A parking system, method and apparatus

Abstract

This invention provides a parking system, method, and apparatus. The parking system includes a limiting component and a processor. The limiting component is movable within a parking space to prevent the movement of a target vehicle that cooperates with it. The processor estimates the final pose of the target vehicle when it parks in the parking space, i.e., estimates the pose that satisfies the charging conditions after the target vehicle parks in the parking space. Based on the final pose, the processor drives the limiting component to move, so that the target vehicle cooperates with the limiting component when it reaches the final pose. By estimating the pose that satisfies the charging conditions after the target vehicle parks in the parking space, and then driving the limiting component to move to the final pose within the parking space, this invention ensures that the target vehicle, after entering the parking space, can park in a pose that satisfies the charging conditions with the cooperation of the limiting component, effectively improving the parking accuracy of the target vehicle.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology, and in particular to a parking system, method and apparatus. Background Technology

[0002] In related technologies, vehicles equipped with automatic parking functions can automatically park themselves in parking spaces. However, in some application scenarios, there are certain requirements for the accuracy of vehicle parking, such as when the parking space is small or the vehicle needs to be aligned with the charging coil. Therefore, how to effectively improve the accuracy of vehicle parking has become an urgent technical problem to be solved. Summary of the Invention

[0003] The purpose of this invention is to provide a parking system, method, and apparatus to improve vehicle parking accuracy.

[0004] The specific technical solution is as follows:

[0005] In a first aspect, embodiments of the present invention provide a parking system, the parking system comprising:

[0006] The limiting component is movable within the parking space to prevent the movement of a target vehicle that cooperates with the limiting component.

[0007] The processor is configured to estimate the final pose of the target vehicle when it is parked in the parking space, and drive the limiting component to move according to the final pose, so that it cooperates with the limiting component when the target vehicle moves to the final pose; wherein, the final pose refers to the pose of the target vehicle when it is parked in the parking space to meet the charging conditions.

[0008] Secondly, embodiments of the present invention provide a parking method, the method being applied to a parking system, the parking system including a limiting component and a processor; the limiting component is movable within a parking space, used to prevent the movement of a target vehicle cooperating with the limiting component; the method includes:

[0009] Estimate the final position of the target vehicle as it parks in the parking space;

[0010] Based on the endpoint pose, the limiting component is driven to move so that it cooperates with the limiting component when the target vehicle moves to the endpoint pose; wherein, the endpoint pose refers to the pose in which the target vehicle is parked in the parking space to meet the charging conditions.

[0011] Thirdly, embodiments of the present invention provide a parking device, applied to a processor of a parking system, the parking system further including a limiting component, the limiting component being movable within a parking space to prevent the movement of a target vehicle cooperating with the limiting component; the device includes:

[0012] The pose determination module is used to estimate the final pose of the target vehicle when it is parked in the parking space;

[0013] A limit drive module is used to drive the limit component to move according to the endpoint pose, so that it cooperates with the limit component when the target vehicle moves to the endpoint pose.

[0014] The endpoint pose refers to the pose in which the target vehicle is parked in the parking space and meets the charging conditions.

[0015] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any parking method provided in the embodiments of this application.

[0016] Beneficial effects of the embodiments of the present invention:

[0017] This invention provides a parking system, method, and apparatus. The parking system includes a limiting component and a processor. The limiting component is movable within a parking space to prevent the movement of a target vehicle that cooperates with it. The processor estimates the final pose of the target vehicle when it parks in the parking space, i.e., estimates the pose that satisfies the charging conditions after the target vehicle parks in the parking space. Based on the final pose, the processor drives the limiting component to move, so that the target vehicle cooperates with the limiting component when it reaches the final pose. By estimating the pose that satisfies the charging conditions after the target vehicle parks in the parking space, and then driving the limiting component to move to the final pose within the parking space, the target vehicle, after entering the parking space, can park in a pose that satisfies the charging conditions with the cooperation of the limiting component, effectively improving the parking accuracy of the target vehicle.

[0018] Of course, implementing any product or method of the present invention does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0020] Figure 1 A schematic diagram of a parking system provided by the present invention;

[0021] Figure 2a Another schematic diagram of the parking system provided by the present invention;

[0022] Figure 2b Another schematic diagram of the parking system provided by the present invention;

[0023] Figure 3 A schematic flowchart of the parking method provided by the present invention;

[0024] Figure 4 A schematic diagram illustrating a practical application scenario of the parking method provided by the present invention;

[0025] Figure 5 This is a schematic diagram of a parking device provided by the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of the present invention.

[0027] To more clearly illustrate the parking system provided in the embodiments of the present invention, an exemplary application scenario of the parking system provided in the embodiments of the present invention will be described below. It should be understood that the following example is only one possible application scenario of the parking system provided in the embodiments of the present invention. In other possible embodiments, the parking system provided in the embodiments of the present invention can also be applied to other possible application scenarios. The following example does not impose any limitations on this.

[0028] For vehicles that support wireless charging, owners can charge their vehicles using a charging transmitter located in the parking space after parking. However, for the charging transmitter to charge the vehicle normally, it requires spatial matching between the transmitter and the vehicle's charging receiver. Since the location of the charging transmitter is often fixed, the vehicle must be parked in a specific location, which places high demands on the vehicle's parking precision.

[0029] However, due to various limitations, the parking accuracy of the automatic parking function is limited, causing the vehicle to stop before reaching the designated position or after exceeding the designated position during the parking process. This results in the charging transmitter and the charging receiver not being able to match in space, thus preventing the vehicle from being wirelessly charged.

[0030] Based on this, embodiments of the present invention provide a parking system, such as... Figure 1 As shown, it includes:

[0031] Limiting component 110, processor 120.

[0032] The limiting component can move within the parking space to prevent the movement of the target vehicle that cooperates with the limiting component. The processor estimates the final pose of the target vehicle when it is parked in the parking space and drives the limiting component to move according to the final pose, so that the target vehicle can cooperate with the limiting component when it moves to the final pose. The final pose is the pose that meets the charging conditions after the target vehicle is parked in the parking space. Meeting the charging conditions means that the vehicle can be charged through the cooperation between the charging receiver on the vehicle and the charging transmitter on the parking space.

[0033] By using this embodiment, the target vehicle is estimated to be in a position that will meet the charging conditions after parking in the parking space. Then, the limiting component is driven to move in the parking space to the endpoint position. This allows the target vehicle to be parked in the parking space in a position that meets the charging conditions with the help of the limiting component after entering the parking space, effectively improving the parking accuracy of the target vehicle.

[0034] The limiting component can be any component with limiting function, capable of moving in any or a specific direction within the parking space, including but not limited to wheel stops, parking barriers, etc.

[0035] In this article, the limiting function of the limiting component refers to preventing the vehicle from continuing to move when it comes into contact with the limiting component, or when the distance between the vehicle and the limiting component is less than a preset distance threshold. Figure 1 As shown in the example, taking the limit component as an example of a wheel stop, if the vehicle... Figure 1 If a vehicle is traveling from left to right and comes into contact with a limiting component during this process, the limiting component should prevent the vehicle from continuing to move forward. Figure 1 Drive on the right.

[0036] In one possible scenario, the limiting component can be one or more wheel chocks that can move in any direction. In another possible scenario, the limiting component can be one or more wheel chocks that can translate in a specific direction and stop after moving to the target position. When the target vehicle is in motion, once the wheels come into contact with the wheel chocks, it will be unable to continue moving.

[0037] In another possible scenario, the limiting component can be a barrier arm containing a distance sensor, capable of translating in a specific direction on the parking space plane. For example, a slide rail is provided on both sides of the parking space for mounting the barrier arm, which can translate back and forth horizontally along the slide rail. The distance sensor on the barrier arm detects the distance between the vehicle and the barrier arm; when the distance is less than a preset distance threshold, a stop command is sent to the vehicle, causing it to stop upon receiving the stop command.

[0038] In this embodiment of the invention, a parking space can be any planar area that supports vehicle parking. For example, such as... Figure 1 As shown, a parking space can be a rectangular planar area. A parking space can also be any planar area that supports vehicle parking and provides energy to the vehicle after parking. For example, in one possible scenario, the parking space supports vehicle parking and has a charging transmitting coil underneath for wireless charging of the vehicle. In another possible scenario, the parking space supports vehicle parking and has a charging pile on one side for wired charging of the vehicle. The specific form of the parking space can be flexibly selected according to actual needs, and this invention does not impose specific limitations.

[0039] The final pose is not necessarily the actual pose of the target vehicle when it is parked in the parking space, but rather represents the estimated or expected pose of the target vehicle when it is parked in the parking space.

[0040] For example, in one possible embodiment, the parking system provided by the present invention further includes a charging transmitter, which is disposed in the parking space and is used to cooperate with a charging receiver disposed in the target vehicle to charge the target vehicle. Taking the aforementioned wireless charging application scenario as an example, the charging transmitter is disposed directly below the parking space, and the charging receiver of the target vehicle is disposed at the bottom of the target vehicle. The charging receiver disposed in the target vehicle should be spatially matched with the charging transmitter disposed in the parking space. In this case, the intended final position of the target vehicle should be a position that allows the charging receiver of the target vehicle to spatially match the charging transmitter of the parking space.

[0041] Furthermore, the endpoint pose can be represented in different forms. For example, in one possible embodiment, the endpoint pose can be represented in the form of {position, orientation}. Here, position can refer to the location of one or more feature points of the target vehicle when the target vehicle is in the endpoint pose. For example, position can refer to the location of the center of the vehicle when the target vehicle is in the endpoint pose, or it can refer to the location of the front wheels or all four wheels of the vehicle when the target vehicle is in the endpoint pose, etc.

[0042] Orientation can refer to the direction in which the front of the vehicle or the parking space faces when the target vehicle is in its final position. For example, the parking plane can be considered as a two-dimensional plane, such as... Figure 1 As shown, the two dimensions of this two-dimensional plane are the first horizontal direction and the second horizontal direction. The orientation refers to the angle between the vehicle's front and the first horizontal direction when the target vehicle is in its final pose, or the angle between the vehicle's front and the second horizontal direction. The first horizontal direction can be the longitude direction in the world coordinate system, and the second horizontal direction is the latitude direction perpendicular to the second horizontal direction.

[0043] In another possible embodiment, the first horizontal direction can be the direction in which the target vehicle enters, and the second horizontal direction is the direction perpendicular to the first horizontal direction. In this case, the vehicle's position can be identified as the first horizontal direction. In this embodiment, only the position can be used to represent the endpoint pose.

[0044] In this embodiment of the invention, the processor is used to estimate the final pose of the target vehicle when it is parked in the parking space during the process of the target vehicle driving into the parking space. This can be achieved by the processor obtaining the final pose of the target vehicle when it is parked in the parking space according to preset constraints. The preset constraints can be set according to the actual application scenario.

[0045] In one possible embodiment, the actual application scenario could be a parking space that supports charging. In this scenario, the parking system also includes a charging transmitter, and the preset constraints can be set based on whether charging is convenient. Specifically, if the parking space is a wireless coil charging plane, the preset constraints could be set such that the vehicle chassis needs to be parked directly above the wireless coil of the parking space; or, if a fixed charging pile is installed on one side of the parking space, the preset constraints could be set such that the charging port on the top of the vehicle needs to be parked near the charging pile, and so on.

[0046] Depending on the pose representation method and the structure of the limiting component, the processor can drive the limiting component in different ways. For example, depending on the pose identification method and the structure of the limiting component, the processor can drive the limiting component to move in different directions. For instance, assuming the endpoint pose is represented by the first position where the foremost part of the target vehicle is in the endpoint pose, if the limiting component is a barrier, the processor can drive the limiting component to move to the first position in the first horizontal direction. If the limiting component is a wheel stop, the processor can drive the limiting component to move to a second position from any direction. The second position is closer to the target vehicle than the first position, and the distance between the second position and the first position in the first horizontal direction should be equal to the distance between the front wheel of the target vehicle and the foremost part of the target vehicle in the first horizontal direction.

[0047] Assuming the endpoint pose is represented by the third position of the front wheels when the target vehicle is in the endpoint pose, if the limiting component is a wheel stop, the processor can drive the limiting component to move to the third position in the first horizontal direction. If the limiting component is a barrier, the processor can drive the limiting component to move to the fourth position in the first horizontal direction. The fourth position is farther from the target vehicle than the third position, and the distance between the third and fourth positions in the first horizontal direction should be equal to the distance between the front wheels of the target vehicle and the foremost point of the target vehicle in the first horizontal direction.

[0048] In one possible embodiment, in a practical use case where a vehicle is parked in a parking space that supports charging, the size of the target vehicles varies significantly due to differences in vehicle brand and model, resulting in different endpoint positions for successful charging of different target vehicles. In this embodiment of the invention, the driveable limiting component moves in a first horizontal direction, and the processor is specifically used to:

[0049] Based on the size of the target vehicle, the pose of the target vehicle is determined when the relative positions of the charging receiver and the charging transmitter in the first horizontal direction form a charging path, which is then used as the endpoint pose.

[0050] In this way, the appropriate endpoint position can be determined according to the size of different target vehicles, so that after the target vehicle is parked in the endpoint position, the charging transmitter set in the parking space and the charging receiver set in the target vehicle can cooperate smoothly to charge the target vehicle.

[0051] In this embodiment of the invention, the processor can obtain the dimensions of the target vehicle in the following manner:

[0052] Method 1: The target vehicle actively sends the information to the parking system.

[0053] Method 2: The parking system obtains the dimensions autonomously through the size acquisition component.

[0054] In Method 1, before the target vehicle enters the parking space, a wireless communication link is established between the target vehicle and the parking system. This allows the target vehicle to send its attribute parameters to the parking system, enabling the parking system processor to process these parameters. The target vehicle's attribute parameters may include: the vehicle's dimensions, the specific location of the charging receiver within the vehicle body, the model and size of the charging receiver, and the rated power supported by the charging receiver, among other information.

[0055] In one possible scenario, the wireless communication link between the target vehicle and the parking system can be constructed as follows:

[0056] Before entering the target parking space, the target vehicle sends a parking request to the parking system near the parking space. The parking system responds to the parking request sent by the target vehicle, thereby establishing a communication connection between the target vehicle and the parking system.

[0057] In another possible scenario, the wireless communication link between the target vehicle and the parking system can also be constructed as follows:

[0058] The parking system also includes a vehicle recognition component. When the vehicle recognition component detects that a vehicle is approaching the target parking space, it sends a communication interaction command to the target vehicle. If the target vehicle receives the communication interaction command and responds, a communication connection between the target vehicle and the parking system can be successfully established.

[0059] In Method Two, the parking system includes a size acquisition component, which can be used to acquire the dimensions of the target vehicle. For example, the size acquisition component in the parking system can be an image acquisition component with depth image acquisition capabilities, or it can be a point cloud data acquisition component capable of acquiring three-dimensional point cloud data of the vehicle body. Specifically, if the size acquisition component is a laser sensor capable of acquiring three-dimensional point cloud data of the vehicle body, then before the target vehicle enters the target parking space, the parking system identifies that the target vehicle intends to enter the target parking space, calls the laser sensor to acquire data of the target vehicle, and obtains the dimensions of the target vehicle.

[0060] Based on this, in one possible embodiment, the parking system has vehicle model database access permission. After the size acquisition component obtains the size of the target vehicle, it uses this database access permission to query the vehicle model database for the target vehicle size and obtain the vehicle attribute parameters corresponding to the target vehicle model. For example, after obtaining the size of the target vehicle, it can obtain information such as the model number, charging receiver type, and supported charging rated power from the database.

[0061] In this embodiment of the invention, the relative position of the charging receiver and the charging transmitter in the first horizontal direction is a position that enables the target vehicle to be accurately charged. This relative position may vary depending on the type of adapter between the charging transmitter and the charging receiver.

[0062] For example, if the adapter type between the charging transmitter and the charging receiver is wired charging, such as forming a charging path with the target vehicle via a fixed charging pile next to a parking space using a charging head of a certain length, a certain offset between the target vehicle's charging receiver and the charging pile's charging transmitter in the first horizontal direction is permissible. In this adapter type, the relative position of the charging receiver and the charging transmitter can be such that the angle between the line connecting the midpoints of the charging receiver and the charging transmitter and the first horizontal direction is less than a preset angle range. This preset angle range can be set based on practical experience or the length of the charging cable.

[0063] For example, with Figure 2aFor example, if the first horizontal direction of the parking space is taken as the x-direction of the spatial rectangular coordinate system, and the horizontal direction of the parking space is taken as the y-direction of the spatial rectangular coordinate system, where the parking space is the xoy plane, then the fixed charging pile is installed on the yoz or xoz plane. In this case, the relative position of the charging receiver and the charging transmitter in the first horizontal direction can be understood as the angle between the line connecting the coordinates of the charging receiver in the spatial rectangular coordinate system and the coordinates of the charging transmitter in the spatial rectangular coordinate system and the first horizontal direction being less than a preset angle range.

[0064] If the adapter type between the charging transmitter and the charging receiver is wireless charging, the charging transmitter is placed on the surface of the parking space or embedded inside the area where the parking space is located. The shape of the coverage area of ​​the charging transmitter can be arbitrary.

[0065] Since wireless charging relies on near-field induction, when the charging receiver is located within the charging field of the charging transmitter, the transmitter can smoothly supply power to the receiver, forming a charging loop or path. Taking electromagnetic induction wireless charging as an example, the transmitter is the primary magnetic induction coil, and the receiver is the secondary magnetic induction coil. The larger the overlap area between the secondary and primary magnetic induction coils, the more energy is converted, and the faster the conversion efficiency. To maximize energy conversion efficiency, the secondary magnetic induction coil of the receiver can be completely located within the coverage area of ​​the primary magnetic induction coil of the transmitter.

[0066] In this scenario, the relative positions of the charging transmitter and the charging receiver in the first horizontal direction can be such that the overlap between the coverage areas of the charging transmitter and the charging receiver in the first horizontal direction satisfies a preset area range. This preset area range can be set based on practical experience, can be a conclusion drawn from multiple experiments, or can be set based on the coverage area of ​​the charging transmitter and the energy conversion capability of the charging transmitter; this invention does not impose any specific limitations.

[0067] For example, such as Figure 2b As shown, assuming the dimensions of the parking space in the first horizontal direction are larger than its dimensions in the second horizontal direction, and a charging transmitter is pre-embedded in the parking space, where the dimensions of the charging transmitter in the first horizontal direction are larger than its dimensions in the second horizontal direction (e.g., the dimensions of the charging transmitter in the first horizontal direction are 100cm and the dimensions in the second horizontal direction are 60cm), since the dimensions of the parking space in each direction match the dimensions of the target vehicle in each direction, the target vehicle can only be parked safely and completely in the parking space with its front facing the first horizontal direction and its doors facing the second horizontal direction.

[0068] Assume the target vehicle's charging receiver has dimensions of 50cm in the first horizontal direction and 30cm in the second horizontal direction. To ensure a charging path is formed between the target vehicle's charging receiver and the charging transmitter in the parking space, the charging receiver needs to be positioned within a 100cm x 60cm area of ​​the charging transmitter in the first horizontal direction, allowing for overlap in their coverage areas and enabling charging of the target vehicle. Alternatively, to ensure energy conversion efficiency, the charging receiver can be positioned completely within both the 100cm x 60cm areas of the charging transmitter in the first and second horizontal directions.

[0069] At this time, the processor determines the position of the target vehicle that can form a charging circuit or charging path between the charging transmitter and the charging receiver as the endpoint position, and then drives the limiting component to move to a position that matches the charging position. This ensures that when the target vehicle enters and cooperates with the limiting component, the charging receiver and the charging transmitter can be charged smoothly, thus improving parking accuracy.

[0070] In one possible embodiment, if the limiting component above the parking space moves along a first horizontal direction to limit the target vehicle in that direction, the target vehicle cannot continue moving in the first horizontal direction when it engages with the limiting component. That is, the movement of the target vehicle in the first horizontal direction is limited by the limiting component, while the movement of the target vehicle in the second horizontal direction is not controlled by the limiting component. Consequently, the parking position of the target vehicle's charging receiver in the second horizontal direction will vary considerably.

[0071] For example, with Figure 2b Taking the parking space shown as an example, under the restriction of the limiting component, the front of the target vehicle can only move to the position that mates with the limiting component. At this time, the parking posture of the target vehicle can exist in the following situations:

[0072] Scenario 1: The target vehicle is parked in the center of the parking space, and the front or rear of the vehicle has reached the limit component;

[0073] Scenario 2: The target vehicle is parked in the area slightly to the left of the center line of the second horizontal direction of the parking space, and the front or rear of the vehicle has reached the limit component;

[0074] Scenario 3: The target vehicle is parked in the area slightly to the right of the second horizontal centerline of the parking space, and the front or rear of the vehicle has reached the limit component.

[0075] Because the parking positions of the target vehicles vary significantly in the second horizontal direction, in order to improve parking accuracy, in this embodiment of the invention, the size of the charging transmitter included in the parking system should not be less than a preset size threshold in the second horizontal direction. The preset size threshold is the lower limit of the size of the charging transmitter in the second horizontal direction when the target vehicle is parked in a parking space and meets the charging conditions.

[0076] In the embodiment of the present invention, if the size of the charging transmitter in the second horizontal direction is greater than or equal to a preset size threshold, it indicates that regardless of whether the target vehicle is parked in the parking space under any of the above-mentioned circumstances one, two, or three, it can be guaranteed that the charging receiver of the target vehicle and the charging transmitter in the parking space can form a charging path, reducing charging obstacles caused by the difference in the parking position of the target vehicle in the second horizontal direction.

[0077] Taking the aforementioned wireless charging scenario as an example, in wireless coil charging, charging is achieved through a magnetic coil generated between the transmitter and receiver. If there are any metallic impurities present between the transmitter and receiver, these impurities can easily affect the magnetic coil, thus impacting the charging effect. In one possible embodiment, the parking system also includes a cleaning component to clean impurities present in the parking space or on the charging transmitter, thereby reducing the impact of impurities on the parking process of the target vehicle.

[0078] In this embodiment of the invention, the cleaning component can be a mechanical cleaning tool such as a cleaning brush or a cleaning roller, or an electric cleaning tool such as an electric vacuum cleaner or an electric floor scrubber. The specific component can be flexibly selected according to the actual scenario, and this invention does not impose any specific limitations.

[0079] In one embodiment of the invention, the cleaning component may be fixed to the limiting component, and the cleaning component and the limiting component work synchronously. In this case, the processor drives the limiting component to move, and the movement of the limiting component causes the cleaning component to move along with it, thereby cleaning the parking space or charging transmitter. For example, as the processor drives the limiting component to move in the first horizontal direction, the cleaning component also moves in the first horizontal direction under the influence of the limiting component, clearing debris from the parking space.

[0080] In this scenario, the cleaning component is directly installed at the limiting assembly, eliminating the need for additional mechanical structures. This allows the parking space or charging transmitter to be cleaned before the target vehicle enters the destination position. After cleaning, the limiting assembly moves directly to the position corresponding to the destination position, saving mechanical costs while reducing the impact of debris on charging efficiency.

[0081] In another possible scenario, the cleaning component can be flexibly combined with the limiting component, and the cleaning component and the limiting component can work asynchronously. For example, the processor drives the limiting component to move in the first horizontal direction to the vicinity of the debris, and the cleaning component starts working to clean the debris.

[0082] Alternatively, in another possible scenario, the cleaning component is not combined with the limiting assembly, but is instead located on a retractable robotic arm on one side of the charging transmitter. This robotic arm is situated in a non-charging working area (in the case of wireless charging, the non-charging working area can be the area outside the magnetic induction coil of the charging transmitter). The processor controls the cleaning component to clean up debris by driving the robotic arm to move.

[0083] By using the embodiments of the present invention, when there are debris in the parking space, the cleaning component can clean up the debris to achieve self-cleaning of the parking space and reduce the impact of debris on charging efficiency.

[0084] In one possible embodiment, the parking system provided by the present invention further includes an image acquisition component, which is used to acquire an image of the charging transmitter before the charging transmitter charges the target vehicle. The acquired image includes the charging working area of ​​the charging transmitter (for example, in wireless charging, the charging working area can be the magnetic induction coil area of ​​the charging transmitter). A processor is used to detect whether there are preset debris that can be cleaned by a cleaning component in the charging working area of ​​the charging transmitter in the image. If there are preset debris that can be cleaned by the cleaning component, the processor drives the cleaning component to move to remove the preset debris in the charging working area of ​​the charging transmitter.

[0085] In this embodiment of the invention, the image acquisition component can be any device with image acquisition capabilities, including but not limited to cameras, image acquisition modules, etc. In this embodiment, the image acquisition component can acquire images of the parking space according to a preset period; after detecting a target vehicle in the parking space, it acquires an image of the charging transmitter at that moment. The image acquisition component can be placed at any location within the parking space, but its field of view must include the charging operating area of ​​the charging transmitter. The image acquisition component can also adjust its acquisition angle when a vehicle is detected in the parking space to acquire images of the charging operating area of ​​the charging transmitter.

[0086] In one possible embodiment, the image acquisition component is used to acquire an image of the charging transmitter upon receiving an image acquisition command sent by the processor, the image acquisition command being triggered upon the processor receiving a parking signal sent by the target vehicle.

[0087] For example, before entering a parking space, the target vehicle can communicate with the processor in advance, sending a parking request to the processor. After receiving the parking request, the processor generates an image acquisition command and sends the generated image acquisition command to the image acquisition component to drive the image acquisition component to acquire images of the parking space.

[0088] In this embodiment of the invention, in the scenario of charging at a fixed charging pile, the image acquisition component can be set on the charging pile. This eliminates the need for a separate mechanical structure for installing the image acquisition component, as well as the need for additional connecting wires for the image acquisition component. This saves installation costs while providing a better field of view and better concealment.

[0089] In one possible scenario, the charging working area can be marked with a special identifier so that the processor can detect the charging working area based on the acquired image. This special identifier can be a real identifier or a virtual identifier of the charging transmitter pre-drawn within the image acquisition field of view using a preset algorithm.

[0090] For example, if the parking space is like Figure 2b As shown, the working area of ​​the charging transmitter is a small rectangular area in the figure. The charging working area can be marked by painting the rectangular area or drawing a border.

[0091] Alternatively, based on the specific location of the charging transmitter's working area in the image's field of view, a virtual rectangle can be pre-drawn in the image using a preset algorithm to mark the charging working area.

[0092] In this embodiment of the invention, the preset debris that the cleaning component can clean can be the result of pre-classifying various possible debris based on the cleaning ability of the cleaning component. For example, if the cleaning component has a weak cleaning ability and can only support the cleaning of debris weighing less than a preset weight threshold, then the debris that the cleaning component can clean is the debris weighing less than the preset weight threshold, and the debris that the cleaning component cannot clean is the debris weighing greater than the preset weight threshold. The preset weight threshold can be set based on the results of testing the cleaning component, or it can be set by the operator based on practical experience.

[0093] Specifically, the preset debris that the cleaning component can clean includes, but is not limited to: dust, plastic bags, balls, aluminum cans, beverage bottles, etc., while the preset debris that cannot be cleaned includes, but is not limited to: gravel and other difficult-to-clean debris. If preset debris that the cleaning component cannot clean is detected in the charging working area of ​​the charging transmitter in the image, a warning message is sent to prompt additional cleaning assistance, such as manual cleaning.

[0094] In this embodiment, the charging working area of ​​the charging transmitter refers to the area used during the process of the charging transmitter and the charging receiver working together to form a charging circuit. Taking wireless charging as an example, the charging working area of ​​the charging transmitter can be the magnetic induction coil area of ​​the charging transmitter; taking wired charging as an example, the charging working area of ​​the charging transmitter can be the area corresponding to the charging head on the charging transmitter.

[0095] In another embodiment, the charging operating area of ​​the charging transmitter can refer to the charging area of ​​the parking space, which is the sub-area within the parking space that the vehicle must enter when it needs to charge. Further, in one possible scenario, if the aforementioned uncleanable debris is a pedestrian, animal, etc., in this embodiment of the invention, an alarm sound can be emitted to urge them to leave on their own. In another possible embodiment, a warning message can be sent to prompt additional cleaning assistance. For example, assuming the uncleanable debris is a bicycle, electric vehicle, gravel, etc., a warning message can be sent to indicate that manual assistance is needed to remove these debris from the charging area of ​​the parking space.

[0096] In this embodiment of the invention, the processor detects whether there are pre-defined debris that can be cleaned by cleaning components in the charging working area of ​​the image. To avoid the charging working area being affected by debris, which could prevent the vehicle from charging normally, the charging working area should be free of debris. The processor can identify whether there is debris in the charging working area through a pre-defined image recognition algorithm. Furthermore, a pre-defined item classification algorithm can be used to identify the type of debris to determine whether the debris in the charging working area belongs to pre-defined cleanable debris or pre-defined non-cleanable debris. Then, a targeted cleaning solution can be selected to clean the charging working area of ​​the parking space or charging transmitter to reduce the impact of debris on charging efficiency.

[0097] On the other hand, embodiments of the present invention provide a parking method applied to a processor of a parking system. The parking system includes a limiting component and a processor. The limiting component is movable within a parking space to prevent the movement of a target vehicle cooperating with the limiting component. Figure 3 As shown, the parking method provided in this embodiment of the invention specifically includes the following steps:

[0098] S310. Estimate the final position of the target vehicle as it parks in the parking space;

[0099] S320. Based on the endpoint pose, drive the limiting component to move so that it cooperates with the limiting component when the target vehicle moves to the endpoint pose. The endpoint pose refers to the pose of the target vehicle when it is parked in the parking space and meets the charging conditions.

[0100] Specifically, in step S310, the processor obtains the final position pose of the target vehicle when it is parked in the parking space. For details regarding this method, please refer to the relevant documentation in the aforementioned parking system. Further details will not be elaborated here. In step S320, the processor drives the limit component to move based on the final position pose. For details regarding this method, please refer to the relevant documentation in the aforementioned parking system. Further details will not be elaborated here.

[0101] In one alternative implementation, the limiting component is movable along a first horizontal direction; the parking system further includes a charging transmitter; the charging transmitter is disposed in the parking space for cooperating with a charging receiver disposed in the target vehicle to charge the target vehicle; estimating the final pose of the target vehicle parked in the parking space includes:

[0102] Based on the size of the target vehicle, determine the pose of the target vehicle when the relative positions of the charging receiver and the charging transmitter in the first horizontal direction can form a charging path, and use this pose as the endpoint pose.

[0103] In one optional implementation, the size of the charging transmitter in the second horizontal direction is not less than a preset size threshold, the second horizontal direction being perpendicular to the first horizontal direction, and the preset size threshold being the lower limit of the size of the charging transmitter in the second horizontal direction when the target vehicle is parked in a parking space and meets the charging conditions.

[0104] In one optional implementation, the parking system further includes a cleaning component; the parking method provided in this application embodiment also includes:

[0105] Drive the cleaning component to move and clean the charging transmitter.

[0106] Optionally, the cleaning component is disposed in the limiting assembly; the parking method provided in this application embodiment further includes:

[0107] The drive limit component moves the cleaning component together to clean the charging transmitter, and after cleaning is completed, the drive limit component moves to the position corresponding to the endpoint pose.

[0108] In one optional embodiment, the parking system further includes an image acquisition component; the image acquisition component is used to acquire an image of the charging transmitter before the charging transmitter charges the target vehicle; wherein the image includes the charging working area of ​​the charging transmitter; the parking method provided in this application embodiment further includes:

[0109] The system detects whether there are pre-defined debris that can be cleaned by the cleaning component in the charging working area of ​​the charging transmitter in the image. If there are pre-defined debris that can be cleaned by the cleaning component, the cleaning component is driven to move to remove the pre-defined debris in the charging working area of ​​the charging transmitter.

[0110] In one alternative implementation, the image acquisition component is disposed on the charging pile that powers the charging transmitter; the image acquisition component is used to acquire an image of the charging transmitter when a target vehicle is detected in the parking space or when an image acquisition command is received from the processor; the image acquisition command is triggered when the processor receives a parking signal from the target vehicle.

[0111] In an optional implementation, the parking method provided in this application further includes:

[0112] If a preset debris that cannot be cleaned by the cleaning component is detected in the charging working area of ​​the charging transmitter in the image, a warning message is sent to prompt additional cleaning assistance.

[0113] To clearly illustrate the parking method provided in the embodiments of the present invention, the following is combined with Figure 4 This section describes one possible practical wireless charging scenario. For example... Figure 4 As shown, the parking method is applied to the processor in the parking system, which includes the following components:

[0114] The system includes a track 410, a limiting component 420, an electric drive rod 430, a motor drive 440, a charging pile 450, a transmitting coil 460, and a camera 470. The limiting component 420 carries a cleaning component, which is not located within... Figure 4 Draw it out in the middle.

[0115] The limiting component 420 is a limiting assembly used to move along the first horizontal direction on the track groove 410 under the drive of the electric drive rod 430. The charging pile 450 includes a processor, is used to acquire the vehicle's final position and orientation, the transmitting coil 460 is used to wirelessly charge the target vehicle, and the camera 470 is used to capture images of the charging working area of ​​the charging transmitter in the parking space.

[0116] Taking the wheel stopper 420 as an example, the parking method provided by the present invention can specifically include the following steps:

[0117] Step 1: Before the vehicle enters the parking space, it communicates with the charging pile 450 to inform the charging pile 450 that the charging environment is ready. For the communication interaction method between the vehicle and the charging pile 450, please refer to the above description of the communication link between the target vehicle and the parking system. It will not be repeated here.

[0118] Step 2: The vehicle notifies the control wheel stop position to align the vehicle in the first horizontal direction. The charging pile 450 needs to calculate the space required and determine the charging endpoint posture. For the method of determining the endpoint posture by the charging pile 450, please refer to the above-mentioned section on determining the endpoint posture by the processor. It will not be repeated here.

[0119] Step 3: The charging pile 450 detects debris in the parking space based on the image captured by the camera 470 to determine whether there is any preset debris. If there is debris, the drive wheel stop device carries the cleaning component to the debris location to remove the debris.

[0120] Step 4: Confirm that the debris has been cleaned up and return the wheel stop to its final position. For the specific methods of identifying and cleaning the debris in Steps 3 and 4, please refer to the above-mentioned sections on identifying and cleaning debris. They will not be repeated here.

[0121] Step 5: The vehicle aligns itself horizontally and in the first horizontal direction with the assistance of the wheel stop by activating the intelligent parking program or the assisted parking program. The intelligent parking program or the assisted parking program can be a program pre-set in the vehicle to drive the vehicle into the target parking space for parking. The specific program can refer to existing intelligent parking or assisted parking technologies, which will not be elaborated here.

[0122] Step 6: The vehicle's intelligent parking program or assisted parking program moves along the first horizontal direction while ensuring that the horizontal displacement error is less than the preset distance threshold. After moving to the point of colliding with the wheel stop, it attempts to approach the wheel stop. After repeating this several times and confirming that it is impossible to approach the wheel stop, it checks whether the position meets the alignment accuracy.

[0123] Step 7: If the alignment accuracy is not met, after the vehicle moves out along the first horizontal direction, adjust the horizontal displacement and continue to repeat steps 5 and 6 above. If the alignment accuracy still cannot be met after trying a number of warnings, send an error warning command and request manual intervention.

[0124] Step 8: After alignment, the charging station 450 will grant charging permission to charge the vehicle.

[0125] Determining whether the unknown meets the alignment accuracy can be done by checking whether the position of the vehicle's charging receiver and the parking system's charging transmitter are the same in the first horizontal direction, or by checking whether the coils of the vehicle's charging receiver and the charging transmitter can be successfully matched based on the vehicle's attribute parameter information.

[0126] On the other hand, corresponding to the aforementioned parking system, embodiments of the present invention also provide a parking device, a processor applied to the parking system, and the parking system further includes a limiting component that can move within a parking space, such as... Figure 5 As shown, the device includes:

[0127] The pose determination module 510 is used to estimate the final pose of the target vehicle as it parks in the parking space.

[0128] The limit drive module 520 is used to drive the limit component to move according to the end position, so that it cooperates with the limit component when the target vehicle moves to the end position; wherein, the end position refers to the position of the target vehicle when it is parked in the parking space to meet the charging conditions.

[0129] In one possible embodiment, the limiting component is movable along a first horizontal direction, and the parking system further includes a charging transmitter for cooperating with a charging receiver disposed in the target vehicle to charge the target vehicle; the pose determination module 510 is specifically used for:

[0130] Based on the size of the target vehicle, the pose of the target vehicle is determined when the relative positions of the charging receiver and the charging transmitter in the first horizontal direction can form a charging path, and this pose is taken as the endpoint pose. The size of the charging transmitter in the second horizontal direction is not less than a preset size threshold, and the second horizontal direction is perpendicular to the first horizontal direction. The preset size threshold is the lower limit of the size of the charging transmitter in the second horizontal direction when the target vehicle is parked in the parking space and the charging conditions are met.

[0131] The parking system also includes a cleaning component, and the device also includes:

[0132] A cleaning component drive module is used to drive the cleaning component to move in order to clean the charging transmitter; wherein the cleaning component is disposed in the limiting component;

[0133] The cleaning component drive module is specifically used to drive the limiting component to move together with the cleaning component to clean the charging transmitter, and after cleaning is completed, drive the limiting component to move to the position corresponding to the endpoint pose.

[0134] The parking system also includes an image acquisition component for acquiring an image of the charging transmitter before it charges the target vehicle; wherein the image includes the charging operating area of ​​the charging transmitter; the device also includes:

[0135] A preset debris detection module is used to detect whether there are preset debris that can be cleaned by the cleaning component in the charging working area of ​​the charging transmitter in the image. If there are preset debris that can be cleaned by the cleaning component, the cleaning component is driven to move to remove the preset debris in the charging working area of ​​the charging transmitter.

[0136] The image acquisition component is installed on the charging station that powers the charging transmitter;

[0137] The image acquisition component is used to acquire images of the charging transmitter when the target vehicle is detected in the parking space or when an image acquisition command is received from the processor; the image acquisition command is triggered when the processor receives a parking signal from the target vehicle.

[0138] The device also includes:

[0139] The alarm module is used to send a warning message if it detects that there are preset debris that the cleaning component cannot clean in the charging working area of ​​the charging transmitter in the image. The warning message is used to prompt additional cleaning.

[0140] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0141] In another embodiment of the present invention, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above parking methods.

[0142] In another embodiment of the present invention, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform any of the parking methods described above.

[0143] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0144] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0145] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, embodiments of methods, apparatus, computer-readable storage media, and computer program products are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0146] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A parking system, characterized in that, The parking system includes: Limiting components, processors; The limiting component is movable within the parking space to prevent the movement of a target vehicle that cooperates with the limiting component. The processor is configured to estimate the final pose of the target vehicle when it is parked in the parking space, and drive the limiting component to move according to the final pose, so that it cooperates with the limiting component when the target vehicle moves to the final pose; wherein, the final pose refers to the pose of the target vehicle when it is parked in the parking space to meet the charging conditions. The limiting component is movable along a first horizontal direction, which is the direction in which the target vehicle enters; the parking system also includes a charging transmitter. The charging transmitter is located in the parking space and is used to cooperate with the charging receiver located in the target vehicle to charge the target vehicle; The processor is specifically used to: determine the pose of the target vehicle, based on the size of the target vehicle, when the relative positions of the charging receiver and the charging transmitter in the first horizontal direction can form a charging path, as the endpoint pose; The target vehicle is used to ensure that the horizontal displacement error is less than a preset threshold through an intelligent parking program or an assisted parking program, wherein the horizontal direction is not the first horizontal direction.

2. The parking system according to claim 1, characterized in that, The size of the charging transmitter in the second horizontal direction is not less than a preset size threshold, and the second horizontal direction is perpendicular to the first horizontal direction. The preset size threshold is the lower limit of the size of the charging transmitter in the second horizontal direction when the target vehicle is parked in the parking space and the charging conditions are met.

3. The parking system according to claim 1, characterized in that, The parking system also includes cleaning components. The processor is also used to drive the cleaning component to move in order to clean the charging transmitter.

4. The parking system according to claim 3, characterized in that, The cleaning component is disposed on the limiting assembly; The processor is specifically used to: drive the limiting component to move the cleaning component together to clean the charging transmitter, and after cleaning is completed, drive the limiting component to move to the position corresponding to the endpoint pose.

5. The parking system according to claim 3 or 4, characterized in that, The parking system also includes an image acquisition component; The image acquisition component is used to acquire an image of the charging transmitter before the charging transmitter charges the target vehicle; wherein the image includes the charging working area of ​​the charging transmitter; The processor is further configured to detect whether there are preset debris that can be cleaned by the cleaning component in the charging working area of ​​the charging transmitter in the image. If there are preset debris that can be cleaned by the cleaning component, the processor drives the cleaning component to move to remove the preset debris in the charging working area of ​​the charging transmitter.

6. The parking system according to claim 5, characterized in that, The image acquisition component is mounted on a charging pile that supplies power to the charging transmitter; The image acquisition component is used to acquire images of the charging transmitter when the target vehicle is detected in the parking space or when an image acquisition command is received from the processor. The image acquisition command is triggered when the processor receives a parking signal sent by the target vehicle.

7. The parking system according to claim 5, characterized in that, The processor is further configured to send a warning message if it detects that there are preset debris that the cleaning component cannot clean in the charging working area of ​​the charging transmitter in the image, and the warning message is used to prompt additional cleaning.

8. A parking method, characterized in that, The method is applied to a parking system, which includes a limiting component and a processor; the limiting component is movable within a parking space to prevent the movement of a target vehicle cooperating with the limiting component; the method includes: Estimate the final position of the target vehicle as it parks in the parking space; Based on the endpoint pose, the limiting component is driven to move so that it cooperates with the limiting component when the target vehicle moves to the endpoint pose; wherein, the endpoint pose refers to the pose in which the target vehicle is parked in the parking space to meet the charging conditions. The limiting component is movable along a first horizontal direction, which is the direction in which the target vehicle enters; the parking system further includes a charging transmitter; the charging transmitter is disposed in the parking space and is used to cooperate with a charging receiver disposed in the target vehicle to charge the target vehicle; estimating the final position of the target vehicle parked in the parking space includes: Based on the size of the target vehicle, the pose of the target vehicle is determined when the relative positions of the charging receiver and the charging transmitter in the first horizontal direction can form a charging path, and this pose is used as the endpoint pose. The target vehicle is used to ensure that the horizontal displacement error is less than a preset threshold through an intelligent parking program or an assisted parking program, wherein the horizontal direction is not the first horizontal direction.

9. The method according to claim 8, characterized in that, The size of the charging transmitter in the second horizontal direction is not less than a preset size threshold, and the second horizontal direction is perpendicular to the first horizontal direction. The preset size threshold is the lower limit of the size of the charging transmitter in the second horizontal direction when the target vehicle is parked in the parking space and the charging conditions are met.

10. The method according to claim 8, characterized in that, The parking system also includes a cleaning component; the method further includes: The cleaning component is driven to move in order to clean the charging transmitter.

11. The method according to claim 10, characterized in that, The cleaning component is disposed on the limiting assembly; the method further includes: The limiting component is driven to move the cleaning component together to clean the charging transmitter, and after cleaning is completed, the limiting component is driven to move to the position corresponding to the endpoint pose.

12. The method according to claim 10 or claim 11, characterized in that, The parking system further includes an image acquisition component; the image acquisition component is used to acquire an image of the charging transmitter before the charging transmitter charges the target vehicle; wherein the image includes the charging working area of ​​the charging transmitter; the method further includes: The system detects whether there are preset debris that can be cleaned by the cleaning component in the charging working area of ​​the charging transmitter in the image. If there are preset debris that can be cleaned by the cleaning component, the cleaning component is driven to move to remove the preset debris in the charging working area of ​​the charging transmitter.

13. The method according to claim 12, characterized in that, The image acquisition component is installed on the charging pile that supplies power to the charging transmitter; the image acquisition component is used to acquire images of the charging transmitter when the target vehicle is detected in the parking space or when an image acquisition command is received from the processor. The image acquisition command is triggered when the processor receives a parking signal sent by the target vehicle.

14. The method according to claim 12, characterized in that, The method further includes: If a preset debris that the cleaning component cannot clean is detected in the charging working area of ​​the charging transmitter in the image, a warning message is sent to prompt additional cleaning.

15. A parking device, characterized in that, A processor for use in a parking system, the parking system further comprising a limiting component movable within a parking space to prevent the movement of a target vehicle cooperating with the limiting component; the device includes: The pose determination module is used to estimate the final pose of the target vehicle when it is parked in the parking space; A limit drive module is used to drive the limit component to move according to the endpoint pose, so that it cooperates with the limit component when the target vehicle moves to the endpoint pose. Wherein, the endpoint pose refers to the pose in which the target vehicle is parked in the parking space and meets the charging conditions; The limiting component can move along a first horizontal direction, which is the direction in which the target vehicle enters. The parking system also includes a charging transmitter for cooperating with a charging receiver installed in the target vehicle to charge the target vehicle; and a pose determination module, specifically used for: Based on the size of the target vehicle, determine the pose of the target vehicle when the relative positions of the charging receiver and the charging transmitter in the first horizontal direction can form a charging path, and use this pose as the endpoint pose. The target vehicle is used to ensure that the horizontal displacement error is less than a preset threshold through an intelligent parking program or an assisted parking program, wherein the horizontal direction is not the first horizontal direction.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 8-14.

Images