side visual perception unit and LiDAR and other sensors can provide high-precision perception of the vehicle's surrounding environment, including obstacle detection, road condition recognition, etc. Through these perception data, the vehicle can understand the surrounding environment more accurately, thereby realizing intelligent driving and driving decisions. The MEC unit is used to process real-time data, that is, the data processing function can be pushed to the edge of the network, reducing data transmission delays and providing faster real-time response capabilities. The data perceived by the field side can be processed and analyzed in real time through MEC, so as to generate decision results more quickly and improve the intelligence level of the vehicle.

[0035] In a specific application example, the cloud system includes: The parking space management unit is responsible for managing the parking space information in the parking lot; the parking space information includes one or more of the free / occupied status, size, location, etc., so as to facilitate the vehicle to plan the parking route and reserve the parking space.

[0036] The vehicle management unit is used to manage vehicle information; the vehicle information includes one or more of the vehicle's identity information, status information, usage authority, etc., which is used to identify and control the vehicle's entry, exit and parking.

[0037] The ground lock management unit is used to manage the ground lock equipment on the parking space and control the lifting and lowering status of the ground lock to provide effective parking spaces for vehicles and ensure the safety of the parking spaces.

[0038] The map management unit is used to maintain the map information of the parking lot; the map information includes one or more of the distribution of parking spaces, the layout of lanes, the locations of entrances and exits, etc., which is used for vehicle path planning and navigation.

[0039] In a specific application example, the data fusion processing unit may include a vehicle-side perception unit, a high-precision map unit, a positioning system, and an OBU receiving roadside perception data unit according to actual needs. As a preferred embodiment, the data fusion processing unit in this example specifically includes: The vehicle-side perception unit obtains information about the vehicle's surrounding environment, including obstacles, parking spaces, personnel, etc., through on-board sensors (such as cameras, radars, ultrasonic sensors, etc.).

[0040] The high-precision map unit is used to obtain high-precision map information of the vehicle's location. The high-precision map information includes the layout of the parking lot, the location and size of the parking spaces, etc., which is used for vehicle path planning and navigation.

[0041] The positioning system uses positioning technology (such as GPS, inertial navigation, etc.) to obtain the vehicle's current precise location information for accurate positioning and navigation.

[0042] The OBU is used to receive the perception data transmitted by the roadside RSU (Road Side Unit) device, such as parking space status, traffic conditions, etc., to assist the vehicle in parking decision-making.

[0043] In a specific application example, the planning control unit specifically includes: The path planning unit is used to determine the optimal parking path, including the route, turning action, etc., through an algorithm based on the current position of the vehicle, the location of the target parking space, and the surrounding environment.

[0044] The control execution unit is used to transmit the instructions obtained from the path planning to the vehicle's control system, controlling the vehicle to perform corresponding driving and steering actions to achieve the goal of automatic parking.

[0045] In specific application examples, the field-side system can enhance the field-side perception capability through the combination of field-side visual perception units, lidar, and MEC units (Multi-access Edge Computing) and other technologies, and then solve the problem of single-vehicle intelligence through networking technology.

[0046] Furthermore, the field-side system can realize intelligent interaction and decision support, that is, the field-side perception data can interact with the intelligent system inside the vehicle to provide intelligent decision support for the driver. For example, through the visual perception system and MEC processing, the vehicle can realize autonomous road recognition and navigation, helping the driver to drive more safely.

[0047] Furthermore, through the field-side system, based on the field-side perception and the data processing capabilities of MEC, communication and collaboration between vehicles and between vehicles and infrastructure can be achieved. Through networking technology, vehicles can share perception data, traffic information, etc., realize functions such as collaborative driving and traffic flow optimization between vehicles, and enhance the perception capabilities of the field side.

[0048] The intelligent network-connected vehicle cloud-coordinated automatic valet parking system of the present invention can be used to achieve the following functions: 1. Automatic valet parking reservation; Combination Figure 3 , the specific process includes: Reservation parking: Users initiate a reservation request for automatic valet parking on the mobile terminal and select information such as parking time and location.

[0049] Ground lock rises: After receiving the reservation request, the system controls the ground lock to rise at the reserved parking location to reserve a parking space for the vehicle.

[0050] Reservation completed: After the ground lock rises, the system will send a reservation completion message to the user to confirm that the reservation is successful.

[0051] 2. One-key parking; After making a parking space reservation, the vehicle drives to the docking point near the garage, shifts the gear of the driving vehicle to N gear, and the user clicks one-click parking. The mobile terminal calls the service interface of the cloud system, which transmits the license plate number, parking lot ID, starting longitude and latitude, and end longitude and latitude to the vehicle and the yard. The yard confirms the yard status, the vehicle confirms the vehicle status, the vehicle plans the route, the vehicle and the yard perform V2X interactive clock synchronization, route planning information synchronization, and the yard reports surrounding obstacle information and location information to the vehicle in real time.

[0052] Combination Figure 4 ,The detailed process of the one-key parking system is as follows: 1) Parking space reservation and vehicle docking: Users reserve a parking space through the mobile application and drive the vehicle to the docking point near the garage after the reservation is successful.

[0053] 2) Start one-touch parking: The user shifts the vehicle into N gear and then clicks the one-touch parking button on the mobile terminal.

[0054] 3) Calling the cloud service interface: The mobile terminal calls the service interface of the cloud system and sends a request to the cloud containing information such as the license plate number, parking lot ID, and the starting and ending latitude and longitude.

[0055] 4) Cloud information is transmitted to the vehicle and yard: After receiving the request, the cloud transmits the relevant information to the vehicle and yard systems. This information includes the parking lot reservation information, the vehicle's starting position and target position, etc.

[0056] 5) Status confirmation and path planning: The terminal and vehicle side confirm their own status respectively. The vehicle side confirms the current location of the vehicle and plans the best path to reach the target location.

[0057] 6) V2X interaction and clock synchronization: The vehicle side and the field side interact through V2X communication, synchronize the clock and path planning information, and ensure data consistency and collaborative operation of both parties.

[0058] 7) Real-time reporting of surrounding obstacle information: The parking lot reports surrounding obstacle information and location information to the vehicle in real time to ensure the safety of the vehicle during parking.

[0059] 8) Path synchronization and execution: The vehicle and the terminal perform parking operations based on the synchronized path planning information. The autonomous vehicle optimizes the planned path to the target location based on the integrated terminal information, and synchronizes the travel information to the cloud, which pushes the information to the mobile terminal for display to customers.

[0060] 9) Parking operation completed: The vehicle successfully parks near the parking space, the ground lock drops, the vehicle itself performs the parking operation, arrives at the target position, and the vehicle is successfully parked in the reserved parking space, and the parking process is completed.

[0061] 3. One-click car-hailing; Combination Figure 5 The detailed process of one-click car-hailing is as follows: 1) One-click car-calling: The user clicks the one-click car-calling button on the mobile terminal to send a car-calling wake-up command.

[0062] 2) Vehicle autonomous ignition: After the vehicle receives the wake-up command, it autonomously determines whether to start the ignition.

[0063] 3) The car-calling wake-up is successful: If the vehicle is successfully ignited and started, the car-calling wake-up is successful.

[0064] 4) Apply for route planning: After the vehicle is successfully called, a route planning application is sent to the site to request the generation of a route plan to reach the target location.

[0065] 5) Path planning generation: The vehicle generates the optimal path planning based on the input target location information.

[0066] 6) Clock synchronization and path planning information synchronization: The vehicle side and the field side synchronize the clocks to ensure that the clocks of both sides are consistent. At the same time, the vehicle side and the field side synchronize the path planning information to ensure the accuracy and consistency of the path planning.

[0067] 7) Real-time reporting of surrounding obstacle information: The site monitors surrounding obstacle information in real time and reports it to the vehicle in real time to ensure the safety of the vehicle during driving.

[0068] 8) Vehicle arrives at the target location: The vehicle integrates the field information to optimize the route planning in real time and drives to the target location. After arrival, the vehicle stops at the location requested by the user.

[0069] 9) Personnel takes over the vehicle: After the vehicle arrives at the target location, the personnel takes over the vehicle and completes the entire vehicle-hailing process.

[0070] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. An intelligent network-connected vehicle cloud-coordinated automatic valet parking system, characterized in that: include: The cloud system is used to complete scheduling and management to achieve vehicle management and smart parking in the parking lot; The vehicle-side system includes a data fusion processing unit and a planning control unit. The data fusion processing unit is used to fuse various data acquired by the vehicle and provide the data to the planning control unit. The planning control unit is used to plan a parking path and control the vehicle to perform a parking action based on the data obtained by the fusion processing. The field-side system includes a field-side visual perception unit, a laser radar and an MEC unit. The field-side visual perception unit and sensors such as the laser radar are used to perceive the vehicle's surrounding environment. The MEC unit is used to process real-time data. The data perceived by the field side is processed and analyzed in real time by the MEC to generate a decision result.

2. The intelligent network-connected vehicle cloud-coordinated automatic valet parking system according to claim 1 is characterized in that: The cloud system includes: The parking space management unit is responsible for managing the parking space information in the parking lot; Vehicle management unit, used to manage vehicle information; The ground lock management unit is used to manage the ground lock equipment on the parking space and control the lifting and lowering status of the ground lock; The map management unit is used to maintain the map information of the parking lot.

3. The intelligent network-connected vehicle cloud-coordinated automatic valet parking system according to claim 1, characterized in that: The data fusion processing unit specifically includes: The vehicle-side sensing unit obtains information about the vehicle's surrounding environment through on-board sensors; A high-precision map unit is used to obtain map information of the vehicle's location, and the map information is used for vehicle path planning and navigation; Positioning system, which uses positioning technology to obtain the current precise location information of the vehicle; The receiving roadside perception data unit OBU is used to receive the perception data transmitted by the roadside RSU device to assist the vehicle in parking decision.

4. The intelligent network-connected vehicle cloud-coordinated automatic valet parking system according to claim 1, characterized in that: The planning control unit comprises: The path planning unit is used to determine the optimal parking path based on the vehicle's current position, the target parking space and the surrounding environment; The control execution unit is used to transmit the instructions obtained from the path planning to the vehicle's control system, controlling the vehicle to perform corresponding driving and steering actions to achieve the goal of automatic parking.

5. The intelligent connected vehicle cloud-coordinated automatic valet parking system according to any one of claims 1 to 4, characterized in that: The field-side sensing data in the field-side system interacts with the intelligent system inside the vehicle to provide intelligent decision support for the driver.

6. The intelligent connected vehicle cloud-coordinated automatic valet parking system according to any one of claims 1 to 4, characterized in that: Based on the field-side perception and MEC data processing capabilities in the field-side system, communication and collaboration between vehicles and between vehicles and infrastructure are achieved.

7. A control method for a smart connected vehicle cloud-coordinated automatic valet parking system based on any one of claims 1 to 6, characterized in that: Including automatic valet parking reservation, the process includes: Reservation parking: Users initiate a reservation request for automatic valet parking on the mobile terminal and select the parking time and location information; Ground lock rises: After receiving the reservation request, the system controls the ground lock to rise at the reserved parking location to reserve a parking space for the vehicle; Reservation completed: After the ground lock rises, the system will send a reservation completion message to the user to confirm that the reservation is successful.

8. A control method for a smart connected vehicle cloud-coordinated automatic valet parking system based on any one of claims 1 to 6, characterized in that: It includes one-click parking. After reserving a parking space, the vehicle drives to the docking point near the garage, shifts the gear to N gear, and the user clicks one-click parking. The mobile terminal calls the service interface of the cloud system, which transmits the license plate number, parking lot ID, starting longitude and latitude, and ending longitude and latitude to the vehicle and yard ends; the yard ends confirm the yard status, the vehicle ends confirm the vehicle status, the vehicle ends perform path planning, the vehicle ends and the yard ends perform V2X interactive clock synchronization, path planning information synchronization, and the yard ends report surrounding obstacle information and location information to the vehicle end in real time.

9. The control method according to claim 8, characterized in that: The one-key parking process includes: 1) Parking space reservation and vehicle docking: Users reserve a parking space through the mobile application and drive the vehicle to the docking point near the garage after the reservation is successful; 2) Start one-touch parking: The user puts the vehicle into N gear and then clicks the one-touch parking button on the mobile terminal; 3) Calling the cloud service interface: The mobile terminal calls the service interface of the cloud system and sends a request to the cloud containing the license plate number, parking lot ID, and the starting and ending latitude and longitude information; 4) Cloud information is transmitted to the vehicle and field side: After receiving the request, the cloud transmits the relevant information to the vehicle and field side systems; 5) Status confirmation and path planning: The terminal and vehicle side confirm their own status respectively. The vehicle side confirms the current location of the vehicle and plans the best path to the target location. 6) V2X interaction and clock synchronization: The vehicle and the field interact through V2X communication to synchronize clock and path planning information to ensure data consistency and collaborative operation between the two parties; 7) Real-time reporting of surrounding obstacle information: The terminal reports surrounding obstacle information and location information to the vehicle terminal in real time; 8) Path synchronization and execution: The vehicle and the terminal perform parking operations based on the synchronized path planning information; the autonomous driving vehicle optimizes the planned path and drives to the target location based on the integrated terminal information; 9) Complete the parking operation.

10. A control method for a smart connected vehicle cloud-coordinated automatic valet parking system based on any one of claims 1-6, characterized in that: Including one-click car-hailing, the process includes: 1) One-click car-calling: The user clicks the one-click car-calling button on the mobile terminal to send a car-calling wake-up command; 2) Vehicle autonomous ignition: After the vehicle receives the wake-up command, it autonomously determines whether to start the ignition; 3) The car call wake-up is successful: If the vehicle is successfully ignited and started, the car call wake-up is successful; 4) Apply for route planning: After the vehicle is successfully called, it sends a route planning application to the site to request the generation of a route plan to reach the target location; 5) Path planning generation: The vehicle generates the best path planning based on the input target location information; 6) Clock synchronization and path planning information synchronization: The vehicle end and the yard end perform clock synchronization to ensure that the clocks of both parties are consistent; the vehicle end and the yard end synchronize path planning information; 7) Real-time reporting of surrounding obstacle information: The terminal monitors surrounding obstacle information in real time and reports it to the vehicle terminal in real time to ensure the safety of the vehicle during driving; 8) Vehicle arrives at the target location: The vehicle integrates the information from the field to optimize the route planning in real time and drives to the target location. After arriving, the user requests the parking location; 9) Personnel takes over the vehicle: After the vehicle arrives at the target location, the personnel takes over the vehicle and completes the entire vehicle-hailing process.

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