A control method for an intelligent parking mobile platform suitable for parking lots

Abstract

This invention discloses a control method for an intelligent parking mobile platform suitable for parking lots. This control method controls the movement of the intelligent parking mobile platform in four directions using a maximum permissible vehicle speed V0, a ​​load factor J1, a waiting-to-park factor J2, a road condition factor J3, and an obstacle factor J4. The load factor J1 depends on four factors, the waiting-to-park factor J2 depends on five factors, and the road condition factor J3 is determined by the straight road surface factor J4. 31 Slope evaluation factor J 32 Detour evaluation factor J 33 The calculated evaluation factor J for straight road surfaces is... 31 The slope evaluation factor J depends on five factors. 32 The detour evaluation factor J3 depends on two factors, while the obstacle evaluation factor J4 depends on two factors.

Description

Technical Field

[0001] This invention relates to the field of intelligent parking mobile platforms for parking lots, specifically to a control method for an intelligent parking mobile platform suitable for parking lots. Background Technology

[0002] People frequently need to park when traveling. Many scenic spots and shopping malls are crowded with tourists, leading to severe traffic congestion. The time and energy spent parking in these places can significantly diminish the enjoyment of travel, reducing people's enthusiasm and desire to travel. This not only wastes people's time but also negatively impacts the development of the national tourism industry. Therefore, it is necessary to find an intelligent mobile parking platform capable of unmanned parking. However, an intelligent mobile parking platform must have a suitable control method before it can be implemented in practice. Therefore, it is necessary to find a control method suitable for intelligent mobile parking platforms in parking lots. Summary of the Invention

[0003] The purpose of this invention is to solve the problems described in the background art and to propose a control method for an intelligent parking mobile platform suitable for parking lots. It aims to solve the problem of overcrowding in parking lots due to large numbers of people and vehicles, and to enable the intelligent parking mobile platform suitable for parking lots to be put into use as soon as possible.

[0004] This invention proposes a control method for an intelligent parking mobile platform applicable to parking lots. The control method includes a load-bearing evaluation factor calculation unit, a waiting-to-park vehicle evaluation factor calculation unit, a road condition evaluation factor calculation unit, an obstacle evaluation factor calculation unit, and a travel control unit. The vehicle to be parked by the intelligent parking mobile platform in a parking task is defined as a waiting-to-park vehicle. The controlled intelligent parking mobile platform is composed of multiple identical modules, each defined as a minimum module unit. The number of wheels of the waiting-to-park vehicle corresponds to the number of minimum module units the intelligent parking mobile platform consists of, with each minimum module unit responsible for bearing one wheel.

[0005] A further solution is: the load-bearing evaluation factor calculation unit is used to calculate the load-bearing evaluation factor J1. The load-bearing evaluation factor J1 is composed of the total weight g carried by the intelligent parking mobile platform, the upper limit of the weight that the intelligent parking mobile platform can carry, G1, and the weight carried by each smallest module unit when the intelligent parking mobile platform carries a car in a parking task: from g1 to g n The maximum weight G2 that each smallest module unit of the intelligent parking mobile platform can bear is calculated, where n is the number of the smallest module units of the intelligent parking mobile platform used in this parking.

[0006] A further proposed solution is: the parking waiting evaluation factor calculation unit is used to calculate the parking waiting evaluation factor J2, which is determined by the maximum length L of the parking waiting vehicle.0max Maximum width W for waiting to park 0max The distance W between the centers of the left and right wheels before parking. 0max ', Maximum parking height H 0max The distance L' from the center of the front axle to the center of the rear axle of the vehicle to be parked is calculated.

[0007] A further proposed solution is: the road condition evaluation factor calculation unit is used to calculate the road condition evaluation factor J3, which is derived from the straight road surface evaluation factor J. 31 Slope evaluation factor J 32 Detour evaluation factor J 33 The calculation yielded the following result: The straight road surface evaluation factor J... 31 The minimum longitudinal spacing L in front of the parking space xmin The minimum lateral distance L between the side of the vehicle waiting to be parked and the side of the vehicle waiting to be parked. 0ymin The minimum lateral distance L on both sides of the road in front of the parking space ymin Maximum width W for waiting to park 0max The distance W between the centers of the left and right wheels before parking. 0max The calculated slope evaluation factor J is... 32 The road's slope α and the length L of the slope interval α The calculated curve evaluation factor J 33 The curve is determined by the road turning radius R1, the narrowest distance between curves R2, and the curve length L. R Calculated;

[0008] A further proposed solution is that the obstacle evaluation factor calculation unit is used to calculate the obstacle evaluation factor J4, which is derived from the target location factor J. 41 The reflective area S1 of the target object is calculated, and the target object position factor J is obtained. 41 The coordinates of the target center (X1, Y1) are obtained from the front camera of the smallest module unit of the intelligent parking mobile platform at the foremost position, the coordinates of the target center (X2, Y2) are obtained from the rear camera of the smallest module unit of the intelligent parking mobile platform at the foremost position, the coordinates of the target center (X3, Y3) are obtained from the front camera of the smallest module unit of the intelligent parking mobile platform at the last position, and the coordinates of the target center (X4, Y4) are obtained from the rear camera of the smallest module unit of the intelligent parking mobile platform at the last position.

[0009] A further proposed solution is that the travel control unit controls the intelligent parking mobile platform to move in four directions: the X-axis, Y-axis, Z-axis, and rotation around the Z-axis in the vehicle coordinate system. The velocity V in the X-axis direction is...X The velocity V in the Y-axis direction of the vehicle coordinate system is calculated from the maximum permissible vehicle speed V0, load evaluation factor J1, parking waiting evaluation factor J2, road condition evaluation factor J3, and obstacle evaluation factor J4. Y The evaluation factors are: maximum permissible vehicle speed V0, load factor J1, parking waiting factor J2, and curve evaluation factor J. 33 The obstacle evaluation factor J4 is used to calculate the velocity V in the Z-axis direction of the vehicle coordinate system. Z The speed β of the vehicle's rotation around the Z-axis in the vehicle coordinate system is calculated from the maximum permissible vehicle speed V0, load-bearing evaluation factor J1, parking waiting evaluation factor J2, and road condition evaluation factor J3. 31 Detour evaluation factor J 33 The obstacle evaluation factor J4 was calculated.

[0010] A further proposed solution is that the carrying capacity evaluation factor calculation unit calculates the carrying capacity evaluation factor J1 using the following formula:

[0011]

[0012] Where g represents the total weight carried by the intelligent parking mobile platform, and G1 represents the upper limit of the weight that the intelligent parking mobile platform can carry, from g1 to g n G2 represents the maximum weight that each smallest module unit of the intelligent parking mobile platform can carry when carrying a car during a parking task. n represents the number of smallest module units of the intelligent parking mobile platform used in this parking task. ω1 is the weight-weighting coefficient, and ω2 is the wheel-weighting coefficient.

[0013] A further solution is: the parking evaluation factor calculation unit calculates the parking evaluation factor J2 using the following formula:

[0014]

[0015] Among them, L 0max W represents the maximum length of the parking space. 0max W is the maximum width for parking. 0max 'H' is the distance between the centers of the left and right wheels before parking. 0max L is the maximum height of the vehicle waiting to be parked, L' is the distance between the center of the front axle and the center of the rear axle of the vehicle waiting to be parked, and ω3, ω4, and ω5 are weighting coefficients.

[0016] A further proposed solution is that the road condition evaluation factor calculation unit calculates the road condition evaluation factor J3 using the following formula:

[0017]

[0018] Among them, J 31 J is the evaluation factor for straight road surfaces. 32 J is the slope evaluation factor. 33 The curve evaluation factor is ω6, ω7, ω8, and ω9, which are weighting coefficients; among them, the straight road surface evaluation factor J is calculated. 31 The formula is:

[0019]

[0020] Among them, L xmin L is the minimum longitudinal clearance in front of the parking space. 0ymin L is the minimum lateral distance between the side of the vehicle waiting to be parked and the side of the vehicle waiting to be parked. ymin ω represents the minimum lateral distance between the two sides of the road in front of the parking space. 10 ω 11 K is the weighting coefficient. CL The vehicle-to-road ratio coefficient is expressed as follows:

[0021]

[0022] Among them, W 0max W is the maximum width for parking. 0max ' is the distance between the centers of the left and right wheels before parking; set the slope length threshold τ. α Calculate the slope evaluation factor J 32 The formula is:

[0023]

[0024] Where α is the slope of the road, L α Let be the length of the slope interval; let τ be the threshold for the length of curves greater than e. R Calculate the curve evaluation factor J 33 The formula is:

[0025]

[0026] Where R1 is the road turning radius, R2 is the narrowest distance along the curve, and L R This represents the length of the bend.

[0027] A further proposed solution is that the obstacle evaluation factor calculation unit calculates the obstacle evaluation factor J4 using the following formula:

[0028]

[0029] Where S1 is the reflective area of ​​the target object, J 41 The target object position factor; the target object position factor J 41The target object's center coordinates (X1, Y1) are determined using the front-facing camera of the foremost intelligent parking mobile platform unit, the rear-facing camera of the foremost unit identifies the target object's center coordinates (X2, Y2), the front-facing camera of the last unit identifies the target object's center coordinates (X3, Y3), and the rear-facing camera of the last unit identifies the target object's center coordinates (X4, Y4). The target object's position factor J is then calculated. 41 The formula is:

[0030]

[0031] Among them, P1, P2, P3, and P4 are coordinate weighting coefficients.

[0032] A further solution is that, when forward or backward movement is required, the travel control unit controls the intelligent parking mobile platform's travel speed V along the X-axis in the vehicle coordinate system using the following formula. X :

[0033]

[0034] Where V0 is the maximum permissible vehicle speed, J1 is the load-bearing evaluation factor, J2 is the parking waiting evaluation factor, J3 is the road condition evaluation factor, and J4 is the obstacle evaluation factor; when turning and lateral movement are required, the travel control unit controls the travel speed V of the intelligent parking moving platform in the Y-axis direction in the vehicle coordinate system using the following formula. Y :

[0035]

[0036] Among them, J 33 The curve evaluation factor; when the vehicle needs to move in the vertical direction, the travel control unit controls the intelligent parking moving platform's travel speed V in the Z-axis direction of the vehicle coordinate system using the following formula. Z :

[0037]

[0038] When the vehicle needs to rotate around its central axis in the XY plane of the vehicle coordinate system, the travel control unit controls the rotational speed β of the intelligent parking moving platform around the Z-axis in the vehicle coordinate system using the following formula:

[0039]

[0040] Among them, J 31 This is the evaluation factor for straight road surfaces.

[0041] The beneficial effects of this invention are: 1. The control method controls the movement of the intelligent parking mobile platform through multiple evaluation factors, including many working environment factors, thus enabling more reasonable control of the intelligent parking mobile platform. 2. Each evaluation factor is calculated from multiple parameters, making the control method more rigorous and accurate. Attached Figure Description

[0042] Figure 1 The control process of this control method

[0043] Figure 2 The calculation relationship of road condition evaluation factor J3 Detailed Implementation

[0044] This invention proposes a control method for an intelligent parking mobile platform applicable to parking lots. The control method includes a load-bearing evaluation factor calculation unit, a waiting-to-park vehicle evaluation factor calculation unit, a road condition evaluation factor calculation unit, an obstacle evaluation factor calculation unit, and a travel control unit. The vehicle to be parked by the intelligent parking mobile platform in a parking task is defined as a waiting-to-park vehicle. The controlled intelligent parking mobile platform is composed of multiple identical modules, each defined as a minimum module unit. The number of wheels of the waiting-to-park vehicle corresponds to the number of minimum module units the intelligent parking mobile platform consists of, with each minimum module unit responsible for bearing one wheel.

[0045] The load-bearing evaluation factor calculation unit is used to calculate the load-bearing evaluation factor J1. The load-bearing evaluation factor J1 is composed of the total weight g carried by the intelligent parking mobile platform, the upper limit of the weight that the intelligent parking mobile platform can carry, G1, and the weight carried by each smallest module unit when the intelligent parking mobile platform carries a car in a parking task: from g1 to g n The maximum weight G2 that each smallest module unit of the intelligent parking mobile platform can bear is calculated, where n is the number of the smallest module units of the intelligent parking mobile platform used in this parking.

[0046] The parking waiting evaluation factor calculation unit is used to calculate the parking waiting evaluation factor J2, which is determined by the maximum length L of the parking waiting vehicle. 0max Maximum width W for waiting to park 0max The distance W between the centers of the left and right wheels before parking. 0max ', Maximum parking height H 0max The distance L' from the center of the front axle to the center of the rear axle of the vehicle to be parked is calculated.

[0047] The road condition evaluation factor calculation unit is used to calculate the road condition evaluation factor J3, which is derived from the straight road surface evaluation factor J. 31 Slope evaluation factor J 32 Detour evaluation factor J 33The calculation yielded the following result: The straight road surface evaluation factor J... 31 The minimum longitudinal spacing L in front of the parking space xmin The minimum lateral distance L between the side of the vehicle waiting to be parked and the side of the vehicle waiting to be parked. 0ymin The minimum lateral distance L on both sides of the road in front of the parking space ymin Maximum width W for waiting to park 0max The distance W between the centers of the left and right wheels before parking. 0max The calculated slope evaluation factor J is... 32 The road's slope α and the length L of the slope interval α The calculated curve evaluation factor J 33 The curve is determined by the road turning radius R1, the narrowest distance between curves R2, and the curve length L. R Calculated;

[0048] The obstacle evaluation factor calculation unit is used to calculate the obstacle evaluation factor J4, which is composed of the target location factor J. 41 The reflective area S1 of the target object is calculated, and the target object position factor J is obtained. 41 The coordinates of the target center (X1, Y1) are obtained from the front camera of the smallest module unit of the intelligent parking mobile platform at the foremost position, the coordinates of the target center (X2, Y2) are obtained from the rear camera of the smallest module unit of the intelligent parking mobile platform at the foremost position, the coordinates of the target center (X3, Y3) are obtained from the front camera of the smallest module unit of the intelligent parking mobile platform at the last position, and the coordinates of the target center (X4, Y4) are obtained from the rear camera of the smallest module unit of the intelligent parking mobile platform at the last position.

[0049] The travel control unit controls the movement of the intelligent parking mobile platform in four directions: movement along the X-axis, Y-axis, Z-axis, and rotation about the Z-axis in the vehicle coordinate system. The velocity V along the X-axis in the vehicle coordinate system is... X The velocity V in the Y-axis direction of the vehicle coordinate system is calculated from the maximum permissible vehicle speed V0, load evaluation factor J1, parking waiting evaluation factor J2, road condition evaluation factor J3, and obstacle evaluation factor J4. Y The evaluation factors are: maximum permissible vehicle speed V0, load factor J1, parking waiting factor J2, and curve evaluation factor J. 33 The obstacle evaluation factor J4 is used to calculate the velocity V in the Z-axis direction of the vehicle coordinate system. ZThe speed β of the vehicle's rotation around the Z-axis in the vehicle coordinate system is calculated from the maximum permissible vehicle speed V0, load-bearing evaluation factor J1, parking waiting evaluation factor J2, and road condition evaluation factor J3. 31 Detour evaluation factor J 33 The obstacle evaluation factor J4 was calculated.

[0050] The formula for calculating the load-bearing evaluation factor J1 by the load-bearing evaluation factor calculation unit is as follows:

[0051]

[0052] Where g represents the total weight carried by the intelligent parking mobile platform, and G1 represents the upper limit of the weight that the intelligent parking mobile platform can carry, from g1 to g n G2 represents the maximum weight that each smallest module unit of the intelligent parking mobile platform can carry when carrying a car during a parking task. n represents the number of smallest module units of the intelligent parking mobile platform used in this parking task. ω1 is the weight-weighting coefficient, and ω2 is the wheel-weighting coefficient.

[0053] The formula for calculating the parking evaluation factor J2 in the parking evaluation factor calculation unit is as follows:

[0054]

[0055] Among them, L 0max W represents the maximum length of the parking space. 0max W is the maximum width for parking. 0max 'H' is the distance between the centers of the left and right wheels before parking. 0max L is the maximum height of the vehicle waiting to be parked, L' is the distance between the center of the front axle and the center of the rear axle of the vehicle waiting to be parked, and ω3, ω4, and ω5 are weighting coefficients.

[0056] The formula for calculating road condition evaluation factor J3 in the road condition evaluation factor calculation unit is as follows:

[0057]

[0058] Among them, J 31 J is the evaluation factor for straight road surfaces. 32 J is the slope evaluation factor. 33 ω6, ω7, ω8, and ω9 are the evaluation factors for detours, and ω9 are the weighting coefficients.

[0059] Among them, the evaluation factor J for straight road surface is calculated. 31 The formula is:

[0060]

[0061] Among them, L xmin L is the minimum longitudinal clearance in front of the parking space. 0ymin L is the minimum lateral distance between the side of the vehicle waiting to be parked and the side of the vehicle waiting to be parked. ymin ω represents the minimum lateral distance between the two sides of the road in front of the parking space. 10 ω 11 K is the weighting coefficient. CL The vehicle-to-road ratio coefficient is expressed as follows:

[0062]

[0063] Among them, W 0max W is the maximum width for parking. 0max 'This is the distance between the centers of the left and right wheels before parking;

[0064] Let the slope length threshold τ be set. α Calculate the slope evaluation factor J 32 The formula is:

[0065]

[0066] Where α is the slope of the road, L α The length of the slope interval;

[0067] Let τ be the threshold length of the bend greater than e. R Calculate the curve evaluation factor J 33 The formula is:

[0068]

[0069] Where R1 is the road turning radius, R2 is the narrowest distance along the curve, and L R This represents the length of the bend.

[0070] The obstacle evaluation factor calculation unit calculates the obstacle evaluation factor J4 using the following formula:

[0071]

[0072] Where S1 is the reflective area of ​​the target object, J 41 The target object's position factor;

[0073] Target position factor J 41The target object's center coordinates (X1, Y1) are determined using the front-facing camera of the foremost intelligent parking mobile platform unit, the rear-facing camera of the foremost unit identifies the target object's center coordinates (X2, Y2), the front-facing camera of the last unit identifies the target object's center coordinates (X3, Y3), and the rear-facing camera of the last unit identifies the target object's center coordinates (X4, Y4). The target object's position factor J is then calculated. 41 The formula is:

[0074]

[0075] Among them, P1, P2, P3, and P4 are coordinate weighting coefficients.

[0076] When it is necessary to move forward or backward, the travel control unit controls the travel speed V of the intelligent parking moving platform in the X-axis direction in the vehicle coordinate system using the following formula. X :

[0077]

[0078] Among them, V0 is the maximum permissible vehicle speed, J1 is the load-bearing evaluation factor, J2 is the parking waiting evaluation factor, J3 is the road condition evaluation factor, and J4 is the obstacle evaluation factor.

[0079] When turning and lateral movement are required, the travel control unit controls the travel speed V of the intelligent parking moving platform in the Y-axis direction in the vehicle coordinate system using the following formula. Y :

[0080]

[0081] Among them, J 33 As a factor for evaluating detours;

[0082] When the vehicle needs to move vertically, the travel control unit controls the intelligent parking moving platform's travel speed V in the Z-axis direction of the vehicle coordinate system using the following formula. Z :

[0083]

[0084] When the vehicle needs to rotate around its central axis in the XY plane of the vehicle coordinate system, the travel control unit controls the rotational speed β of the intelligent parking moving platform around the Z-axis in the vehicle coordinate system using the following formula:

[0085]

[0086] Among them, J 31This is the evaluation factor for straight road surfaces.

[0087] The above description is an embodiment of the present invention and is not intended to limit the invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the protection scope of the present invention.

Claims

1. A control method for an intelligent parking mobile platform suitable for a parking lot, the control method comprising a carrying evaluation factor calculation unit, a to-be-parked evaluation factor calculation unit, a road condition evaluation factor calculation unit, an obstacle evaluation factor calculation unit, and a travel control unit. The intelligent parking mobile platform is defined as a car to be parked in a parking task; the controlled intelligent parking mobile platform is composed of multiple identical modules, which are defined as minimum module units; the car to be parked has several wheels, and the corresponding intelligent parking mobile platform is composed of several minimum module units, each of which is responsible for carrying a wheel; The carrying evaluation factor calculation unit is configured to calculate a carrying evaluation factor J1, wherein the carrying evaluation factor J1 is calculated according to a total weight g of the intelligent parking mobile platform, an upper limit value G1 of a weight that can be carried by the intelligent parking mobile platform, and a weight carried by each minimum module unit of the intelligent parking mobile platform when the intelligent parking mobile platform carries a car in a parking task, wherein the weight carried by each minimum module unit of the intelligent parking mobile platform is from g1 to g n , and an upper limit value G2 of a weight that can be carried by each minimum module unit of the intelligent parking mobile platform, wherein n is a number of the minimum module units of the intelligent parking mobile platform used in this parking task. The to-be-parked evaluation factor calculation unit is configured to calculate a to-be-parked evaluation factor J2, which is calculated based on a maximum length L 0max , a maximum width W 0max , a distance W 0max ' between centers of left and right wheels before parking, and a maximum height H 0max of the to-be-parked vehicle and a distance L' between centers of front and rear axles of the to-be-parked vehicle. The road condition evaluation factor calculation unit is configured to calculate a road condition evaluation factor J3, wherein the road condition evaluation factor J3 is calculated by a straight road evaluation factor J 31 , a slope road evaluation factor J 32 , and a curve road evaluation factor J 33 ; wherein the straight road evaluation factor J 31 is calculated by a minimum longitudinal distance L xmin in front of the to-be-parked vehicle, a minimum lateral distance L 0ymin to the side of the to-be-parked vehicle, a minimum lateral distance L ymin on both sides of the road in front of the to-be-parked vehicle, a maximum width W 0max of the to-be-parked vehicle, and a distance W 0max between the centers of the left and right wheels of the to-be-parked vehicle; the slope road evaluation factor J 32 is calculated by a slope α of the road and a length L α of the slope interval; and the curve road evaluation factor J 33 is calculated by a turning radius R1 of the road, a lateral narrowest distance R2 of the curve, and a length L R of the curve. The obstacle evaluation factor calculation unit is configured to calculate an obstacle evaluation factor J4, which is calculated based on a target position factor J 41 , a reflection area S1 of the target, a target position factor J 41 The target center coordinates (X1, Y1) recognized by the front camera of the intelligent parking mobile platform minimum module unit at the foremost position, the target center coordinates (X2, Y2) recognized by the rear camera of the intelligent parking mobile platform minimum module unit at the foremost position, the target center coordinates (X3, Y3) recognized by the front camera of the intelligent parking mobile platform minimum module unit at the rearmost position, and the target center coordinates (X4, Y4) recognized by the rear camera of the intelligent parking mobile platform minimum module unit at the rearmost position. The travel control unit is configured to control the intelligent parking mobile platform to move in four directions, i.e., movement in the X-axis direction in the vehicle coordinate system, movement in the Y-axis direction in the vehicle coordinate system, movement in the Z-axis direction in the vehicle coordinate system, and rotation around the Z-axis in the vehicle coordinate system, wherein the speed V X The speed V Y The speed V 33 The speed V Z The speed V 31 The speed V 33 The speed V 2. The control method of claim 1, wherein: The formula for calculating the carrying evaluation factor J1 is: wherein g is the total weight carried by the intelligent parking mobile platform, G1 is the upper limit of the weight that the intelligent parking mobile platform can carry, from g1 to g n G1 is the upper limit of the weight that the intelligent parking mobile platform can carry, n is the number of the minimum module units of the intelligent parking mobile platform used this time, ω1 is the weight bias weighting coefficient, and ω2 is the wheel number weighting coefficient.

3. The control method of claim 1, wherein: The formula for calculating the car-to-be-parked evaluation factor J2 is: wherein L 0max is the maximum length of the vehicle to be parked, 0max is the maximum width of the vehicle to be parked, 0max is the distance between the centers of the left and right wheels of the vehicle to be parked, 0max is the maximum height of the vehicle to be parked, L' is the distance between the center of the front axle and the center of the rear axle of the vehicle to be parked, and ω3, ω4, ω5 are weighting coefficients.

4. The control method of claim 1, wherein: The formula for calculating the road condition evaluation factor J3 is: wherein J 31 is a flat road evaluation factor, J 32 is a slope road evaluation factor, J 33 is a curved road evaluation factor, and ω6, ω7, ω8, ω9 are weighting coefficients. wherein the flat road evaluation factor J is calculated 31 The formula is: Among them, L xmin L is the minimum longitudinal clearance in front of the parking space. 0ymin L is the minimum lateral distance between the side of the vehicle waiting to be parked and the side of the vehicle waiting to be parked. ymin ω represents the minimum lateral distance between the two sides of the road in front of the parking space. 10 ω 11 K is the weighting coefficient. CL The vehicle-to-road ratio coefficient is expressed as follows: wherein W 0max is the maximum width of the vehicle to be parked, W 0max ’ is the distance between the centers of the left and right wheels of the vehicle to be parked; Setting a slope road length threshold τ α , the formula of the slope road evaluation factor J 32 is: wherein a is the slope of the road, L α is the length of the slope interval; Let τ be a threshold for the length of a detour greater than e R The formula for calculating the detour evaluation factor J 33 is wherein R1 is the road turning radius, R2 is the turning path to the narrowest spacing, L R is the length of the turning path.

5. The control method of claim 1, wherein: The formula for calculating the obstacle evaluation factor J4 is: where S1 is the reflection area of the target object, J 41 is the target object position factor; Target object position factor J 41 The target object position factor J is determined by the target object center coordinates (X1, Y1) recognized by the front camera of the intelligent parking mobile platform minimum module unit at the frontmost position, the target object center coordinates (X2, Y2) recognized by the rear camera of the intelligent parking mobile platform minimum module unit at the frontmost position, the target object center coordinates (X3, Y3) recognized by the front camera of the intelligent parking mobile platform minimum module unit at the rearmost position, and the target object center coordinates (X4, Y4) recognized by the rear camera of the intelligent parking mobile platform minimum module unit at the rearmost position. 41 The formula is: Wherein, P1, P2, P3, P4 are coordinate weighting coefficients.

6. The control method of claim 1, wherein: When it is required to move forward or backward, the travel control unit controls the travel speed V of the intelligent parking moving platform in the X-axis direction under the vehicle coordinate system by the following formula X : Wherein, V0 is the maximum allowed speed, J1 is the carrying evaluation factor, J2 is the car-to-be-parked evaluation factor, J3 is the road condition evaluation factor, and J4 is the obstacle evaluation factor; When turning and moving laterally is needed, the travel control unit controls the speed of the intelligent parking moving platform in the Y-axis direction under the vehicle coordinate system V Y : wherein J 33 is a bend evaluation factor; When the car needs to move in the vertical direction, the travel control unit controls the speed V of the intelligent parking moving platform in the Z-axis direction in the vehicle coordinate system by the following formula Z : When the car needs to rotate around the center axis in the XY plane of the vehicle coordinate system, the travel control unit controls the rotation speed of the intelligent parking mobile platform around the Z axis in the vehicle coordinate system through the following formula: wherein J 31 is a flat road evaluation factor.

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