An enhanced autonomous valet parking system for driving outside a parking lot and an application method thereof

Abstract

The present invention relates to the technical fields of automatic driving, vehicle-road collaboration, and intelligent transportation systems, and in particular to an enhanced autonomous valet parking system for an area outside a parking lot and an application method thereof. The system comprises a client, an E‑AVP cloud, a road test unit, and a 5G‑V2X vehicle end; the client communicates with the E‑AVP cloud through 5G; the E‑AVP cloud communicates with the client, the road test unit, and the 5G‑V2X vehicle end through 5G; the road test unit and the 5G‑V2X vehicle end communicate with each other through V2X communication; the 5G‑V2X vehicle end realizes vehicle-to-vehicle interaction through a CAN bus. The present invention realizes the interaction between an E‑AVP management system and a user terminal and a vehicle-mounted terminal to solve the existing problems of difficulty in parking and finding a car for users, so as to achieve the purpose of realizing unmanned supervision of remote valet parking and improving the user parking experience.

Description

Technical Field

[0001] The present invention relates to the technical fields of automatic driving, vehicle-road collaboration, and intelligent transportation systems, and in particular to an enhanced autonomous valet parking system for an area outside a parking lot and an application method thereof. Background Art

[0002] The autonomous valet parking system means that the driver can issue an instruction through the key or application from the designated drop-off point, and the vehicle can automatically drive to the parking space in the parking lot without the need for driver monitoring; the vehicle can automatically drive from the parking space to the designated pick-up point after receiving the instruction; multiple vehicles receive the parking instruction at the same time, and dynamically and automatically wait to enter the parking space. Autonomous valet parking can reduce the invalid traffic time in the parking lot for users, save time for picking up and returning the car, and reduce the difficulty of parking and improve parking efficiency.

[0003] However, the existing autonomous parking systems mostly achieve autonomous parking by installing the software and hardware of the autonomous parking system on the vehicle. Such methods still require the driver to assist in driving or monitoring. First, it is easy to cause congestion of vehicles waiting to be parked in the parking lot, reduce the efficiency of autonomous valet parking, and bring a bad experience to users. Second, it is impossible to truly realize the autonomous valet parking mode throughout the entire process. Based on the existing autonomous valet parking (AVP) technology, the present invention proposes a complete set of enhanced autonomous valet parking systems, which combines the enhanced autonomous valet parking (E-AVP) cloud and the AVP controller, and divides the entire parking process into an off-site area and an on-site area, so as to achieve more convenient and safe autonomous valet parking. Summary of the invention

[0004] In order to realize the interaction between the E-AVP management system and the client and the vehicle terminal, so as to solve the existing problems of users' difficulty in parking and finding cars, to achieve the purpose of unmanned supervision of remote valet parking and improve the user's parking experience, the present invention proposes an enhanced autonomous valet parking driving system and method outside the parking lot, the system includes a client, an E-AVP cloud, a road test unit and a 5G-V2X vehicle terminal, wherein:

[0005] The client is used for identity authentication, sending request instructions, communicating with the E-AVP cloud via 5G, and feedback of vehicle trajectories;

[0006] The E-AVP cloud is used for identity authentication, communicating with the client, the drive test unit, and the 5G-V2X vehicle through 5G, performing global trajectory planning, and sending trajectory slices to the drive test unit according to the corresponding range of each drive test unit; interacting with the AVP system;

[0007] The road test unit is used to perform identity authentication, communicate with the 5G-V2X vehicle through V2X communication, generate a vehicle queue list, and guide vehicles according to the vehicle queue list;

[0008] The 5G-V2X vehicle side is used for identity authentication and realizes vehicle-to-vehicle interaction, obstacle recognition, and obstacle avoidance trajectory generation through the CAN bus.

[0009] The present invention provides an application method of an enhanced autonomous valet parking driving system outside a parking lot, comprising an enhanced autonomous valet parking driving system outside a parking lot, an autonomous valet parking AVP system and a client, wherein the client includes identity authentication, request instructions, client control, client-side and E-AVP cloud data interaction and vehicle trajectory feedback; a driving method of the enhanced autonomous valet parking driving system outside a parking lot comprises the following steps:

[0010] Before the client sends a parking request, the E-AVP cloud authenticates the client through blockchain technology;

[0011] After the client passes the identity authentication, the client sends a request instruction to the E-AVP cloud;

[0012] When the E-AVP cloud receives the request command, the E-AVP cloud obtains the vehicle information from the client, and obtains the parking space information and parking lot information from the Internet of Vehicles cloud;

[0013] The E-AVP cloud performs global path planning based on the acquired information, slices the planned path as local path planning, and sends the local path planning to the drive test unit via 5G;

[0014] The E-AVP cloud uses blockchain technology to authenticate the drive test unit. Once authenticated, the E-AVP cloud sends the slice information to the drive test unit.

[0015] The road test unit guides the vehicle to move forward according to the trajectory of the local trajectory planning based on the received local path planning;

[0016] The road test unit uses blockchain technology to authenticate the 5G-V2X controller. Once the identity is authenticated, the path planning is sent to the 5G-V2X controller. The 5G-V2X controller guides the vehicle to the parking lot entrance based on the information received.

[0017] Furthermore, when the client sends a request instruction to the E-AVP cloud, it is necessary to perform on-chain identity authentication. If the identity authentication fails or the request instruction sent by the client is invalid, the E-AVP cloud will not respond and return a rejection response message; if the identity authentication is successful, the E-AVP cloud will send a request response to the client and send a request instruction to the 5G-V2X vehicle and road test unit; the request instruction sent by the client to the E-AVP cloud includes a parking lot request, a parking space request, a parking request or a vehicle pickup request; the request response received by the client from the E-AVP cloud includes a valid flag of the E-AVP cloud, a flag of whether the vehicle has completed parking, a flag of whether off-site parking has been completed, and the current location information of the vehicle.

[0018] Furthermore, the 5G-V2X vehicle side collects the vehicle's location information, driving information and trajectory information of other vehicles, and sends the vehicle's location information and driving information to the E-AVP cloud. The E-AVP cloud generates a global trajectory based on the received information.

[0019] Furthermore, the E-AVP cloud generates a global trajectory according to the request instruction, slices the global trajectory according to the drive test units covering the global trajectory, and distributes the sliced ​​trajectory to each corresponding drive test unit.

[0020] Furthermore, after performing global trajectory planning, the E-AVP cloud slices the global trajectory planning according to the range of each road test unit, and after slicing according to the range corresponding to each road test unit, sends each slice to the road test unit; the slices sent by the E-AVP cloud to the road test unit include the starting and ending positions estimated by the vehicle planning within the range of the road test unit, and the road section IDs passed from the starting position to the end position in sequence, each road section ID includes the lane ID of the vehicle when driving on the road section, and each lane ID includes the road centerline of the lane, and the vehicle drives according to the position of the road centerline.

[0021] Furthermore, the E-AVP cloud sends the generated global trajectory to the 5G-V2X vehicle side, and the 5G-V2X vehicle side shares its own global trajectory with other vehicles through V2X; the 5G-V2X vehicle side communicates with the Internet of Vehicles through the CAN bus, including sending the global trajectory to the Internet of Vehicles, and realizing real-time control of the vehicle through the Internet of Vehicles.

[0022] The present invention also proposes an application method of an enhanced autonomous valet parking driving system outside a parking lot, including an enhanced autonomous valet parking driving system outside a parking lot, an autonomous valet parking AVP system and a client, wherein the client includes identity authentication, request instructions, client control, client and E-AVP cloud data interaction and vehicle trajectory feedback; a driving method of an enhanced autonomous valet parking driving system outside a parking lot includes the following steps:

[0023] Before the client sends a parking request, the E-AVP cloud authenticates the client through blockchain technology;

[0024] After the client passes the identity authentication, the client sends a request instruction to the E-AVP cloud;

[0025] When the E-AVP cloud receives the request command, the E-AVP cloud obtains the vehicle information from the client, and obtains the parking space information and parking lot information from the Internet of Vehicles cloud;

[0026] The E-AVP cloud performs global path planning based on the acquired information, slices the planned path as local path planning, and sends the local path planning to the corresponding drive test unit via 5G;

[0027] The E-AVP cloud uses blockchain technology to authenticate the drive test unit. Once authenticated, the E-AVP cloud sends the slice information to the drive test unit.

[0028] The road test unit guides the vehicle to move forward according to the trajectory of the local trajectory planning based on the received local path planning;

[0029] The road test unit uses blockchain technology to authenticate the 5G-V2X controller. Once the identity is authenticated, the path planning is sent to the 5G-V2X controller. The 5G-V2X controller guides the vehicle to the parking lot entrance based on the information received.

[0030] The present invention realizes the interaction between the E-AVP management system and the user terminal and the vehicle terminal to solve the existing problems of users having difficulty in parking and finding cars, so as to achieve the purpose of unmanned supervision of remote valet parking and improve the user parking experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of an enhanced autonomous valet parking system for driving outside a parking lot performing autonomous parking according to the present invention;

[0032] Figure 2 A schematic diagram of the inside and outside scenes of a preferred embodiment of an application method of an enhanced autonomous valet parking system for an area outside a parking lot of the present invention;

[0033] Figure 3 It is a schematic diagram of the structure of an E-AVP system used outside the parking lot in an application method of an enhanced autonomous valet parking system for a vehicle driving system outside a parking lot of the present invention;

[0034] Figure 4 It is a schematic diagram of the structure of the AVP system used in the parking lot in the application method of the enhanced autonomous valet parking system outside the parking lot of the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] The present invention proposes an enhanced autonomous valet parking driving system outside a parking lot, including a client, an E-AVP cloud, a road test unit, and a 5G-V2X vehicle terminal, wherein:

[0037] The client is used for identity authentication, sending request instructions, communicating with the E-AVP cloud via 5G, and feedback of vehicle trajectory;

[0038] The E-AVP cloud is used for identity authentication, communicating with the client, the drive test unit, and the 5G-V2X vehicle through 5G, performing global trajectory planning, and sending trajectory slices to the drive test unit according to the corresponding range of each drive test unit; interacting with the AVP system;

[0039] The road test unit is used to perform identity authentication, communicate with the 5G-V2X vehicle through V2X communication, generate a vehicle queue list, and guide vehicles according to the vehicle queue list;

[0040] The 5G-V2X vehicle side is used for identity authentication and realizes vehicle-to-vehicle interaction, obstacle recognition, and obstacle avoidance trajectory generation through the CAN bus.

[0041] This embodiment uses Figure 1 Taking the example of an enhanced autonomous valet parking system for driving outside a parking lot as an example, the communication process among the client, E-AVP cloud, road test unit and 5G-V2X vehicle includes:

[0042] In step (1), the E-AVP user sends a parking request through a mobile phone APP application (i.e., the client) and interacts with the vehicle-side cloud service (i.e., the 5G-V2X vehicle-side or G-V2X controller) and the E-AVP cloud service (i.e., the E-AVP cloud). At this time, the E-AVP system decides whether to accept the request through blockchain terminal identity authentication.

[0043] In step (2), after the E-AVP cloud server receives the request sent by the user, it will perform identity authentication again to decide whether to accept the request and verify the identity of the mobile APP user. At this time, if the user's parking instruction is successfully received, a global parking trajectory will be generated, and data will be exchanged with the mobile APP, Changan AVP cloud (Changan AVP cloud belongs to the AVP system, and the AVP system belongs to the prior art and will not be described in detail in this invention), and RSU (i.e., road test unit).

[0044] In step (3), after the E-AVP cloud service receives the request sent by the user, it sends the user request information to the RSU; after the road test unit RSU involved in the E-AVP system of the present invention receives the parking request instruction, it will perform identity authentication again to decide whether to accept the request; RSU sends vehicle-related information such as vehicle queue list, parking / picking up guidance trajectory transparent transmission, sign information broadcast, road test safety information broadcast, traffic light broadcast, own GPS positioning collection, V2X positioning demand response, etc. to the on-board automatic parking control unit of the E-AVP system through the V2X function.

[0045] Step (4), the E-AVP system on-board automatic parking control unit controls the 5G-V2X controller of the vehicle in the E-AVP system in real time according to the acquired vehicle information, and at this time, the vehicle identity authentication will be confirmed again to decide whether to accept the request; the 5G-V2X controller of the vehicle in the E-AVP system will perform a series of functions such as time-space synchronization, GPS positioning information collection, timestamp and RF power collection, vehicle positioning, vehicle fixed positioning, 5G-V2X and RSU, vehicle CAN, E-AVP cloud data and 5G-V2X data interaction. To ensure the accuracy and safety of the real-time planning of the E-AVP vehicle parking path, and to control the E-AVP vehicle in real time to park smoothly in the designated parking spot.

[0046] Step (5) is to perform real-time positioning, obstacle avoidance, vehicle trajectory decision control, multi-vehicle interactive decision and collaborative control based on the control decision made by 5G-V2X and combined with the information obtained by the vehicle gateway and the on-board sensors to complete the entire process of autonomous valet parking.

[0047] In step (1), the process by which the E-AVP system decides whether to accept the request through blockchain terminal identity authentication includes:

[0048] (1.1) If the on-chain digital identity authentication result of the E-AVP user's mobile phone fails, it is determined that the E-AVP function cannot be started, or if the identity authentication result passes but the mobile user APP sends an invalid flag, a request response is returned to the user terminal, and the request response includes information about rejecting the request.

[0049] (1.2) If the E-AVP user determines that the E-AVP function can be activated through the mobile phone identity authentication result, a request response is returned to the user terminal, including the request approval information, and an E-AVP parking instruction is sent to the vehicle-side cloud service and the E-AVP cloud service.

[0050] (1.3) The mobile phone APP sends request instructions to the E-AVP cloud, including parking request, vehicle pickup request, parking lot request and parking space request instructions; the mobile phone user APP receives the E-AVP cloud-sent E-AVP cloud validity flag, vehicle parking completion flag, off-site parking completion flag, vehicle pickup completion flag and vehicle current location information.

[0051] In step (2), after receiving the request sent by the user, the E-AVP cloud server will perform identity authentication again to decide whether to accept the request and verify the identity of the mobile APP user. At this time, if the user's parking instruction is successfully received, the global parking trajectory will be generated. The process includes:

[0052] (2.1) The mobile APP user ID is bound to the vehicle VIN. After the user makes a request, the cloud performs verification and feedbacks the verification result. The cloud chain digital identity authentication service determines whether to accept the request (which includes the user ID, password, signed token string, etc.). If the cloud identity authentication is passed, the request is accepted, and the request response includes the information of passing the request. At the same time, the E-AVP parking instruction is sent to the vehicle-side cloud service and RSU.

[0053] (2.2) Same as (2.1), the on-chain digital identity authentication service in the cloud determines whether to accept the request. If the cloud identity authentication fails, the request is returned to the user terminal, and the request response includes information on the rejection of the request.

[0054] (2.3) The E-AVP cloud receives the mobile APP request instructions, including parking request, car pick-up request, parking lot request and parking space request instructions. After the reception is completed, the information reception completion flag position is 1.

[0055] (2.4) The interaction between the on-site area and the off-site area is realized through the E-AVP cloud and the AVP cloud. The AVP cloud is output by the Changan open command interface, and E-AVP completes the message reception.

[0056] (2.5) Determine whether E-AVP is allowed through the input information of Changan AVP cloud. If allowed, send the E-AVP valid flag to the mobile terminal to notify the customer that E-AVP has started; the AVP cloud feedbacks the final parking / completion flag, and the E-AVP cloud forwards it to the mobile terminal to feedback whether the customer has successfully parked and the specific location of the car and the parking space number.

[0057] (2.6) The mobile terminal inputs the parking request and the target parking space, generates the global trajectory, the number and location of RSUs on the parking route, and slices the guidance trajectory that each RSU needs to send.

[0058] In this embodiment, existing technologies can be used for trajectory planning, that is, a trajectory planning method used in any autonomous driving field to complete the vehicle's starting point to end point, including but not limited to algorithms based on graph search (such as Dijkstra algorithm, AStar algorithm, etc.), algorithms based on artificial potential fields, algorithms based on adoption, etc.

[0059] In this embodiment, after performing global trajectory planning, the E-AVP cloud slices the global trajectory planning according to the range of each drive test unit, and after slicing according to the range corresponding to each drive test unit, each slice is sent to the drive test unit. For example, as shown in Table 1, the E-AVP cloud stores the global trajectory in the order of each passed drive test unit, List-secq represents the trajectory sequence number, each trajectory sequence corresponds to a drive test unit, RSU-id represents the ID of the drive test unit, RSU-{start---end} represents the starting point and end point in a drive test unit, RSU-path[i]-lane[i]{} represents the section path[i] passed by a drive test unit and the middle line lane[i] of the road when driving in the section. Specifically, in the trajectory guidance list shown in Table 1, the vehicle needs to be The route from the starting point start_pos to the end point end_pos is covered by three road test units. The ID of the first road test unit is 03, which is responsible for guiding the vehicle from start_pos to pos1. The process from start_pos to pos1 includes the road segments path0{}, path1{} and path2{}. The center line of the road when the vehicle is driving on a road segment path[i] is lane[i]. The slice sent from the E-AVP cloud to the road test unit includes the starting and end positions estimated by the vehicle planning within the range of the road test unit, as well as the road segment IDs passed from the starting position to the end position in sequence. Each road segment ID includes the lane ID of the vehicle when driving on the road segment, and each lane ID includes the road center line of the lane. The vehicle drives according to the position of the road center line.

[0060] Table 1 Trajectory guide list structure

[0061] List-secq RSU-id RSU-{start---end} RSU-pathi-{} RSU-path[i]-lane[i]{} 0 03 {start_pos---pos1} path0{},path1{},path2{} path[i]-lane[i]{},… 1 02 {pos1---pos2} path0{},path1{},path2{} path[i]-lane[i]{},… 2 01 {pos2---end_pos} path0{},path1{},path2{} path[i]-lane[i]{},…

[0062] In step (3), the interaction with the drive test unit includes:

[0063] (3.1) If the digital identity authentication result of the E-AVP user RSU chain fails and it is determined that the E-AVP function cannot be started, a request response is returned to the user terminal, and the request response includes information about rejecting the request.

[0064] (3.2) If the E-AVP user determines that the E-AVP function can be started through the identity authentication result on the RSU chain, a request response is returned to the user terminal, including the information of the request being passed, and an E-AVP parking instruction is sent to the vehicle-side cloud service, the E-AVP cloud service, and the 5G-V2X.

[0065] (3.3) If the E-AVP function is enabled, the RSU receives and sends E-VAP cloud data information, and when the E-AVP function is enabled, the process of the RSU interacting with the E-AVP data includes the following steps:

[0066] (3.3.1) If the E-AVP function is started, the queued vehicles and the vehicle queue list should be screened to determine the queue information of the E-AVP vehicles.

[0067] (3.3.2) If the E-AVP function starts, the global planned path needs to be sent, and the RSU interacts with the 5G-V2X controller for data.

[0068] (3.3.3) If the E-AVP function is started, the road safety threat information within the RSU coverage area, the map information from the parking point to the parking space, the road traffic light information, the vehicle’s own GPS positioning information, the RSU assisted positioning information, etc. must be sent to the vehicle cloud service end.

[0069] In step (4), identity information is provided again, and the E-AVP function is enabled after confirming that the information is correct, which specifically includes the following steps:

[0070] (4.1) If the on-chain digital vehicle identity authentication result of the E-AVP user vehicle fails and it is determined that the E-AVP function cannot be started, a request response is returned to the user terminal, and the request response includes information on the rejection of the request.

[0071] (4.2) If the E-AVP user determines that the E-AVP function can be started through the identity authentication result on the RSU chain, a request response is returned to the user terminal, including the request approval information, and an E-AVP parking instruction is sent to the E-AVP cloud service, Changan AVP, and 5G-V2X.

[0072] (4.3) If the E-AVP function is started normally, the 5G-TSN cross-network time synchronization service needs to be implemented to realize data flow scheduling.

[0073] (4.4) At this time, the on-board 5G-V2X controller needs to collect GPS positioning data through the 5G-V2X GNSS module to locate the vehicle's latitude and longitude, altitude, heading angle, longitudinal speed, timestamp information and other vehicle information, make decisions based on the collected information, and plan the route in real time. It is also necessary to obtain UTC timestamp information through GNSS and measure the RF signal power (dbm) sent by RSU1 / 2 / 3 or 5G-V2X1 / 2 / 3 through the 5G-V2X RF signal power measurement module to achieve real-time data interaction.

[0074] (4.5) After the RSU’s global planning path is sliced, the 5G-V2X controller needs to receive and parse the RSU’s path trajectory, receive and parse the lead vehicle information, and send the ego vehicle information to the RSU to achieve more efficient path planning.

[0075] (4.6) The 5G-V2X module of the E-AVP vehicle also needs to exchange data about its own vehicle information with other 5G-V2X vehicles, receive and parse surrounding vehicle information during parking, and send its own vehicle information to other vehicles to achieve complete parking path planning.

[0076] (4.7) If the E-AVP vehicle receives a parking instruction from the 5G-V2X controller, it needs to obtain the CAN message from the vehicle gateway. The 5G-V2X controller interacts with the vehicle CAN network data and receives the function to achieve real-time control of the vehicle and control the vehicle's own functions related to parking to achieve full autonomous valet parking.

[0077] The control decision process made according to 5G-V2X in step (5) specifically includes the following steps:

[0078] (5.1) Based on the vehicle V2X positioning, the E-AVP system collects GPS positioning information on the 5G-V2X board to calibrate and confirm the vehicle location information to achieve accurate positioning information.

[0079] (5.2) The control instructions generated by the vehicle trajectory decision and control function are sent to the vehicle gateway to complete the vehicle control; the control instructions are sent through the CAN communication interface; the on-board unit identifies the obstacle type, position, speed, acceleration and other information based on the obstacle information sent by the vehicle gateway and the radar and camera sensors combined with the recognition algorithm, and plans an executable path trajectory to avoid obstacles based on the identified obstacles and the road and other environmental information received from the RSU, and controls the E-AVP vehicle in real time according to the path to drive safely and accurately from the parking position to the parking point.

[0080] (5.3) When the E-AVP vehicle interacts with multiple vehicles, it needs to solve the most reasonable driving strategy for its own vehicle based on the established conflict model according to its own vehicle information and the information of other traffic participants it perceives; it needs to obtain the information of other vehicles in the queue and the position and posture information of its own vehicle through V2X communication, and based on the designed vehicle longitudinal and lateral control algorithms, it can realize the coordinated driving of multiple vehicles to ensure safe and accurate arrival at the parking point.

[0081] (5.4) The E-AVP vehicle makes decisions on the RSU guidance trajectory, obstacle avoidance trajectory, trajectory and control instructions output by the multi-vehicle interactive decision-making and collaborative control function, and sends control to the entire vehicle; the 5G-V2X controller decides whether to enable the automatic parking function based on the vehicle fault code, E-AVP parking validity flag, vehicle identity authentication status, and clock synchronization information, and outputs control instructions.

[0082] The present invention also provides an application method of an enhanced autonomous valet parking driving system outside a parking lot, which divides the autonomous valet parking system into a system combining an on-site area and an off-site area, wherein the on-site area and the off-site area have clear division of labor. The enhanced autonomous valet parking driving system outside a parking lot of the present invention guides the trajectory of vehicles outside the parking lot to the entrance of the parking lot, and after entering the parking lot, the AVP system guides the vehicle to complete parking. Figures 2 to 4 In this application, the parking lot is regarded as the on-site area, and the non-parking lot area is regarded as the off-site area. The present invention describes the on-site area and the off-site area separately:

[0083] (1) The off-site area includes the E-AVP cloud, the road test unit RSU, 5G-V2X, etc. The communication module includes the two-way communication between the E-AVP cloud and the RSU, the two-way communication between the user's mobile terminal and the E-AVP cloud, and the V2X communication module. In the off-site area, it specifically includes:

[0084] (1.1) The E-AVP management system module, namely the E-AVP cloud, receives user request instructions in the off-site area, parses the user request instructions, and feedbacks the request status. At this time, the E-AVP cloud controls the E-AVP cloud according to the parking request and target parking space input by the user's mobile terminal. Through the E-AVP cloud, data is exchanged with the on-site Internet of Vehicles cloud to determine whether E-AVP is allowed. If allowed, the E-AVP valid flag is sent to the user's mobile terminal, and the customer is notified that E-AVP has started. At this time, the E-AVP cloud system runs data management and exchanges data with the road test unit RSU, 5G-V2X, and AVP cloud.

[0085] (1.2) The road test unit RSU can broadcast maps of the off-site and on-site areas, traffic information, road test safety information, traffic light information, etc., and collect the information required by the RSU throughout the parking process to perform global trajectory planning, so as to achieve real-time planning and control of the vehicle's autonomous parking path. The road side unit RSU can communicate with the on-board 5G-V2X module in a two-way manner. Through the V2X function, combined with the vehicle and road side unit information, E-AVP path planning can be performed to make the optimal parking space planning or path planning.

[0086] (1.3) The 5G-V2X module enables vehicles to safely and efficiently manage their fleets in off-site areas, realize real-time vehicle status information feedback in combination with roadside units, and can accurately analyze E-AVP path planning in real time, receive E-AVP enable signals in real time, and achieve efficient and accurate control of the vehicle. In combination with E-AVP trajectory planning, it issues control instructions to the vehicle CAN and gateway, and realizes two-way communication and real-time data interaction in combination with the information provided by the road test unit RSU and the E-AVP cloud, so as to integrate vehicle information, road condition information, vehicle interaction information and other information to make efficient, effective and feasible path planning and realize autonomous parking function.

[0087] (1.4) The gate module can be remotely controlled to release the E-AVP vehicle that has passed the identification.

[0088] (2) The AVP system is used in the on-site area, which includes modules such as the Internet of Vehicles cloud, parking lot operator cloud, high-precision map operator cloud, and automatic parking system controller. Its communication modules include two-way communication between the Internet of Vehicles cloud and RSU, E-AVP cloud, and user mobile terminals, as well as two-way communication between the Internet of Vehicles cloud and parking lot operator cloud, map provider cloud, and AVP controller. Specifically, it includes:

[0089] (2.1) The IoV cloud performs big data analysis and management of parking lot and parking space information, and can realize a series of functions such as remote parking space reservation, on-site parking space information management, and system operation data management. It can realize important functions involved in automatic parking, such as operators, IoV, positioning services, and OTA updates, and interact with the off-site E-AVP cloud to enable the vehicle to determine in real time whether there is a parking space and whether parking is possible, so as to make the best parking decision.

[0090] (2.2) The parking lot operator cloud will promptly feed back the parking lot information and disconnection information to the Internet of Vehicles cloud, including parking lot operator management information such as garage road information, parking space vacancy status, gate opening and closing, video surveillance data, etc. After the Internet of Vehicles cloud receives this information in real time, it can better determine whether to enable the E-AVP function to determine the parking request information of subsequent vehicles.

[0091] (2.3) The map provider cloud will send real-time updated information on the parking space location required for parking, such as parking space information, LinkID, map verification, road information, positioning elements, etc. in the parking lot area to the Internet of Vehicles cloud. The Internet of Vehicles cloud will interact with the E-AVP cloud based on real-time high-precision map data to help parking vehicles more accurately confirm their own vehicle status and achieve better parking results.

[0092] (2.4) The automatic parking system controller, namely the AVP controller, can receive information such as vehicle location, status data, perception data, and fault status from the IoV cloud in a timely manner, and control the vehicle gateway in combination with the control instructions made by 5G-V2X to make a parking plan suitable for the vehicle, and send the vehicle control signal, target parking lot, and map link to the IoV cloud in a timely manner. The IoV cloud then communicates with the E-AVP cloud in combination with the information sent by the AVP controller to make a parking decision. After receiving the parking instruction, the AVP controller and the 5G-V2X controller use the vehicle's own offline map data to accurately locate the LinkID lane line and semantic comparison coordinate ID, and accurately control the vehicle's positioning module, OD detection module, and navigation module to find the garage location and drivable area. According to the global path planning, decision, and local path planning made by E-AVP, the vehicle's trajectory / speed / acceleration, cruise, obstacle avoidance, etc. are controlled to complete the final parking function.

[0093] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An enhanced autonomous valet parking system for driving outside a parking lot, characterized in that: It includes client, E-AVP cloud, road test unit and 5G-V2X vehicle, including: The client is used for identity authentication, sending request instructions, communicating with the E-AVP cloud via 5G, and feedback of vehicle trajectory; The E-AVP cloud is used for identity authentication, communicating with the client, the drive test unit, and the 5G-V2X vehicle through 5G, performing global trajectory planning, and sending trajectory slices to the drive test unit according to the corresponding range of each drive test unit; interacting with the AVP system; The road test unit is used for identity authentication, communication with the 5G-V2X vehicle through V2X communication, and guidance of the vehicle based on the trajectory slices sent from the E-AVP cloud; The 5G-V2X vehicle side is used for identity authentication, and realizes vehicle-to-vehicle interaction, obstacle recognition, and obstacle avoidance trajectory generation through the CAN bus; When the client sends a request instruction to the E-AVP cloud, it needs to perform on-chain identity authentication. If the identity authentication fails or the request instruction sent by the client is invalid, the E-AVP cloud will not respond and return a rejection response message; if the identity authentication is successful, the E-AVP cloud will send a request response to the client, and send a request instruction to the 5G-V2X vehicle and the road test unit; the request instruction sent by the client to the E-AVP cloud includes a parking lot request, a parking space request, a parking request or a vehicle pickup request; the request response sent by the E-AVP cloud received by the client includes whether the E-AVP cloud is valid, whether the vehicle has completed parking, whether the off-site parking is completed, and the current location information of the vehicle; The driving method based on the driving system of the enhanced autonomous valet parking parking lot outside area includes the following steps: Before the client sends a parking request, the E-AVP cloud authenticates the client through blockchain technology; After the client passes the identity authentication, the client sends a request instruction to the E-AVP cloud; When the E-AVP cloud receives the request command, the E-AVP cloud obtains the vehicle information from the client, and obtains the parking space information and parking lot information from the Internet of Vehicles cloud; The E-AVP cloud performs global path planning based on the acquired information, slices the planned path as local path planning, and sends the local path planning to the corresponding drive test unit via 5G; The E-AVP cloud uses blockchain technology to authenticate the drive test unit. Once authenticated, the E-AVP cloud sends the slice information to the drive test unit. The road test unit guides the vehicle forward according to the received local path planning; The road test unit uses blockchain technology to authenticate the 5G-V2X controller. Once the identity is authenticated, the path planning is sent to the 5G-V2X controller. The 5G-V2X controller guides the vehicle to the parking lot entrance based on the received path planning.

2. The enhanced autonomous valet parking system for driving outside a parking lot according to claim 1, characterized in that: The 5G-V2X vehicle side collects the vehicle's location information, driving information, and trajectory information of other vehicles, and sends the vehicle's location information and driving information to the E-AVP cloud. The E-AVP cloud generates a global trajectory based on the received information.

3. The enhanced autonomous valet parking system for driving outside a parking lot according to claim 1 or 2, characterized in that: The E-AVP cloud generates a global trajectory according to the request instruction, slices the global trajectory according to the drive test units covering the global trajectory, and distributes the sliced ​​trajectory to each corresponding drive test unit.

4. The enhanced autonomous valet parking system for driving outside a parking lot according to claim 1, characterized in that: After the global trajectory planning is performed, the E-AVP cloud slices the global trajectory planning according to the range of each drive test unit, and then sends each slice to the drive test unit after slicing according to the range corresponding to each drive test unit; The slice sent from the E-AVP cloud to the road test unit includes the starting and ending positions of the vehicle trajectory planning within the range of the road test unit, as well as the road section IDs from the starting position to the end position. Each road section ID includes the lane ID of the vehicle when it is driving on the road section. Each lane ID includes the road centerline of the lane, and the vehicle drives according to the position of the road centerline.

5. The enhanced autonomous valet parking system for driving outside a parking lot according to claim 1, characterized in that: The E-AVP cloud sends the generated global trajectory to the 5G-V2X vehicle side, and the 5G-V2X vehicle side shares its own global trajectory with other vehicles through V2X; the 5G-V2X vehicle side communicates with the Internet of Vehicles through the CAN bus, including sending the global trajectory to the Internet of Vehicles, and realizing real-time control of the vehicle through the Internet of Vehicles.

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