Valet parking control method including parking space release

Abstract

The invention discloses a valet parking control method including parking space release, and the main design concept of the valet parking control method is that a vehicle continuously retrieves parking spaces in a parking lot; recording and marking available parking spaces found through retrieval; after the parking space to be parked of the parking lot is traversed, the recorded and marked available parking space is displayed to a user, an automatic parking function is executed according to the available parking space selected by the user, and if the user selects the wireless parking space, whether the designated wireless parking space meets the actual parking condition or not is judged; if not, whether a parking space exists in the area adjacent to the designated wireless parking space is judged; and if not, trying after driving for a certain distance twice, and triggering parking flameout and feeding back valet parking failure information to the user until the valet cannot be parked in. According to the invention, the problem of releasing the available effective parking spaces when the parking spaces to be parked are retrieved in automatic valet parking is effectively solved, and implementation details of valet parking tasks are provided for the available wireless parking spaces.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic parking, and in particular to a valet parking control method including parking space release. Background Art

[0002] With the advent of intelligent automobiles, more and more vehicles are equipped with functions such as valet parking systems (APA) and remote parking systems (RPA). Valet parking and remote parking systems (the present invention collectively refers to valet parking as they have similar functions) can solve the parking problem for new drivers on the one hand, and on the other hand, during the parking process, the vehicle can detect obstacles around the vehicle based on sensors around the vehicle to avoid collisions between the vehicle and other objects, thereby ensuring the safety of the vehicle during parking and reducing losses caused by parking collisions.

[0003] Currently, parking spaces are mostly retrieved through a fusion of vision and ultrasound, that is, vision is used to detect wired parking spaces (for the sake of ease of explanation, parking spaces with clear boundary lines are referred to as wired parking spaces in the present invention), and ultrasonic radar is used to detect spatial parking spaces, which are then fused through a certain strategy to ultimately output available empty parking spaces.

[0004] However, for parking spaces without obvious markings, it is difficult to reliably release available parking spaces for vehicles to park. That is, when wireless parking spaces or line parking spaces are worn out for a long time and the parking lines cannot be clearly identified (for the sake of convenience, they are collectively referred to as wireless parking spaces in the present invention), the relevant parking spaces may be ignored. For example, even if it is determined to be a parking space, it will not be released for use because it has no parking lines, resulting in waste or missing of idle parking space resources. Summary of the invention

[0005] In view of the above, the present invention aims to provide a valet parking control method including parking space release to solve the above-mentioned technical problems.

[0006] The technical solution adopted by the present invention is as follows:

[0007] The present invention provides a valet parking control method including parking space release, comprising:

[0008] After the vehicle enters the parking lot, continue to search for parking spaces;

[0009] Record and mark the available parking spaces found during the search process; wherein the available parking spaces include wired parking spaces and wireless parking spaces;

[0010] After traversing the parking spaces in the parking lot, the user is presented with the marked available parking spaces;

[0011] When a user's selection instruction for an available parking space is monitored, the vehicle drives to the available parking space selected by the user and executes the automatic parking function, including: if the user selects a wireless parking space, after the vehicle arrives at the designated wireless parking space, it is determined whether the actual parking conditions are met; if not, it is determined whether there is a parking space in the vicinity of the designated wireless parking space; if not, the vehicle continues to drive a predetermined distance from the designated wireless parking space, and then determines whether there is an available parking space or parking space at the location; if not, it drives the predetermined distance again and determines whether there is an available parking space or parking space; if not, it triggers the parking and engine shutdown and feeds back the valet parking failure information to the user.

[0012] In at least one possible implementation, recording and marking the available parking spaces found during the search process includes:

[0013] If a wired parking space is detected, the characteristic points of the wired parking space are recorded and the current wired parking space is numbered.

[0014] In at least one possible implementation, recording and marking the available parking spaces found during the search process includes:

[0015] If a wireless parking space is detected, the current wireless parking space detected is marked using the vehicle's travel distance during the search process.

[0016] In at least one possible implementation, the current wireless parking space is marked as a vertical parking space or a horizontal parking space according to the driving distance in the process of detecting the current wireless parking space;

[0017] If the mark is a horizontal parking space, the parking space length value of the current wireless parking space is recorded;

[0018] If it is marked as a vertical parking space, the parking space width value of the current wireless parking space is recorded.

[0019] In at least one possible implementation, if the distance traveled when the current wireless parking space is detected satisfies the predetermined size standards of both the vertical parking space and the horizontal parking space, the detected current wireless parking space is marked as a horizontal parking space.

[0020] In at least one possible implementation manner, the valet parking control method further includes: counting the number of wireless parking spaces based on the positioning information of the vehicle and the distance traveled by the vehicle.

[0021] Compared with the prior art, the main design concept of the present invention is that after the vehicle enters the parking lot, the parking space is continuously searched; the available parking spaces found in the search process are recorded and marked; wherein the available parking spaces include wired parking spaces and wireless parking spaces; after traversing the parking spaces to be parked in the parking lot, the user is shown the recorded and marked available parking spaces, and the automatic parking function is performed according to the available parking spaces selected by the user. If the user selects a wireless parking space, after the vehicle reaches the designated wireless parking space, it is determined whether the actual parking conditions are met; if not, it is determined whether there is a parking space in the vicinity of the designated wireless parking space; if not, it is attempted after driving a certain distance twice, until it cannot be parked, the parking is triggered and the valet parking failure information is fed back to the user. The present invention effectively solves the problem of releasing the available valid parking spaces when the automatic valet parking is searching for the parking spaces to be parked, and provides the implementation details of the valet parking task for the available wireless parking spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described below with reference to the accompanying drawings, in which:

[0023] Figure 1 A schematic diagram of a valet parking control method including parking space release provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0025] The present invention proposes an embodiment of a valet parking control method including parking space release. Specifically, Figure 1 shown, including:

[0026] Step S1: After the vehicle enters the parking lot, continue to search for parking spaces;

[0027] In actual operation, the vehicle can use 360-degree surround-view cameras, ultrasonic radars and other sensor devices installed around the vehicle to search for parking spaces around the vehicle.

[0028] Step S2: record and mark the available parking spaces found during the search process; wherein the available parking spaces include wired parking spaces and wireless parking spaces;

[0029] For example, when a vehicle is driving in a parking lot and continuously collecting and identifying data, if a wired parking space is detected, the characteristic points of the wired parking space (such as corner points, parking space length, parking space width, parking space number, GPS coordinates, etc.) are recorded and the current parking space detected is numbered. The vehicle continues to record the characteristic points of the wired parking space and continue to number the available wired parking spaces while driving in the parking lot.

[0030] For another example, when a vehicle is driving in a parking lot and continuously collecting and identifying data, if a wireless parking space is detected, the driving distance of the vehicle during the retrieval process is used to mark the wireless parking space. Based on this concept, it can also be pointed out that according to the driving distance in the process of detecting the current wireless parking space, the detected wireless parking space is marked as a vertical parking space or a horizontal parking space, and if it is marked as a horizontal parking space, the parking space length value of the current wireless parking space is recorded, and if it is marked as a vertical parking space, the parking space width value of the current wireless parking space is recorded. In addition, here is an explanation of a special case, if the driving distance when detecting the current wireless parking space meets the established size standards of both the vertical parking space and the horizontal parking space, the current wireless parking space is marked as a horizontal parking space.

[0031] Therefore, the present invention also proposes to count the number of wireless parking spaces based on the vehicle positioning information and the distance traveled by the vehicle: for example, after marking a horizontal parking space, when the distance the vehicle continues to travel is equal to a preset parking space length value, it means that the vehicle has passed through a horizontal parking space. At this time, dot marking can be performed in combination with the vehicle positioning information. In this way, the total number of wireless parking spaces that the vehicle has traveled through during the continuous retrieval and identification process is counted.

[0032] In addition, it can be added that during the aforementioned retrieval and recording and marking process, the vehicle's steering wheel angle information, vehicle wheel speed pulse information, vehicle pitch angle information, and information such as speed bumps, signs, and road signs encountered by the vehicle during driving can be continuously recorded. In particular, after detecting an available parking space, the distance between the objects (obstacles) around the vehicle's location and the detected parking space and / or the vehicle itself can be recorded.

[0033] Step S3: after traversing the parking spaces to be parked in the parking lot, display the marked available parking spaces to the user;

[0034] Step S4: when the user's selection instruction for the marked available parking space is monitored, the vehicle drives to the available parking space selected by the user and performs the automatic parking function.

[0035] That is, after the vehicle completes the collection of parking space data in the venue, the wired parking space / wireless parking space selected by the driver from the released available parking spaces is used as the target parking space for valet parking and the parking space information is recorded.

[0036] Regarding the execution of the valet parking function, the real-time collected vehicle surrounding environment information, obstacle information, vehicle location information, etc. can be compared with the data collected during the continuous search process to determine the location of the target parking space; after locating the target parking space, the parking path is planned based on the vehicle's driving distance and the available parking space, and the vehicle is finally parked at a fixed location. This invention will not be elaborated on, but the following can be expanded:

[0037] If the user selects a wireless parking space from the released available parking spaces, then after the vehicle arrives at the designated wireless parking space, it is necessary to determine whether the parking conditions are actually met. For example, if the position of the originally marked wireless parking space is occupied by other obstacles, then it is determined whether there is enough space (meeting the size of the parking action of the vehicle) around the obstacle for parking. If so, the vehicle is parked in the space; otherwise, the vehicle continues to drive from the selected wireless parking space, and determines whether there is an available parking space or sufficient parking space within a predetermined distance (such as 10 meters) from the selected wireless parking space. If so, the parking task is performed; otherwise, the vehicle continues to drive the predetermined distance and determines whether there is an available parking space or sufficient parking space. At this time, if there is still no available parking space or space, the parking is triggered and the valet parking failure information is fed back to the user.

[0038] In summary, the main design concept of the present invention is that after the vehicle enters the parking lot, the parking space is continuously searched; the available parking spaces found in the search process are recorded and marked; wherein the available parking spaces include wired parking spaces and wireless parking spaces; after traversing the parking spaces to be parked in the parking lot, the user is shown the recorded and marked available parking spaces, and the automatic parking function is performed according to the available parking spaces selected by the user. If the user selects a wireless parking space, after the vehicle reaches the designated wireless parking space, it is determined whether the actual parking conditions are met; if not, it is determined whether there is a parking space in the vicinity of the designated wireless parking space; if not, it is attempted after driving a certain distance twice, until it cannot be parked, the parking is triggered and the valet parking failure information is fed back to the user. The present invention effectively solves the problem of releasing the available valid parking spaces when the automatic valet parking is searching for the parking spaces to be parked, and provides the implementation details of the valet parking task for the available wireless parking spaces.

[0039] If the expressions expressing orientation are mentioned in the embodiments of the present invention, they are relative concepts based on the embodiments. In addition, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, a and b, a and c, b and c, or a and b and c, wherein a, b, c can be single or multiple.

[0040] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings, but the above is only a preferred embodiment of the present invention. It should be noted that the technical features involved in the above embodiments and their preferred methods can be reasonably combined and matched into a variety of equivalent schemes by those skilled in the art without departing from or changing the design ideas and technical effects of the present invention; therefore, the present invention is not limited to the scope of implementation shown in the drawings, and all changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the specification and drawings, should be within the protection scope of the present invention.

Claims

1. A valet parking control method including parking space release, characterized in that: include: After the vehicle enters the parking lot, continue to search for parking spaces; Record and mark the available parking spaces found during the search process; wherein the available parking spaces include wired parking spaces and wireless parking spaces; After traversing the parking spaces in the parking lot, the user is presented with the marked available parking spaces; When a user's selection instruction for an available parking space is monitored, the vehicle drives to the available parking space selected by the user and executes the automatic parking function, including: if the user selects a wireless parking space, after the vehicle arrives at the designated wireless parking space, it is determined whether the actual parking conditions are met; if not, it is determined whether there is a parking space in the vicinity of the designated wireless parking space; if not, the vehicle continues to drive a predetermined distance from the designated wireless parking space, and then determines whether there is an available parking space or parking space at the location; if not, it drives the predetermined distance again and determines whether there is an available parking space or parking space; if not, it triggers the parking and engine shutdown and feeds back the valet parking failure information to the user.

2. The valet parking control method including parking space release according to claim 1, characterized in that: The recording and marking of available parking spaces found during the search process includes: If a wired parking space is detected, the characteristic points of the wired parking space are recorded and the current wired parking space is numbered.

3. The valet parking control method including parking space release according to claim 1, characterized in that: The recording and marking of available parking spaces found during the search process includes: If a wireless parking space is detected, the current wireless parking space detected is marked using the vehicle's travel distance during the search process.

4. The valet parking control method including parking space release according to claim 3, characterized in that: According to the driving distance in the process of detecting the current wireless parking space, the current wireless parking space is marked as a vertical parking space or a horizontal parking space; If the mark is a horizontal parking space, the parking space length value of the current wireless parking space is recorded; If it is marked as a vertical parking space, the parking space width value of the current wireless parking space is recorded.

5. The valet parking control method including parking space release according to claim 1, characterized in that: If the distance traveled when the current wireless parking space is detected meets the established size standards of the vertical parking space and the horizontal parking space at the same time, the detected current wireless parking space is marked as a horizontal parking space.

6. The valet parking control method including parking space release according to any one of claims 1 to 5, characterized in that: The valet parking control method further includes: counting the number of wireless parking spaces based on the positioning information of the vehicle and the distance traveled by the vehicle.

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