Parking adaptive control system and method based on vehicle and road cloud

Abstract

The invention discloses a parking self-adaptive control system and method based on vehicle and road cloud, and belongs to the technical field of flat car parking. A station for placing a carriage is arranged on each section of telescopic chassis; a lifting mechanism for driving the carriage to move up and down is mounted on the first telescopic chassis connected with the vehicle head; the data acquisition module is used for acquiring the length of a parking position and the length from a vehicle head to the tail part of each section of telescopic chassis; and the data analysis module is used for firstly calculating the current actual total length of the flat car according to the length from the car head to the tail part of each section of telescopic chassis, then comparing the position length with the actual total length, and controlling parking according to the comparison result. By the adoption of the technical scheme, when the length of the parking position is smaller than the actual total length of the flat car, the actual total length of the flat car is reduced through the telescopic chassis, and then the actual total length of the flat car meets the requirement for the length of the parking position.

Description

Technical Field

[0001] The present invention belongs to the technical field of flatbed truck parking, and specifically relates to a parking adaptive control system and method based on vehicle-road cloud. Background Art

[0002] With the continuous development and widespread application of autonomous driving technology, self-driving flatbed trucks are becoming increasingly popular in logistics, transportation, and other fields. However, due to their relatively long length, these trucks present numerous inconveniences when parking. Specifically, they often require significant time to locate a suitable parking space that accommodates their length. This process is not only time-consuming and labor-intensive, but also significantly reduces parking efficiency.

[0003] Even more serious is the difficulty of finding a suitable parking spot in an emergency, forcing autonomous flatbeds to pull over in the middle of the road. This temporary stop not only occupies road space but also easily causes traffic jams, severely disrupting normal traffic flow and potentially even causing traffic accidents, endangering driving safety. Therefore, effectively solving the parking problem for autonomous flatbeds has become a critical issue in the current application of autonomous driving technology. Summary of the Invention

[0004] The purpose of the present invention is to provide a parking adaptive control system and method based on vehicle-road cloud. When the parking position length is less than the actual total length of the flatbed truck, the actual total length of the flatbed truck is reduced by retracting the chassis, so that the actual total length of the flatbed truck meets the parking position length requirement.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A first object of the present invention is to provide a vehicle-road-cloud-based parking adaptive control system, comprising:

[0007] A flatbed truck consisting of a locomotive and M telescopic chassis sections; each telescopic chassis section is provided with a station for placing a carriage; a lifting mechanism for driving the carriage up and down is installed on the first telescopic chassis connected to the locomotive, where M is a natural number greater than 1;

[0008] The data acquisition module is used to obtain the parking position length H and the length from the front of the vehicle to the rear of each telescopic chassis;

[0009] The data analysis module first calculates the actual total length L of the flatbed truck based on the length from the front of the truck to the rear of each telescopic chassis, then compares the position length H with the actual total length, and controls parking based on the comparison result. Specifically, it includes:

[0010] When the position length H is greater than the actual total length, parking is performed directly;

[0011] If the position length H is less than the shortest length of the flatbed, parking is abandoned; the shortest length of the flatbed refers to the distance from the front of the vehicle to the rear of the telescopic chassis when the telescopic chassis is retracted to its minimum length;

[0012] When the position length H is less than the actual total length and greater than the shortest length of the flatbed truck, first use the telescopic chassis to reduce the actual total length L of the flatbed truck so that the actual total length L is less than the position length H, and then park.

[0013] Preferably, the method of reducing the actual total length L of the flatbed truck by using the telescopic chassis includes:

[0014] First, determine whether there is a first carriage on the first telescopic chassis. If there is a first carriage, use the lifting mechanism to lift the first carriage, and then use the telescopic chassis to reduce the actual total length L of the flatbed truck; if there is no first carriage on the first telescopic chassis, directly use the telescopic chassis to reduce the actual total length L of the flatbed truck.

[0015] Preferably, a vehicle weight sensor for determining whether there is a carriage is installed on the telescopic chassis.

[0016] Preferably, a carriage camera is installed on the carriage to determine whether the carriage is empty.

[0017] Preferably, the M-section telescopic chassis includes a first section telescopic chassis, a second section telescopic chassis, a third section telescopic chassis and a drive motor for driving the second section telescopic chassis and the third section telescopic chassis to extend and retract horizontally.

[0018] Preferably, the lifting mechanism includes a plurality of vertical guide rails and a drive motor for driving the vertical guide rails to move up and down.

[0019] Preferably, the data acquisition module includes:

[0020] Roadside cameras monitor real-time 2D image information of available parking spaces on the roadside;

[0021] Roadside LiDAR scans the 3D point cloud information of available parking spaces on the roadside in real time;

[0022] The edge computing unit receives 2D image information and 3D point cloud information, performs data fusion, constructs a road image, calculates the length H of the space available for parking and the actual total length of the flatbed truck, and sends it to the cloud platform for logical judgment of the parking plan.

[0023] A second object of the present invention is to provide a parking adaptive control method based on a vehicle-road-cloud, comprising:

[0024] Data collection, obtaining the parking position length H and the length from the front of the vehicle to the rear of each telescopic chassis;

[0025] Data analysis: First, the actual total length L of the flatbed truck is calculated based on the length from the front of the truck to the rear of each telescopic chassis. Then, the position length H is compared with the actual total length, and parking is controlled based on the comparison result. Specifically, it includes:

[0026] When the position length H is greater than the actual total length, parking is performed directly;

[0027] If the position length H is less than the shortest length of the flatbed truck, parking is abandoned; the shortest length of the flatbed truck refers to the distance from the front of the truck to the rear of the telescopic chassis when the telescopic chassis is retracted to its minimum length;

[0028] When the position length H is less than the actual total length and greater than the shortest length of the flatbed truck, first use the telescopic chassis to reduce the actual total length L of the flatbed truck so that the actual total length L is less than the position length H, and then park.

[0029] Preferably, the method of reducing the actual total length L of the flatbed truck by using the telescopic chassis includes:

[0030] First, determine whether there is a first carriage on the first telescopic chassis. If there is a first carriage, use the lifting mechanism to lift the first carriage, and then use the telescopic chassis to reduce the actual total length L of the flatbed truck; if there is no first carriage on the first telescopic chassis, directly use the telescopic chassis to reduce the actual total length L of the flatbed truck.

[0031] Preferably, the telescopic chassis includes a first telescopic chassis, a second telescopic chassis, a third telescopic chassis, and a drive motor for driving the second telescopic chassis and the third telescopic chassis to extend and retract horizontally; the lifting mechanism includes a plurality of vertical guide rails and a drive motor for driving the vertical guide rails to move up and down; a carriage camera is installed on the carriage to determine whether the carriage is empty;

[0032] The cloud platform receives the following data: the position length H input by the edge computing unit, the length h1 from the front of the vehicle to the end of the first telescopic chassis, the length h2 from the front of the vehicle to the end of the second telescopic chassis, the length h3 from the front of the vehicle to the end of the third telescopic chassis, and information from the vehicle cabin camera and weight sensor. It then makes a comprehensive judgment and decision on the control instructions.

[0033] When receiving a parking request from the vehicle controller, the edge computing unit calculates that H>h3+20mm and sends a No. 1 instruction to the vehicle controller to control the flatbed truck to park in the parking space;

[0034] When a parking request is received from the vehicle controller, h3+20mm≥H>h2+20mm, and it is detected that the first compartment is empty, or the built-in weight of the first compartment is less than 5 tons, the second instruction will be issued to the vehicle controller, the drive motor will be started, the vertical guide rail will extend upward, the first compartment will move upward along the vertical guide rail by one compartment height, and at the same time, the second compartment will move forward along the front and rear guide rails to the original position of the first compartment, the telescopic chassis will retract, and the flatbed truck will be changed from the length of a three-compartment truck to the length of a two-compartment truck, and then the flatbed truck will be controlled to park in the parking space;

[0035] When a parking request is received from the vehicle controller, h2+20mm≥H>h1+20mm, and it is detected that the first and second compartments are empty, or the built-in weight of the first and second compartments is less than 5 tons, the second instruction will be issued to the vehicle controller. After the second instruction is executed, the third instruction will be issued: start the drive motor, the vertical guide rail will extend upward, the first compartment will move upward along the vertical guide rail for another compartment height, the second compartment will move upward along the vertical guide rail for another compartment height, and at the same time, the third compartment will move forward along the front and rear guide rails to the original position of the first compartment, the telescopic chassis will retract, and the flatbed truck will be changed from the length of a two-compartment truck to the length of a one-compartment truck, and then the flatbed truck will be controlled to park in the parking space;

[0036] When no parking request is received from the vehicle controller, or when H is detected to be less than h3+20mm and the weight of the first car is greater than or equal to 5 tons after receiving the request, no control instruction will be issued.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] By adopting the above technical solution, when a flatbed truck needs to park, the data acquisition module is first used to obtain the parking position length and the length from the front of the truck to the rear of each telescopic chassis; then the data analysis module is used to analyze and process the collected data, that is, first the current actual total length of the flatbed truck is calculated based on the length from the front of the truck to the rear of each telescopic chassis, and then the position length and the actual total length are compared, and the flatbed truck is controlled to park according to the comparison result; when the parking position length is less than the actual total length of the flatbed truck, the actual total length of the flatbed truck is reduced by the telescopic chassis, so that the actual total length of the flatbed truck meets the parking position length requirement.

[0039] The present invention utilizes vehicle-road collaborative technology. After obtaining parking instructions in the cloud, it controls the cameras and lidars in the roadside sensing equipment to collect the length of the available parking space on the road in real time, and compares it with the length of the flatbed truck (such as an autonomous driving flatbed truck). If the length of the parking space is insufficient, the length of the flatbed truck will be scaled according to the state of the vehicle compartment. By comparing the length of the parking space with the length of the flatbed truck, a decision is made to adjust the length of the entire vehicle at the first, second, or adaptive level to achieve parking in a narrow parking space. In this way, time is saved in finding a suitable parking space, and the vehicle can be temporarily parked in a small parking space during emergency parking, thus preventing traffic congestion and improving parking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A system block diagram of a preferred embodiment of the present invention;

[0041] Figure 2 A system structure diagram of a preferred embodiment of the present invention;

[0042] Figure 3 This is a schematic structural diagram of a flatbed vehicle in a preferred embodiment of the present invention;

[0043] Figure 4 This is a schematic diagram of the structure before the second instruction is executed in a preferred embodiment of the present invention;

[0044] Figure 5 This is a schematic diagram of the initial position structure of each carriage before the second instruction is executed in the preferred embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the structure of the first intermediate position of each carriage before the second instruction is executed in a preferred embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of the second intermediate position structure of each carriage before the second instruction is executed in a preferred embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of the final position structure of each carriage before the second instruction is executed in a preferred embodiment of the present invention;

[0048] Figure 9 This is a schematic diagram of the structure before the execution of instruction No. 3 in a preferred embodiment of the present invention;

[0049] Figure 10 This is a schematic diagram of the initial position structure of each carriage before the execution of instruction No. 3 in the preferred embodiment of the present invention;

[0050] Figure 11 This is a schematic diagram of the structure of each carriage at the first intermediate position before the No. 3 instruction is executed in a preferred embodiment of the present invention;

[0051] Figure 12The second intermediate position structure diagram of each carriage before the execution of the third instruction in the preferred embodiment of the present application;

[0052] Figure 13 The final position structure diagram of each carriage before the execution of the third instruction in the preferred embodiment of the present application;

[0053] Figure 14 The flat car length self-adaptive adjustment diagram in the preferred embodiment of the present application;

[0054] Figure 15 The top view of the vertical guide rail structure in the preferred embodiment of the present application;

[0055] Figure 16 The telescopic chassis structure diagram in the preferred embodiment of the present application. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0057] Please refer to Figures 1 to 16 A car-road cloud-based parking adaptive control system, comprising:

[0058] The flat car is composed of a car head and M telescopic chassis, each telescopic chassis is provided with a station for placing a carriage, a lifting mechanism for driving the carriage to move up and down is installed on the first telescopic chassis connected with the car head, and M is a natural number greater than 1; for example, M = 3, and the flat car includes three telescopic chassis at this time;

[0059] A data acquisition module is configured to acquire the position length H of the parking space P and the length from the car head to the tail of each telescopic chassis.

[0060] A data analysis module is configured to first calculate the actual total length L of the flat car according to the length from the car head to the tail of each telescopic chassis, then compare the position length H with the actual total length, and control parking according to the comparison result. Specifically, the data analysis module comprises:

[0061] When the position length H is greater than the actual total length, parking is directly performed;

[0062] When the position length H is less than the shortest length of the flat car, parking is abandoned; the shortest length of the flat car refers to the distance from the car head to the tail of the telescopic chassis when the telescopic chassis is retracted to the minimum length;

[0063] When the position length H is less than the actual total length and greater than the shortest length of the flatbed truck, first use the telescopic chassis to reduce the actual total length L of the flatbed truck so that the actual total length L is less than the position length H, and then park.

[0064] In order to better understand the technical concept of the present invention, the following non-limiting examples are given:

[0065] The method of reducing the actual total length L of the flatbed truck by using the telescopic chassis includes: firstly determining whether the first section of the telescopic chassis of the flatbed truck is unloaded; if so, the first section of the telescopic chassis can be directly telescoped; otherwise, the first carriage on the first section of the telescopic chassis needs to be lifted up before the first section of the telescopic chassis is telescoped; specifically,

[0066] First, determine whether there is a first carriage on the first telescopic chassis. If there is a first carriage, use the lifting mechanism to lift the first carriage, and then use the telescopic chassis to reduce the actual total length L of the flatbed truck; if there is no first carriage on the first telescopic chassis, directly use the telescopic chassis to reduce the actual total length L of the flatbed truck.

[0067] Before lifting the carriage, for safety reasons, the weight of each carriage can be determined first. That is, a vehicle weight sensor for determining whether there is a carriage is installed on the telescopic chassis. When the weight of the carriage (the weight of the carriage itself plus the weight of the cargo inside the carriage) is within a threshold range (5 tons is used as an example in this invention), lifting can be carried out, otherwise lifting is not recommended.

[0068] A carriage camera is installed on the carriage to determine whether the carriage is empty.

[0069] When M=3, the three-section telescopic chassis includes a first-section telescopic chassis 16-1, a second-section telescopic chassis 16-2, a third-section telescopic chassis 16-3 and a driving motor for driving the second and third sections of the telescopic chassis to extend and retract horizontally.

[0070] The lifting mechanism includes a plurality of vertical guide rails and a driving motor for driving the vertical guide rails to move up and down.

[0071] The data acquisition module includes:

[0072] Roadside cameras monitor real-time 2D image information of available parking spaces on the roadside;

[0073] Roadside camera 1 is positioned above a roadside pole and uses a wide dynamic range, high-definition pixel sensor to monitor the roadside's 2D image information in real time. Using image recognition technology, it obtains the location and dimensions of available parking spaces, including the length of the parking space and the length of the autonomous flatbed truck. This information is then sent to the edge computing unit for determining parking feasibility strategies.

[0074] Roadside LiDAR scans the 3D point cloud information of available parking spaces on the roadside in real time;

[0075] Roadside LiDAR 2 is positioned above the roadside pole and uses a 256-line solid-state LiDAR to scan 3D point cloud information of available parking spaces on the roadside in real time. Through data analysis of this 3D point cloud information, it obtains point cloud information on the location, size, and status of the parked vehicles, as well as the length of the autonomous flatbed vehicle, and sends it to the edge computing unit for determining parking feasibility strategies.

[0076] The edge computing unit receives 2D image information and 3D point cloud information, performs data fusion, constructs a road image, calculates the length H of the space available for parking and the actual total length of the flatbed truck, and sends it to the cloud platform for logical judgment of the parking plan.

[0077] The edge computing unit 3 is used to receive the 2D image information from the roadside camera and the 3D point cloud information transmitted by the roadside laser radar, and then perform data fusion to construct a road image and calculate the length H of the position available for parking and the actual total length of the flatbed truck, such as Figure 2 As shown, taking three carriages as an example, when the flatbed truck is not extended or retracted, the actual total length is h3, which is the distance from the front of the truck to the rear of the third retractable chassis. When one carriage is extended or retracted, the actual total length of the flatbed truck is h2, which is the distance from the front of the truck to the rear of the second retractable chassis. When two carriages are extended or retracted, the actual total length of the flatbed truck is h1, which is the distance from the front of the truck to the rear of the first retractable chassis. The actual total length of the flatbed truck is compared with the length H of the space available for parking and sent to the cloud platform for logical judgment of the parking plan.

[0078] The cloud platform 4 receives the roadside parking space length H and the actual total length of the flatbed truck input by the edge computing unit, the instructions of the vehicle controller, and the information from the cabin camera and weight sensor, and makes a comprehensive judgment and decision control instruction;

[0079] When receiving a parking request from the vehicle controller, the edge computing unit calculates that H>h3+20mm and sends instruction No. 1 to the vehicle controller to control the self-driving flatbed truck to automatically park in the parking space; 20mm is the parking margin, which can be adjusted according to specific actual needs.

[0080] When a parking request is received from the vehicle controller, h3+20mm≥H>h2+20mm, and it is detected that the first compartment is empty, or the built-in weight of the first compartment is less than 5 tons, the second instruction will be issued to the vehicle controller, starting the drive motor, and the vertical guide rail will extend upward. The first compartment will move upward along the vertical guide rail by one compartment height. At the same time, the second compartment will move forward along the front and rear guide rails to the original position of the first compartment. The telescopic chassis will retract, and the self-driving flatbed will change from the length of a three-compartment car to the length of a two-compartment car. The self-driving flatbed will then be controlled to automatically park in the parking space.

[0081] When a parking request is received from the vehicle controller, h2+20mm≥H>h1+20mm, and it is detected that the first and second compartments are empty, or the built-in weight of the first and second compartments is less than 5 tons, the second instruction will be issued to the vehicle controller. After the second instruction is executed, the third instruction will be issued: start the drive motor, the vertical guide rail will extend upward, the first compartment will move upward along the vertical guide rail for another compartment height, the second compartment will move upward along the vertical guide rail for another compartment height, and at the same time, the third compartment will move forward along the front and rear guide rails to the original position of the first compartment, the telescopic chassis will retract, and the self-driving flatbed will change from the length of a two-compartment car to the length of a one-compartment car, and then the self-driving flatbed will be controlled to automatically park in the parking space;

[0082] When no parking request is received from the vehicle controller, or when H is detected to be less than h3+20mm and the weight of the first car is greater than or equal to 5 tons after receiving the request, no control instruction will be issued.

[0083] The roadside RSU5 is placed above the roadside pole, receiving command information from the cloud platform and sending it to the on-board OBU for vehicle control. It also receives parking request information and vehicle status information from the on-board OBU and transmits it to the cloud platform.

[0084] The on-board OBU6 is placed in the cockpit of the autonomous flatbed truck, receiving designated information from the roadside RSU and simultaneously transmitting the vehicle's parking request information and vehicle status information to the cloud platform;

[0085] The vehicle controller 7 is arranged in the cockpit of the autonomous driving flatbed truck, receives command information from the cloud platform, controls the drive motor, drives the vertical guide rail to rise 1 to 3 car heights, and at the same time drives the first and second cars to rise along the vertical guide rail;

[0086] The drive motor 8 is connected to the vehicle controller. After receiving the command from the vehicle controller, it can drive the vertical guide rail to rise and fall, and at the same time drive the first and second carriages to rise along the vertical guide rails, drive the second and third carriages to move forward along the front and rear guide rails, and at the same time control the telescopic chassis to perform the first and second retraction functions;

[0087] The carriage cameras 9 are placed on the top of the first and second carriages to monitor whether the vehicle is empty and transmit the information to the cloud platform. If the carriage is empty, it is determined that the carriage can be raised along the vertical slide rails without the risk of overturning during the upward sliding.

[0088] The vehicle weight sensor 10 is arranged at the bottom of the first and second carriages to monitor the weight information of the first and second carriages. When the built-in weight of the first and second carriages is less than 5 tons, the carriages are judged to be in a semi-empty state and can be raised along the vertical slide rails without the risk of overturning during the upward sliding.

[0089] The first carriage 11 is arranged on the upper part of the first chassis mechanism of the telescopic chassis, and the first serial carriage can slide up and down along the vertical guide rail under the action of the drive motor;

[0090] The vertical guide rail 12 consists of four guide rails (left front guide rail 12-5, left rear guide rail 12-6, right front guide rail 12-2, and right rear guide rail 12-4). The front end 12-1 of the guide rail is welded to the rear of the vehicle head and fixed. The guide rails on the left and right sides are welded and fixed by connecting rods 12-3. The carriage 17 can slide upward along the guide rails. The vertical guide rails can be extended upward by 1 to 3 carriage heights under the action of the drive motor to allow the first and second carriages to slide upward.

[0091] The second carriage 13 is arranged on the upper part of the second chassis mechanism of the telescopic chassis. The second serial carriage can move forward along the front and rear guide rails to the first carriage position under the action of the drive motor, and can slide upward along the vertical guide rails;

[0092] Front and rear guide rails 14 are arranged above the telescopic chassis, on which the first carriage, the second carriage, and the third carriage are arranged, and the carriages can move forward and backward on the front and rear guide rails;

[0093] The third carriage 15 is arranged on the upper part of the third chassis retraction mechanism of the telescopic chassis. The third serial carriage can be moved forward along the front and rear guide rails under the action of the drive motor to the second or first carriage position;

[0094] The telescopic chassis 16 is connected by a first chassis mechanism, a second chassis mechanism, and a third chassis mechanism. Under the control command of the vehicle controller, the drive motor can drive the first and second chassis mechanisms to retract to shorten the three-car length to the length of two cars. The drive motor can also drive the first, second, and third chassis mechanisms to retract to shorten the three-car length to the length of one car, which is used for adaptive length parking in parking spaces.

[0095] A vehicle-road-cloud-based parking adaptive control method utilizes the vehicle-road-cloud-based parking adaptive control system of the above embodiment and performs the following steps:

[0096] Data collection: obtain the location length H of the parking space P and the length from the front of the vehicle to the rear of each telescopic chassis;

[0097] Data analysis, first according to the length from the head to the tail of each telescopic chassis, calculate the actual total length L of the flat car, then compare the position length H and the actual total length, control the parking according to the comparison result; Specifically includes:

[0098] When the position length H is greater than the actual total length, directly park;

[0099] When the position length H is less than the shortest length of the flat car, give up parking; The shortest length of the flat car refers to the distance from the head to the tail of the telescopic chassis when the telescopic chassis is retracted to the minimum length;

[0100] When the position length H is less than the actual total length, and greater than the shortest length of the flat car, first use the telescopic chassis to reduce the actual total length L of the flat car, so that the actual total length L is less than the position length H, and then park.

[0101] Said use the telescopic chassis to reduce the actual total length L of the flat car includes:

[0102] First, judge whether there is a first carriage on the first telescopic chassis, if there is a first carriage, use the lifting mechanism to lift the first carriage, and then use the telescopic chassis to reduce the actual total length L of the flat car; If there is no first carriage on the first telescopic chassis, directly use the telescopic chassis to reduce the actual total length L of the flat car.

[0103] Preferably, the telescopic chassis includes a first telescopic chassis, a second telescopic chassis, a third telescopic chassis, and a drive motor for driving the second telescopic chassis and the third telescopic chassis to horizontally extend and retract; The lifting mechanism includes a plurality of vertical guide rails and a drive motor for driving the vertical guide rails to move up and down; The carriage is provided with a carriage camera for judging whether the carriage is empty or not;

[0104] The cloud platform receives the following data: the position length H input by the edge computing unit, the length h1 from the head to the tail of the first telescopic chassis, the length h2 from the head to the tail of the second telescopic chassis, the length h3 from the head to the tail of the third telescopic chassis, and the information of the carriage camera and the weight sensor, and then makes a comprehensive judgment and decision control instruction;

[0105] When receiving the request parking instruction issued by the vehicle controller, the edge computing unit calculates H> h3+ 20mm, and issues a first instruction to the vehicle controller to control the flat car to park in the parking space;

[0106] When receiving the request parking instruction from the vehicle controller, h3+20mm≥H>h2+20mm, and monitoring that the first carriage is an empty carriage or the built-in weight in the first carriage is less than 5 tons, the second instruction will be sent to the vehicle controller to start the driving motor, the vertical guide rail is extended upward, the first carriage will move upward along the vertical guide rail by one carriage height, and the second carriage will move forward along the front and rear guide rails to the original position of the first carriage, the telescopic chassis is retracted, the flat car is changed from a three-car length to a two-car length, and then the flat car is parked in the parking space;

[0107] When receiving the request parking instruction from the vehicle controller, h2+20mm≥H>h1+20mm, and monitoring that the first carriage and the second carriage are empty carriages or the built-in weight in the first carriage and the second carriage is less than 5 tons, the second instruction will be sent to the vehicle controller, after the execution of the second instruction, the third instruction is sent: start the driving motor, the vertical guide rail is extended upward, the first carriage will move upward along the vertical guide rail by one carriage height, the second carriage will move upward along the vertical guide rail by one carriage height, and the third carriage will move forward along the front and rear guide rails to the original position of the first carriage, the telescopic chassis is retracted, the flat car is changed from a two-car length to a one-car length, and then the flat car is parked in the parking space.

[0108] When no request parking instruction is received from the vehicle controller, or after receiving the request and monitoring that H<h3+20mm, the weight of the first carriage is greater than or equal to 5 tons, no control instruction will be sent.

[0109] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A parking adaptive control system based on vehicle-road cloud, characterized in that: include: A flatbed truck consisting of a locomotive and M telescopic chassis sections; each telescopic chassis section is provided with a station for placing a carriage; a lifting mechanism for driving the carriage up and down is installed on the first telescopic chassis connected to the locomotive, where M is a natural number greater than 1; A data acquisition module is used to obtain the position length H of the parking space P and the length from the front of the vehicle to the rear of each telescopic chassis; The data analysis module first calculates the actual total length L of the flatbed truck based on the length from the front of the truck to the rear of each telescopic chassis, then compares the position length H with the actual total length, and controls parking based on the comparison result. Specifically, it includes: When the position length H is greater than the actual total length, parking is performed directly; When the position length H is less than the shortest length of the flatbed truck, parking is abandoned; When the position length H is less than the actual total length and greater than the shortest length of the flatbed truck, first use the telescopic chassis to reduce the actual total length L of the flatbed truck so that the actual total length L is less than the position length H, and then park.

2. The vehicle-road-cloud-based parking adaptive control system according to claim 1, characterized in that: The method of reducing the actual total length L of the flatbed truck by using the telescopic chassis includes: First, determine whether there is a first carriage on the first telescopic chassis. If there is a first carriage, use the lifting mechanism to lift the first carriage, and then use the telescopic chassis to reduce the actual total length L of the flatbed truck; if there is no first carriage on the first telescopic chassis, directly use the telescopic chassis to reduce the actual total length L of the flatbed truck.

3. The vehicle-road-cloud-based parking adaptive control system according to claim 2, characterized in that: A vehicle weight sensor for judging whether there is a carriage is installed on the telescopic chassis.

4. The vehicle-road-cloud based parking adaptive control system according to claim 2, characterized in that: A carriage camera is installed on the carriage to determine whether the carriage is empty.

5. The vehicle-road-cloud-based parking adaptive control system according to any one of claims 1 to 4, characterized in that: The M-section telescopic chassis comprises a first section telescopic chassis, a second section telescopic chassis, a third section telescopic chassis and a driving motor for driving the second section telescopic chassis and the third section telescopic chassis to extend and retract horizontally.

6. The vehicle-road-cloud based parking adaptive control system according to claim 1, characterized in that: The lifting mechanism includes a plurality of vertical guide rails and a driving motor for driving the vertical guide rails to move up and down.

7. The vehicle-road-cloud based parking adaptive control system according to claim 1, characterized in that: The data acquisition module includes: Roadside cameras monitor real-time 2D image information of available parking spaces on the roadside; Roadside LiDAR scans the 3D point cloud information of available parking spaces on the roadside in real time; The edge computing unit receives 2D image information and 3D point cloud information, performs data fusion, constructs a road image, calculates the length H of the space available for parking and the actual total length of the flatbed truck, and sends it to the cloud platform for logical judgment of the parking plan.

8. A parking adaptive control method based on vehicle-road cloud, characterized in that: include: Data collection is used to obtain the location length H of the parking space P and the length from the front of the vehicle to the rear of each telescopic chassis; Data analysis: First, the actual total length L of the flatbed truck is calculated based on the length from the front of the truck to the rear of each telescopic chassis. Then, the position length H is compared with the actual total length, and parking is controlled based on the comparison result. Specifically, it includes: When the position length H is greater than the actual total length, parking is performed directly; When the position length H is less than the shortest length of the flatbed truck, parking is abandoned; When the position length H is less than the actual total length and greater than the shortest length of the flatbed truck, first use the telescopic chassis to reduce the actual total length L of the flatbed truck so that the actual total length L is less than the position length H, and then park.

9. The vehicle-road-cloud-based parking adaptive control method according to claim 8, characterized in that: The method of reducing the actual total length L of the flatbed truck by using the telescopic chassis includes: First, determine whether there is a first carriage on the first telescopic chassis. If there is a first carriage, use the lifting mechanism to lift the first carriage, and then use the telescopic chassis to reduce the actual total length L of the flatbed truck; if there is no first carriage on the first telescopic chassis, directly use the telescopic chassis to reduce the actual total length L of the flatbed truck.

10. The parking adaptive control method based on vehicle-road-cloud according to claim 8, characterized in that: The telescopic chassis includes a first telescopic chassis section, a second telescopic chassis section, a third telescopic chassis section, and a drive motor that drives the second and third telescopic chassis sections to extend and retract horizontally; the lifting mechanism includes a plurality of vertical guide rails and a drive motor that drives the vertical guide rails to move up and down; a carriage camera is installed on the carriage to determine whether the carriage is empty; The cloud platform receives the following data: the position length H input by the edge computing unit, the length h1 from the front of the vehicle to the end of the first telescopic chassis, the length h2 from the front of the vehicle to the end of the second telescopic chassis, the length h3 from the front of the vehicle to the end of the third telescopic chassis, and information from the vehicle cabin camera and weight sensor. It then makes a comprehensive judgment and decision on the control instructions. When receiving a parking request from the vehicle controller, the edge computing unit calculates that H>h3+20mm and sends a No. 1 instruction to the vehicle controller to control the flatbed truck to park in the parking space; When a parking request is received from the vehicle controller, h3+20mm≥H>h2+20mm, and it is detected that the first compartment is empty, or the built-in weight of the first compartment is less than 5 tons, the second instruction will be issued to the vehicle controller, the drive motor will be started, the vertical guide rail will extend upward, the first compartment will move upward along the vertical guide rail by one compartment height, and at the same time, the second compartment will move forward along the front and rear guide rails to the original position of the first compartment, the telescopic chassis will retract, and the flatbed truck will be changed from the length of a three-compartment truck to the length of a two-compartment truck, and then the flatbed truck will be controlled to park in the parking space; When a parking request is received from the vehicle controller, h2+20mm≥H>h1+20mm, and it is detected that the first and second compartments are empty, or the built-in weight of the first and second compartments is less than 5 tons, the second instruction will be issued to the vehicle controller. After the second instruction is executed, the third instruction will be issued: start the drive motor, the vertical guide rail will extend upward, the first compartment will move upward along the vertical guide rail for another compartment height, the second compartment will move upward along the vertical guide rail for another compartment height, and at the same time, the third compartment will move forward along the front and rear guide rails to the original position of the first compartment, the telescopic chassis will retract, and the flatbed truck will be changed from the length of a two-compartment truck to the length of a one-compartment truck, and then the flatbed truck will be controlled to park in the parking space; When no parking request is received from the vehicle controller, or when H is detected to be less than h3+20mm and the weight of the first car is greater than or equal to 5 tons after receiving the request, no control instruction will be issued.

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