Automatic parking method and system based on vehicle infrastructure cooperation

Abstract

The invention discloses an automatic parking method and system based on vehicle-road cooperation, and relates to the technical field of intelligent navigation, a vehicle-road cooperation network is arranged in a target area, and a corresponding intelligent traffic area model is constructed according to traffic factors in the target area covered by the vehicle-road cooperation network; traffic information of a target area is obtained in real time through vehicle-road collaborative networking, and information interaction is carried out on the obtained traffic information and vehicles entering the target area; formulating a corresponding automatic parking strategy for the vehicle needing to be parked; according to the invention, interaction of traffic information and vehicle driving information of a vehicle in an area covered by the vehicle-road cooperation networking is rapidly realized by using the vehicle-road cooperation networking, so that after the vehicle arrives at a destination, the optimal target parking area can be determined for the vehicle according to the parking space condition in each parking area obtained from the vehicle-road cooperation networking, and the parking efficiency of the vehicle is improved. Therefore, the parking efficiency of the vehicle is improved, and the problems that a user runs on a'unnecessary road 'and a parking space is difficult to find are avoided.

Description

Technical Field

[0001] The present invention relates to the field of intelligent navigation technology, and in particular to an automatic parking method and system based on vehicle-road collaboration. Background Art

[0002] Vehicle to Infrastructure (V2I) is an important concept in Intelligent Transportation Systems (ITS). It achieves efficient coordination between vehicles and road infrastructure through real-time information exchange and collaborative control between vehicles and roads, thereby improving traffic safety, traffic efficiency and travel experience. With the popularization of vehicles, parking often becomes a big problem after the vehicle arrives at the destination. How to choose the best parking area to avoid the embarrassing situation of no parking space available after arriving at the parking area is a problem we need to solve. To this end, an automatic parking method and system based on vehicle-road collaboration are provided. Summary of the invention

[0003] The object of the present invention is to provide an automatic parking method and system based on vehicle-road collaboration.

[0004] The objective of the present invention can be achieved through the following technical solution: An automatic parking method based on vehicle-road collaboration comprises the following steps: Step S1: deploying a vehicle-road cooperative network in a target area, and constructing a corresponding intelligent transportation area model according to traffic factors in the target area covered by the vehicle-road cooperative network; Step S2: obtaining traffic information of the target area in real time through the vehicle-road cooperative network, and exchanging information of the obtained traffic information with vehicles entering the target area; Step S3: Formulate a corresponding automatic parking strategy for the vehicle that needs to be parked.

[0005] Furthermore, the process of arranging the vehicle-road cooperative network and constructing a corresponding intelligent traffic area model according to traffic factors in the target area covered by the vehicle-road cooperative network includes: The vehicle-road cooperative network is composed of a number of sensor terminals; Traffic factors in the target area include roads, intersection distribution and parking spaces; Set up corresponding sensor terminals according to traffic factors in the target area, and record the setting locations of the sensor terminals; Construct an isometric plane model corresponding to the target area, and map the traffic factors and sensor terminals in the target area into the isometric plane model; The traffic factors and sensor terminals in the target area are empowered with information, and after completing the information empowerment, the corresponding intelligent traffic area model is obtained.

[0006] Furthermore, the process of information empowerment of traffic factors and sensor terminals in the target area includes: A corresponding communication coverage range is set for each sensor terminal, and the communication coverage range of the sensor terminal has an overlapping area with the communication coverage range of at least one other sensor terminal; Setting a corresponding road orientation and lane for the road, dividing the road into a plurality of road sections according to the communication coverage of a sensor terminal arranged on the road, and associating each road section with a corresponding sensor terminal; A corresponding lane and corresponding lane attributes are set for each intersection, and the lane attributes include going straight, turning left, turning right, and U-turn.

[0007] Furthermore, the process of obtaining the traffic information of the target area in real time through the vehicle-road cooperative network includes: According to the communication coverage of each sensor terminal, traffic factors existing in the communication coverage are obtained; Acquiring traffic information within a communication range through a sensor terminal, wherein the traffic information includes traffic parameters corresponding to traffic factors; In the actual implementation process, the traffic parameters corresponding to the traffic factors are as follows: When the traffic factor includes roads, the corresponding traffic parameters are the number of vehicles passing through the road section associated with the sensor terminal and the time the vehicles passed through; When the traffic factor is an intersection, the corresponding traffic parameter is the number of vehicles corresponding to the intersection associated with the sensor terminal at each time; When the traffic factor is a parking space, the corresponding traffic parameter is the parking area where the parking space associated with the sensor terminal is located and the parking space status of each parking space, wherein the parking space status includes an idle state and an occupied state; The traffic information obtained by each sensor terminal is uploaded to the cloud.

[0008] Furthermore, the process of exchanging information between the obtained traffic information and the vehicles entering the target area includes: When a vehicle enters the target area, according to the communication coverage area corresponding to the location of the vehicle, the sensor terminal corresponding to the communication coverage area is marked as a communication access terminal; The sensor terminal initiates a VIS access request to the vehicle. After the vehicle agrees to access, an information transmission link between the vehicle and the VIS network is established. Acquiring vehicle driving information through an information transmission link, wherein the vehicle driving information includes a driving destination, a vehicle driving speed, a current location of the vehicle, and a vehicle driving direction; Generate a vehicle planning route based on vehicle driving information, mark all sensor terminals on the vehicle planning route, and summarize them to obtain a vehicle-road sensor terminal set; A corresponding data update node is set on the road section corresponding to each sensor terminal; When the vehicle enters the communication coverage of the communication access terminal, the current traffic information is transmitted to the vehicle through the information transmission link, and the current time is recorded as t1; When the vehicle enters the communication coverage area corresponding to the next sensor terminal, the information transmission link constructed by the communication access terminal is replicated to the sensor terminal, and the vehicle is linked through the replicated information transmission link; When the vehicle reaches the data update node of the road section corresponding to the sensor terminal, the corresponding time is recorded as t2; The traffic information obtained by each sensor terminal in the time period from t1 to t2 is transmitted to the vehicle, and so on.

[0009] Furthermore, the process of formulating a corresponding automatic parking strategy for a vehicle that needs to be parked includes: Obtaining a vehicle travel destination according to the vehicle travel information uploaded by the vehicle; The vehicle initiates an automatic parking request and uploads the automatic parking request to the cloud; Obtaining whether the vehicle's destination is within the target area covered by the vehicle-road cooperative network. If not, feedback is given to the vehicle that the automatic parking request is not within the service range. If the vehicle is within the target area covered by the vehicle-road cooperative network, a corresponding automatic parking strategy will be generated after the vehicle reaches the destination.

[0010] Furthermore, the process of generating the automatic parking strategy includes: The current location of the vehicle is marked as the starting location, and all parking areas within the preset range are obtained with the starting location as the center; Generate the optimal path from the vehicle's current position to each parking area; Obtain the total length of the road sections passed by each optimal path and the number of intersections passed; Obtain the driving operations required for the vehicle to pass through each intersection from the current position to the parking area, and obtain the cost coefficient of passing the corresponding intersection based on the driving operations; Get the number of parking spaces in each parking area that are in an idle state; Set the data statistics time period, obtain the number of vehicles entering and leaving the parking area within the data statistics time period, and thus obtain the vehicle circulation coefficient of each parking area; Then, the priority evaluation coefficient of each optimal path is obtained; Select the parking area corresponding to the optimal path with the largest priority evaluation coefficient as the target parking area; After the vehicle reaches the target parking area, it will park automatically.

[0011] Furthermore, an automatic parking system based on vehicle-road collaboration includes a monitoring center, wherein the monitoring center is communicatively connected to a data acquisition module, a data processing module, and a parking assessment module; The data acquisition module includes a vehicle-road cooperative network composed of a number of sensor terminals, which is used to obtain traffic information and vehicle driving information in the target area; The data processing module constructs an information transmission link for vehicles entering the target area, and realizes information interaction between the vehicle-road cooperative network and the vehicles through the constructed information transmission link; The parking assessment module is used to perform a priority assessment on the parking areas around the vehicle location according to the vehicle parking demand, and select the optimal parking area as the target parking area.

[0012] Compared with the prior art, the present invention has the following beneficial effects: The vehicle-road cooperative network is used to quickly realize the interaction of traffic information and vehicle driving information in the area covered by the vehicle-road cooperative network. After the vehicle arrives at the destination, the optimal target parking area can be determined for the vehicle based on the parking space conditions in each parking area obtained from the vehicle-road cooperative network, thereby improving the parking efficiency of the vehicle and avoiding the problem of users taking the wrong route and having difficulty finding parking spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0014] Figure 1 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0015] like Figure 1 As shown, an automatic parking method based on vehicle-road collaboration includes the following steps: Step S1: deploying a vehicle-road cooperative network in a target area, and constructing a corresponding intelligent transportation area model according to traffic factors in the target area covered by the vehicle-road cooperative network; Step S2: obtaining traffic information of the target area in real time through the vehicle-road cooperative network, and exchanging information of the obtained traffic information with vehicles entering the target area; Step S3: Formulate a corresponding automatic parking strategy for the vehicle that needs to be parked.

[0016] It should be further explained that, in the specific implementation process, the process of arranging the vehicle-road cooperative network includes: The vehicle-road cooperative network is composed of a number of sensor terminals; Traffic factors in the target area include roads, intersection distribution and parking spaces; Set up corresponding sensor terminals according to traffic factors in the target area, and record the setting locations of the sensor terminals; Construct an isometric plane model corresponding to the target area, and map the traffic factors and sensor terminals in the target area into the isometric plane model; The traffic factors and sensor terminals in the target area are empowered with information, and after completing the information empowerment, the corresponding intelligent traffic area model is obtained.

[0017] It should be further explained that, in the specific implementation process, the process of information empowerment of traffic factors and sensor terminals in the target area includes: A corresponding communication coverage range is set for each sensor terminal, and the communication coverage range of the sensor terminal has an overlapping area with the communication coverage range of at least one other sensor terminal; Setting a corresponding road orientation and lane for the road, dividing the road into a plurality of road sections according to the communication coverage of a sensor terminal arranged on the road, and associating each road section with a corresponding sensor terminal; A corresponding lane and corresponding lane attributes are set for each intersection, and the lane attributes include going straight, turning left, turning right, and U-turn.

[0018] It should be further explained that, in the specific implementation process, the process of obtaining the traffic information of the target area in real time through the vehicle-road cooperative network includes: According to the communication coverage of each sensor terminal, traffic factors existing in the communication coverage are obtained; Acquiring traffic information within a communication range through a sensor terminal, wherein the traffic information includes traffic parameters corresponding to traffic factors; In the actual implementation process, the traffic parameters corresponding to the traffic factors are as follows: When the traffic factor includes roads, the corresponding traffic parameters are the number of vehicles passing through the road section associated with the sensor terminal and the time the vehicles passed through; When the traffic factor is an intersection, the corresponding traffic parameter is the number of vehicles corresponding to the intersection associated with the sensor terminal at each time; When the traffic factor is a parking space, the corresponding traffic parameter is the parking area where the parking space associated with the sensor terminal is located and the parking space status of each parking space, wherein the parking space status includes an idle state and an occupied state; The traffic information obtained by each sensor terminal is uploaded to the cloud.

[0019] It should be further explained that, in the specific implementation process, the process of exchanging information between the obtained traffic information and the vehicles entering the target area includes: When a vehicle enters the target area, according to the communication coverage area corresponding to the location of the vehicle, the sensor terminal corresponding to the communication coverage area is marked as a communication access terminal; The sensor terminal initiates a VIS access request to the vehicle. After the vehicle agrees to access, an information transmission link between the vehicle and the VIS network is established. Acquiring vehicle driving information through an information transmission link, wherein the vehicle driving information includes a driving destination, a vehicle driving speed, a current location of the vehicle, and a vehicle driving direction; Generate a vehicle planning route based on vehicle driving information, mark all sensor terminals on the vehicle planning route, and summarize them to obtain a vehicle-road sensor terminal set; Each sensor terminal in the vehicle-road sensor terminal set is numbered in sequence according to the order in which the vehicles arrive, denoted as i, where i=1, 2, ..., n, n is an integer, and n>0, wherein the communication access terminal is numbered i=1; A corresponding data update node is set on the road section corresponding to each sensor terminal; When the vehicle enters the communication coverage of the communication access terminal, the current traffic information is transmitted to the vehicle through the information transmission link, and the current time is recorded as t1; When the vehicle enters the communication coverage area corresponding to the sensor terminal labeled i=2, the information transmission link constructed by the communication access terminal is replicated to the sensor terminal, and the sensor terminal labeled i=2 is linked to the vehicle through the replicated information transmission link. At the same time, the information transmission link of the sensor terminal labeled i=1 is disconnected and becomes invalid. When the vehicle reaches the data update node of the road section corresponding to the sensor terminal, the corresponding time is recorded as t2; Then the traffic information obtained by the sensor terminals numbered i=2 to i=n in the time period from t1 to t2 is transmitted to the vehicle, and so on; The vehicle driving information is uploaded to the vehicle-road cooperative network in real time through the information transmission link.

[0020] It should be further explained that, in the specific implementation process, the process of formulating a corresponding automatic parking strategy for a vehicle that needs to be parked includes: Obtaining a vehicle travel destination according to the vehicle travel information uploaded by the vehicle; The vehicle initiates an automatic parking request and uploads the automatic parking request to the cloud; Obtaining whether the vehicle's destination is within the target area covered by the vehicle-road cooperative network. If not, feedback is given to the vehicle that the automatic parking request is not within the service range. If the vehicle is within the target area covered by the vehicle-road cooperative network, a corresponding automatic parking strategy will be generated after the vehicle reaches the destination.

[0021] It should be further explained that, in the specific implementation process, the process of generating the automatic parking strategy includes: The current location of the vehicle is marked as the starting location, and all parking areas within the preset range are obtained with the starting location as the center; Priority evaluation is performed on each parking area to obtain the corresponding priority evaluation coefficient. According to the obtained priority evaluation coefficient of each parking area, the corresponding parking area is selected as the target parking area. The specific process is as follows: Generate the optimal path from the current position of the vehicle to each parking area, and label the generated optimal path as j, where j=1, 2, ..., m, where m is an integer; Get the total length of the road sections passed by each optimal path, denoted as L j ; Get the number of intersections passed by each optimal path, recorded as LK j , obtain the driving operation required for the vehicle to pass through each intersection from the current position to the parking area, and obtain the cost coefficient of passing the corresponding intersection according to the driving operation, wherein when the driving operation is straight, the cost coefficient is recorded as a, when the driving operation is right turn, the cost coefficient is b, when the driving operation is left turn, the cost coefficient is c, when the driving operation is U-turn, the cost coefficient is d, and a<b<c<d; Get the number of parking spaces in each parking area that are in the idle state, recorded as CW j ; Set the data statistics duration T; Taking the current time as the starting time, obtain the vehicle circulation coefficient of each parking area within the past data statistical time T, recorded as MT j ,in: MT j = (R+1) / (C+1); Among them, R is the number of vehicles entering the parking area within the data statistics time length T, and C is the number of vehicles leaving the parking area within the data statistics time length T; Then the priority evaluation coefficient of each optimal path is obtained, denoted as YP j,in: ; Among them, α and β are weight coefficients, A is the number of straight intersections, B is the number of right-turn intersections, C is the number of left-turn intersections, and D is the number of U-turn intersections, and A+B+C+D=LK j ; It should be noted that the above formulas are all calculated by removing the dimensions and taking their numerical values; Select the parking area corresponding to the optimal path with the largest priority evaluation coefficient as the target parking area; After the vehicle arrives at the target parking area, it selects the parking space that is closest to the vehicle and is vacant for automatic parking.

[0022] In another embodiment of the present invention, an automatic parking system based on vehicle-road collaboration is also disclosed, including a monitoring center, wherein the monitoring center is communicatively connected to a data acquisition module, a data processing module, and a parking assessment module; The data acquisition module includes a vehicle-road cooperative network composed of a number of sensor terminals, which is used to obtain traffic information and vehicle driving information in the target area; The data processing module constructs an information transmission link for vehicles entering the target area, and realizes information interaction between the vehicle-road cooperative network and the vehicles through the constructed information transmission link; The parking assessment module is used to perform a priority assessment on the parking areas around the vehicle location according to the vehicle parking demand, and select the optimal parking area as the target parking area.

[0023] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments with equivalent changes without departing from the scope of the technical solution of the present invention. However, any modification or equivalent replacement of the above embodiments made according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. An automatic parking method based on vehicle-road collaboration, characterized in that: The following steps are involved: Step S1: deploying a vehicle-road cooperative network in a target area, and constructing a corresponding intelligent transportation area model according to traffic factors in the target area covered by the vehicle-road cooperative network; Step S2: obtaining traffic information of the target area in real time through the vehicle-road cooperative network, and exchanging information of the obtained traffic information with vehicles entering the target area; Step S3: Formulate a corresponding automatic parking strategy for the vehicle that needs to be parked.

2. The automatic parking method based on vehicle-road collaboration according to claim 1, characterized in that: The process of arranging the vehicle-road cooperative network and building the corresponding intelligent transportation area model according to the traffic factors in the target area covered by the vehicle-road cooperative network includes: The vehicle-road cooperative network is composed of a number of sensor terminals; Traffic factors in the target area include roads, intersection distribution and parking spaces; Set up corresponding sensor terminals according to traffic factors in the target area, and record the setting locations of the sensor terminals; Construct an isometric plane model corresponding to the target area, and map the traffic factors and sensor terminals in the target area into the isometric plane model; The traffic factors and sensor terminals in the target area are empowered with information, and after completing the information empowerment, the corresponding intelligent traffic area model is obtained.

3. The automatic parking method based on vehicle-road collaboration according to claim 2, characterized in that: The process of information empowerment of traffic factors and sensor terminals in the target area includes: A corresponding communication coverage range is set for each sensor terminal, and the communication coverage range of the sensor terminal has an overlapping area with the communication coverage range of at least one other sensor terminal; Setting a corresponding road orientation and lane for the road, dividing the road into a plurality of road sections according to the communication coverage of a sensor terminal arranged on the road, and associating each road section with a corresponding sensor terminal; A corresponding lane and corresponding lane attributes are set for each intersection, and the lane attributes include going straight, turning left, turning right, and U-turn.

4. The automatic parking method based on vehicle-road collaboration according to claim 3 is characterized in that: The process of obtaining real-time traffic information of the target area through the vehicle-road cooperative network includes: According to the communication coverage of each sensor terminal, traffic factors existing in the communication coverage are obtained; Acquiring traffic information within a communication range through a sensor terminal, wherein the traffic information includes traffic parameters corresponding to traffic factors; In the actual implementation process, the traffic parameters corresponding to the traffic factors are as follows: When the traffic factor includes roads, the corresponding traffic parameters are the number of vehicles passing through the road section associated with the sensor terminal and the time the vehicles passed through; When the traffic factor is an intersection, the corresponding traffic parameter is the number of vehicles corresponding to the intersection associated with the sensor terminal at each time; When the traffic factor is a parking space, the corresponding traffic parameter is the parking area where the parking space associated with the sensor terminal is located and the parking space status of each parking space, wherein the parking space status includes an idle state and an occupied state; The traffic information obtained by each sensor terminal is uploaded to the cloud.

5. The automatic parking method based on vehicle-road collaboration according to claim 4, characterized in that: The process of exchanging information between the acquired traffic information and the vehicles entering the target area includes: When a vehicle enters the target area, according to the communication coverage area corresponding to the location of the vehicle, the sensor terminal corresponding to the communication coverage area is marked as a communication access terminal; The sensor terminal initiates a VIS access request to the vehicle. After the vehicle agrees to access, an information transmission link between the vehicle and the VIS network is established. Acquiring vehicle driving information through an information transmission link, wherein the vehicle driving information includes a driving destination, a vehicle driving speed, a current location of the vehicle, and a vehicle driving direction; Generate a vehicle planning route based on vehicle driving information, mark all sensor terminals on the vehicle planning route, and summarize them to obtain a vehicle-road sensor terminal set; A corresponding data update node is set on the road section corresponding to each sensor terminal; When the vehicle enters the communication coverage of the communication access terminal, the current traffic information is transmitted to the vehicle through the information transmission link, and the current time is recorded as t1; When the vehicle enters the communication coverage area corresponding to the next sensor terminal, the information transmission link constructed by the communication access terminal is replicated to the sensor terminal, and the vehicle is linked through the replicated information transmission link; When the vehicle reaches the data update node of the road section corresponding to the sensor terminal, the corresponding time is recorded as t2; The traffic information obtained by each sensor terminal in the time period from t1 to t2 is transmitted to the vehicle, and so on.

6. The automatic parking method based on vehicle-road collaboration according to claim 5, characterized in that: The process of formulating a corresponding automatic parking strategy for a vehicle that needs to be parked includes: Obtaining a vehicle travel destination according to the vehicle travel information uploaded by the vehicle; The vehicle initiates an automatic parking request and uploads the automatic parking request to the cloud; Obtaining whether the vehicle's destination is within the target area covered by the vehicle-road cooperative network. If not, feedback is given to the vehicle that the automatic parking request is not within the service range. If the vehicle is within the target area covered by the vehicle-road cooperative network, a corresponding automatic parking strategy will be generated after the vehicle reaches the destination.

7. The automatic parking method based on vehicle-road collaboration according to claim 6, characterized in that: The process of generating the automatic parking strategy includes: The current location of the vehicle is marked as the starting location, and all parking areas within the preset range are obtained with the starting location as the center; Generate the optimal path from the vehicle's current position to each parking area; Obtain the total length of the road sections passed by each optimal path and the number of intersections passed; Obtain the driving operations required for the vehicle to pass through each intersection from the current position to the parking area, and obtain the cost coefficient of passing the corresponding intersection based on the driving operations; Get the number of parking spaces in each parking area that are in an idle state; Set the data statistics time period, obtain the number of vehicles entering and leaving the parking area within the data statistics time period, and thus obtain the vehicle circulation coefficient of each parking area; Then, the priority evaluation coefficient of each optimal path is obtained; Select the parking area corresponding to the optimal path with the largest priority evaluation coefficient as the target parking area; After the vehicle reaches the target parking area, it will park automatically.

8. An automatic parking system based on vehicle-road collaboration applied to an automatic parking method based on vehicle-road collaboration as claimed in any one of claims 1 to 7, comprising a monitoring center, characterized in that: The monitoring center is communicatively connected to a data acquisition module, a data processing module, and a parking assessment module; The data acquisition module includes a vehicle-road cooperative network composed of a number of sensor terminals, which is used to obtain traffic information and vehicle driving information in the target area; The data processing module constructs an information transmission link for vehicles entering the target area, and realizes information interaction between the vehicle-road cooperative network and the vehicles through the constructed information transmission link; The parking assessment module is used to perform a priority assessment on the parking areas around the vehicle location according to the vehicle parking demand, and select the optimal parking area as the target parking area.

Images