CN103473951A - Telepresence-based automatic parking lot management system - Google Patents
Telepresence-based automatic parking lot management systemDownload PDFInfo
- Publication number
- CN103473951A CN103473951ACN201310379503XACN201310379503ACN103473951ACN 103473951 ACN103473951 ACN 103473951ACN 201310379503X ACN201310379503X ACN 201310379503XACN 201310379503 ACN201310379503 ACN 201310379503ACN 103473951 ACN103473951 ACN 103473951A
- Authority
- CN
- China
- Prior art keywords
- parking
- vehicle
- remote control
- parking lot
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034methodMethods0.000claimsabstractdescription28
- 238000004891communicationMethods0.000claimsabstractdescription17
- 230000004044responseEffects0.000claimsabstractdescription9
- 230000008569processEffects0.000claimsdescription18
- 238000001514detection methodMethods0.000claimsdescription8
- 230000004886head movementEffects0.000claimsdescription5
- 230000005540biological transmissionEffects0.000claimsdescription3
- 238000012545processingMethods0.000abstractdescription8
- 238000005516engineering processMethods0.000abstractdescription6
- 238000005259measurementMethods0.000description11
- 238000010586diagramMethods0.000description6
- 230000006870functionEffects0.000description6
- 230000003993interactionEffects0.000description5
- 238000012549trainingMethods0.000description5
- 230000000875corresponding effectEffects0.000description3
- 230000033001locomotionEffects0.000description2
- 238000000513principal component analysisMethods0.000description2
- 230000000007visual effectEffects0.000description2
- 230000009471actionEffects0.000description1
- 230000009286beneficial effectEffects0.000description1
- 238000001444catalytic combustion detectionMethods0.000description1
- 238000010276constructionMethods0.000description1
- 238000013461designMethods0.000description1
- 238000011161developmentMethods0.000description1
- 230000009977dual effectEffects0.000description1
- 230000000694effectsEffects0.000description1
- 239000000284extractSubstances0.000description1
- 239000000446fuelSubstances0.000description1
- 230000003287optical effectEffects0.000description1
- 230000035515penetrationEffects0.000description1
- 230000008447perceptionEffects0.000description1
- 230000009466transformationEffects0.000description1
- XLYOFNOQVPJJNP-UHFFFAOYSA-NwaterSubstancesOXLYOFNOQVPJJNP-UHFFFAOYSA-N0.000description1
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
Translated fromChineseDescription
Translated fromChinese技术领域technical field
本发明涉及停车场管理技术领域，尤其是一种利用自动泊车、临场感和无线通信等技术的基于临场感的自动停车场管理系统。The invention relates to the technical field of parking lot management, in particular to a telepresence-based automatic parking lot management system utilizing technologies such as automatic parking, telepresence and wireless communication.
背景技术Background technique
随着汽车产业的发展，汽车的普及率将会越来越高，而随之停车场将会面临大汽车流量。高效处理这些大汽车流量，维持停车场正常秩序就显得非常必要。现有的停车场存在重建设轻管理的问题，由于疏于管理造成停车场内随意停车、无序停车等问题。另外，人工管理停车场的效率很低。自动泊车系统能够实现高效率泊车，利用较少时间准确安全地停放车辆，最终完成大汽车流量的处理。自动泊车系统可以作为停车场管理的一项重要技术。With the development of the automobile industry, the penetration rate of automobiles will become higher and higher, and then the parking lot will face a large traffic flow. It is very necessary to efficiently handle these large vehicle flows and maintain the normal order of the parking lot. Existing parking lots have the problem of emphasizing construction and ignoring management. Due to neglect of management, problems such as random parking and disorderly parking in the parking lot are caused. In addition, the efficiency of manual management of the parking lot is very low. The automatic parking system can realize high-efficiency parking, park vehicles accurately and safely in less time, and finally complete the processing of large vehicle traffic. The automatic parking system can be used as an important technology for parking lot management.
常用的自动泊车系统利用各种传感器监测道路环境，例如视觉传感器，通过对前方道路环境的认知控制车辆的行驶方向和速度，从而实现自主泊车到空车位。经对现有技术文献的检索发现，在第20112041567.5号的专利申请中，公开了一种基于双CCD的智能模型车自动泊车装置，实现了缩微模型车的侧方位自动泊车。在第201110178777.3号的专利申请中，使用雷达传感器和与其连接的控制系统，实现了一种自动泊车系统。在第201210082767.4号的专利申请中，公开了一种全路况自动泊车系统，保证驾驶员在各种路况(雨雪、山地、正常路况)下的泊车效率、泊车安全。在第200910040758.7号专利申请中的泊车系统充分利用倒车雷达、摄像头、各种传感器、车身控制模块和车辆行为控制器等各种元件设备，结合图像处理技术和各种泊车策略，并创造性地采用了遥控触发功能，使驾驶员在车外就能控制车辆进行自动泊车，实现了车外近程遥控泊车，但未涉及车辆远程遥控，加上不具有自动泊车功能，因此在节省驾驶员泊车时间方面没有明显效果。The commonly used automatic parking system uses various sensors to monitor the road environment, such as visual sensors, and controls the driving direction and speed of the vehicle through the perception of the road environment ahead, so as to realize autonomous parking to an empty parking space. After searching the prior art documents, it is found that in the patent application No. 20112041567.5, an intelligent model car automatic parking device based on dual CCDs is disclosed, which realizes the side orientation automatic parking of the miniature model car. In the patent application No. 201110178777.3, an automatic parking system is realized by using a radar sensor and a control system connected to it. In the patent application No. 201210082767.4, an all-road condition automatic parking system is disclosed to ensure the parking efficiency and parking safety of the driver under various road conditions (rain, snow, mountains, normal road conditions). The parking system in the No. 200910040758.7 patent application makes full use of various components such as reversing radar, camera, various sensors, body control modules and vehicle behavior controllers, combined with image processing technology and various parking strategies, and creatively The remote control trigger function is adopted, so that the driver can control the vehicle to carry out automatic parking outside the vehicle, realizing short-range remote control parking outside the vehicle, but it does not involve the remote control of the vehicle, and it does not have the function of automatic parking, so it saves money. There was no significant effect on driver parking time.
当以上这些系统出现故障时，无法正常泊车时，仍然需要人亲临现场完成泊车，这将严重影响整个停车场的管理。临场感遥控系统能够很好地解决这个问题，目前利用基于临场感遥控车辆的系统有发表在《计算机工程与应用》的文章“THMR-V视觉临场感遥控系统的设计与实现”，其构建遥控驾驶台，配备相应的方向盘，刹车，油门等，实现远程控制车辆。、When the above systems break down, when parking cannot be done normally, people still need to come to the scene to complete the parking, which will seriously affect the management of the entire parking lot. The telepresence remote control system can solve this problem very well. At present, there is an article "Design and Implementation of THMR-V Visual Presence Remote Control System" published in "Computer Engineering and Application" based on the telepresence remote control vehicle system. The driving platform is equipped with corresponding steering wheel, brake, accelerator, etc., to realize remote control of the vehicle. ,
发明内容Contents of the invention
本发明解决的技术问题在于提供一种基于临场感的自动停车场管理系统，以车辆自动泊车为主、基于临场感远程遥控系统的远程遥控驾驶为辅，实现“单人同时泊多辆车”的高效停车场管理。The technical problem to be solved by the present invention is to provide a telepresence-based automatic parking lot management system, which focuses on automatic parking of vehicles and is supplemented by remote control driving based on a telepresence remote control system, and realizes "single person parks multiple vehicles at the same time". "Efficient parking lot management.
本发明解决上述技术问题的技术方案是：The technical scheme that the present invention solves the problems of the technologies described above is:
所述系统包括远程控制室和停车场区域两部分；远程控制室包括信息管理系统、信息显示系统和临场感远程遥控系统；The system includes two parts: a remote control room and a parking lot area; the remote control room includes an information management system, an information display system and a telepresence remote control system;
所述的信息管理系统管理停车场的车位占用信息、车辆信息、泊车请求；在接到泊车请求时，将当前请求设为挂起状态，采用先到先响应的一对多响应方式，顺序通知临场感远程遥控系统进行处理；The information management system manages parking space occupancy information, vehicle information, and parking requests in the parking lot; when receiving a parking request, the current request is set to a pending state, and a one-to-many response method of first-come-first-response is adopted, Sequentially notify the telepresence remote control system to process;
所述的信息显示系统显示停车场的车位占用信息、车辆信息、泊车请求；The information display system displays parking space occupancy information, vehicle information, and parking requests in the parking lot;
所述的临场感远程遥控系统远程操控车辆，在中心操控员辅助下完成泊车；The telepresence remote control system remotely controls the vehicle, and completes the parking with the assistance of the center operator;
所述的停车场区域包括车辆待停区和停车区，车辆待停区用于停放等待停车的车辆，停车区用于停放车辆；The parking lot area includes a vehicle waiting area and a parking area, the vehicle waiting area is used to park vehicles waiting to be parked, and the parking area is used to park vehicles;
并且，在车身上安装有车载自动泊车系统；当车辆在自主行驶至泊车位以及泊车/取车过程中，如果遇到不可处理的情况时将向信息管理系统发送辅助泊车请求。Moreover, a vehicle-mounted automatic parking system is installed on the vehicle body; when the vehicle autonomously drives to the parking space and parks/takes the car, if it encounters an unhandled situation, it will send an auxiliary parking request to the information management system.
所述的临场感远程遥控系统采用摄像头识别遥控驾驶员的头部姿态，以实现车辆现场的场景切换；对于摄像头视频数据，利用基于视频的目标检测方法从视频数据中检测遥控驾驶员的头部运动状态。The telepresence remote control system adopts the camera to recognize the head posture of the remote driver to realize the scene switching of the vehicle scene; for the camera video data, the video-based target detection method is used to detect the head of the remote driver from the video data state of motion.
所述的停车场区域设置有道路标线，包括车道线、停车场入场标志、车位标志、停车场出场标志。The parking lot area is provided with road markings, including lane lines, parking lot entry signs, parking space signs, and parking lot exit signs.
所述的停车场区域设置有道路标线，包括车道线、停车场入场标志、车位标志、停车场出场标志。The parking lot area is provided with road markings, including lane lines, parking lot entry signs, parking space signs, and parking lot exit signs.
所述车载自动泊车系统采用WIFI无线通信网络，用于车辆与信息管理系统进行数据传输。The vehicle-mounted automatic parking system uses a WIFI wireless communication network for data transmission between the vehicle and the information management system.
本发明的有益效果是：（1）无须驾驶员介入泊车/取车过程；驾驶员仅需将车辆停放在车辆待停区，车辆将根据系统引导，自动完成泊车。（2）临场感远程遥控系统用于泊车，提高停车场停车效率；由于车辆具有自主泊车功能，中心的临场感远程遥控系统根据需要辅助多辆车同时泊车，因此，实现了“单人同时泊多辆车”的过程，大大节省人力，提高泊车速度，尤其提高大型停车场的停车效率。The beneficial effects of the present invention are: (1) The driver does not need to intervene in the process of parking/retrieving the car; the driver only needs to park the vehicle in the vehicle waiting area, and the vehicle will automatically complete parking according to the guidance of the system. (2) The telepresence remote control system is used for parking to improve the parking efficiency of the parking lot; because the vehicle has the function of autonomous parking, the telepresence remote control system in the center assists multiple vehicles to park at the same time according to the needs, thus realizing the "single The process of "parking multiple cars at the same time" greatly saves manpower, improves parking speed, and especially improves the parking efficiency of large parking lots.
附图说明Description of drawings
下面将结合附图对本发明进一步说明：The present invention will be further described below in conjunction with accompanying drawing:
图1是本发明基于临场感的自动停车场管理系统的结构示意图；Fig. 1 is the structural representation of the automatic parking lot management system based on telepresence of the present invention;
图2是本发明信息管理系统的实施例的示意图；2 is a schematic diagram of an embodiment of the information management system of the present invention;
图3是本发明临场感远程遥控系统的实施例的结构示意图；Fig. 3 is a schematic structural view of an embodiment of a telepresence remote control system of the present invention;
图4是本发明车载自动泊车系统的实施例的结构示意图；Fig. 4 is a schematic structural view of an embodiment of the vehicle-mounted automatic parking system of the present invention;
图5是停车场道路系统的实施例的结构示意图。Fig. 5 is a structural schematic diagram of an embodiment of the parking lot road system.
具体实施方式Detailed ways
如图1所示，是本发明基于临场感的自动停车场管理系统的结构示意图。系统分为远程操纵室和停车场区域两部分。远程操纵室包括临场感遥控系统、信息管理系统和信息显示系统。其工作方式如下：信息管理系统管理停车场的车位占用信息、车辆信息、泊车请求，这些信息均由信息显示系统来显示，以方便中心操控员遥控车辆。信息管理系统接到泊车请求时，通知临场感远程遥控系统远程操控车辆，由中心操控员辅助完成泊车。停车场区域包括车辆待停区和停车区，车辆待停区用于停放等待停车的车辆，停车区用于停放车辆。下面结合附图详细介绍各个子系统的结构和工作方式。As shown in FIG. 1 , it is a schematic structural diagram of the telepresence-based automatic parking lot management system of the present invention. The system is divided into two parts: the remote control room and the parking area. The remote control room includes telepresence remote control system, information management system and information display system. Its working method is as follows: the information management system manages the parking space occupancy information, vehicle information, and parking request of the parking lot. These information are displayed by the information display system to facilitate the center operator to remotely control the vehicle. When the information management system receives a parking request, it notifies the telepresence remote control system to remotely control the vehicle, and the central operator assists in parking. The parking lot area includes a vehicle waiting area and a parking area. The vehicle waiting area is used to park vehicles waiting to be parked, and the parking area is used to park vehicles. The structure and working mode of each subsystem will be introduced in detail below with reference to the accompanying drawings.
如图2所示，信息管理系统接收、处理和存储停车场的车位信息、车辆信息和车辆的泊车请求。车位信息包括，停车场所有车位的占用情况、当前停放车辆的车辆号牌；车辆信息包括，车辆所在车位号、停车时间、计费；车辆泊车请求，为车辆在自动泊车失效情况下，向中心发出辅助泊车请求。该系统工作方式如下：当车辆驶入停车场的车辆待停区时，车辆将其车辆号牌、入场时间发送给信息管理系统，信息管理系统为其分配空车位和规划路径，车辆开始自动泊车；当车辆停到被告知的停车位时，车辆将停车位信息发送给信息管理系统，信息管理系统利用管理软件将此车的车牌号，入场时间和停车位进行记录；当驾驶员准备取车时，向信息管理系统发送取车命令；此时，由信息管理系统通过车牌号码查询车位及车辆信息，并发送驶出信号给车辆；当车辆行驶到车辆待停区的取车区域，发送出场时间给信息管理系统，此系统的管理软件将根据之前记录的入场时间，计算此车辆在停车场的停留时间，从而计算出停车费用。车辆在自主行驶至泊车位以及泊车/取车过程中，如果遇到不可处理的情况，包括车辆偏离车道线、长时间未停入车位、遇到障碍物且长时间无动作等，将向中心的信息管理系统发送辅助泊车请求，信息管理系统接到泊车请求时，将当前请求设为挂起状态，并通知临场感系统。中心操控员通过临场感系统顺序响应排队等待的请求，此时请求处于执行状态，将车辆调整至正常车道，或辅助其完成泊车/取车，设置当前请求为完成状态，车辆继续进行自主驾驶直至完成泊车/取车。由以上过程可知，多辆车可以在同一时刻进行泊车，在同一时刻，等待处理的请求可能会达到十几个甚至几十个，由信息管理系统统一管理这些请求，采用先到先响应的“一对多”响应方式，顺序通知临场感系统进行处理。在此举例说明，假设每辆车从入场到泊车位的平均泊车时间是10分钟，由于大部分时间内车辆可以自动泊车，在遇到不可处理的情况时才提出泊车请求，临场感系统只需花很短的时间（例如，半分钟）遥控车辆至正常车道，因此系统完全可以实现“单人同时泊多辆车”的过程。另外，可以根据停车场的规模大小来决定所需临场感系统的数目。As shown in Figure 2, the information management system receives, processes and stores parking space information, vehicle information and parking requests of vehicles in the parking lot. The parking space information includes the occupancy of all parking spaces in the parking lot and the vehicle number plate of the currently parked vehicle; the vehicle information includes the parking space number, parking time, and billing of the vehicle; the vehicle parking request is for the vehicle when the automatic parking fails. Send an assisted parking request to the center. The system works as follows: when a vehicle enters the waiting area of the parking lot, the vehicle sends its license plate and entry time to the information management system, and the information management system allocates empty parking spaces and plans routes for it, and the vehicle starts to Parking; when the vehicle stops at the informed parking space, the vehicle will send the parking space information to the information management system, and the information management system will use the management software to record the car's license plate number, entry time and parking space; when the driver When ready to pick up the car, send a pick-up command to the information management system; at this time, the information management system will query the parking space and vehicle information through the license plate number, and send the exit signal to the vehicle; when the vehicle drives to the pick-up area of the vehicle waiting area , Send the exit time to the information management system, and the management software of this system will calculate the stay time of the vehicle in the parking lot according to the previously recorded entry time, thereby calculating the parking fee. During the process of autonomously driving to the parking space and parking/taking the car, if the vehicle encounters unhandled situations, including the vehicle deviates from the lane line, does not park in the parking space for a long time, encounters obstacles and does not move for a long time, etc., it will report to the The center's information management system sends an assisted parking request. When the information management system receives the parking request, it sets the current request to a pending state and notifies the presence system. The center operator responds sequentially to the waiting requests through the telepresence system. At this time, the request is in the execution state, adjust the vehicle to the normal lane, or assist it to complete the parking/picking up, set the current request as completed, and the vehicle continues to drive autonomously until parking/pickup is complete. It can be seen from the above process that multiple vehicles can be parked at the same time. At the same time, there may be dozens or even dozens of requests waiting to be processed. The information management system manages these requests in a unified manner, using the first-come-first-response "One-to-many" response method, sequentially notify the telepresence system for processing. Here is an example, assuming that the average parking time for each car from entering the parking space to the parking space is 10 minutes, since the vehicle can park automatically most of the time, a parking request is only made when it encounters an unhandy situation. The sensing system only takes a short time (for example, half a minute) to remotely control the vehicle to the normal lane, so the system can fully realize the process of "single person parking multiple vehicles at the same time". In addition, the number of telepresence systems required can be determined according to the size of the parking lot.
如图3所示，是本发明临场感遥控系统的实施例的结构示意图。我们采用并改进现有的远程遥控车辆的临场感系统，系统主要包括四个部分：遥控驾驶台、测控计算机、显示设备、无线通信设备。遥控驾驶台模拟车辆，输出车辆驾驶命令到测控计算机；测控计算机同时与遥控驾驶台，通信设备和显示设备相连接，接收来自遥控驾驶台及无线通信设备的数据，并发送数据到现场车辆及显示设备，实现了车辆驾驶命令、现场视频及车辆状态数据的管理。不同于以往的遥控车辆临场感系统，我们用摄像头识别遥控驾驶员的头部姿态，以实现车辆现场的场景切换；在实现临场感系统功能的基础上，减少了人体头部穿戴的传感器装置。As shown in FIG. 3 , it is a schematic structural diagram of an embodiment of the telepresence remote control system of the present invention. We adopt and improve the existing remote control vehicle telepresence system. The system mainly includes four parts: remote control console, measurement and control computer, display device, and wireless communication device. The remote control console simulates the vehicle and outputs vehicle driving commands to the measurement and control computer; the measurement and control computer is connected with the remote control console, communication equipment and display equipment at the same time, receives data from the remote control console and wireless communication equipment, and sends the data to the on-site vehicle and display The equipment realizes the management of vehicle driving commands, live video and vehicle status data. Different from the previous remote control vehicle telepresence system, we use the camera to recognize the head posture of the remote control driver to realize the scene switching of the vehicle scene; on the basis of realizing the function of the telepresence system, the number of sensor devices worn by the human head is reduced.
再如图3所示，遥控驾驶台配备了方向盘、油门、刹车测量装置及摄像头。当操作遥控驾驶台的方向盘、油门和刹车时，被遥控车辆会实现相应的动作；摄像头装置采集遥控驾驶台区域的视频数据，传送至测控计算机，用于视频数据的进一步处理。遥控驾驶台上方向盘和油门的状态由绝对光码盘测量，刹车的状态由精密电位器测量。通过上述所安装的方向盘、油门、刹车、摄像头，遥控驾驶台利用无线通信设备遥控车辆。As shown in Figure 3 again, the remote control console is equipped with a steering wheel, accelerator, brake measuring device and a camera. When the steering wheel, accelerator and brake of the remote control console are operated, the remote control vehicle will realize corresponding actions; the camera device collects video data in the remote control console area and transmits it to the measurement and control computer for further processing of the video data. The state of the steering wheel and accelerator on the remote control console is measured by an absolute optical code disc, and the state of the brake is measured by a precision potentiometer. Through the steering wheel, gas pedal, brake, and camera installed above, the remote control console utilizes wireless communication equipment to remotely control the vehicle.
再如图3所示，测控计算机接收来自遥控驾驶台上传感器的数据（包括方向盘、油门、刹车的状态及摄像头的视频数据），并处理这些数据，后将处理过的数据通过无线通信设备发送至被遥控车辆，以实现对实际车辆的控制。对于摄像头视频数据，测控计算机利用基于视频的目标检测方法从视频数据中检测遥控驾驶员的头部运动状态。此处，我们引用发表在IEEE图像处理国际会议（IEEE International Conference on Image Processing，ICIP）的文章《A NewRepresentation Method of Head Images for Head Pose Estimation》中的头部姿态识别方法。所述基于视频的目标检测方法包括训练过程和检测过程，以下分别详细介绍。所述训练过程包含三步：首先采集不同姿态的人脸图像，本发明在摄像机视野范围内每隔30度作为一种人脸姿态（对应于左右方向和上下方向），在每一种姿态下采集多幅人脸图像作为训练图像；利用皮肤颜色特征和高斯变换的拉普拉斯算子预处理所有训练图像，实现人脸特征的强化；对每一种姿态下的预处理后的图像进行主成分分析，提取出较低维的向量表示此种姿态下的人脸。所述检测过程包含三步：首先对输入图像进行预处理，即利用皮肤颜色特征和高斯变换的拉普拉斯算子预处理输入图像；然后对预处理后的图像进行主成分分析，提取出较低维的向量，并计算此向量与在训练过程中所计算的每个姿态下的低维向量之间的距离，识别出带有最小距离的姿态，并认为此人脸姿态为输入图像中遥控驾驶员头部的姿态；通过卡尔曼滤波方法跟踪识别出的遥控驾驶员头部，实现头部运动状态识别（如向左转、向右转、抬头、低头）。所述头部运动状态数据将用于控制被遥控车辆上的云台摄像机的转动。测控计算机将所述头部运动状态数据和方向盘、油门、刹车的状态数据通过无线通信设备发送至被遥控车辆。测控计算机也通过无线通信设备接收来自被遥控车辆的数据（包括现场视频，和车辆的实时状态如油量、水量、速度、里程数、电量及车辆控制状态），后通过VGA接口，将这些数据显示在显示器上，以便操作员及时了解现场状态。As shown in Figure 3, the measurement and control computer receives data from the sensors on the remote control console (including steering wheel, accelerator, brake status and video data from the camera), processes these data, and then sends the processed data through wireless communication equipment To the remote control vehicle to realize the control of the actual vehicle. For the camera video data, the measurement and control computer uses the video-based object detection method to detect the head movement state of the remote driver from the video data. Here, we refer to the head pose recognition method published in the article "A New Representation Method of Head Images for Head Pose Estimation" published at the IEEE International Conference on Image Processing (ICIP). The video-based target detection method includes a training process and a detection process, which are described in detail below. The training process includes three steps: firstly collect face images of different poses, the present invention uses every 30 degrees within the camera field of view as a face pose (corresponding to the left-right direction and up-down direction), and in each pose Collect multiple face images as training images; use skin color features and Gaussian transformed Laplacian to preprocess all training images to achieve enhancement of face features; preprocess images in each pose Principal component analysis extracts a lower-dimensional vector to represent the face in this pose. The detection process includes three steps: first, the input image is preprocessed, that is, the input image is preprocessed by using the skin color feature and the Laplacian operator of Gaussian transformation; then the principal component analysis is performed on the preprocessed image, and the extracted A lower-dimensional vector, and calculate the distance between this vector and the low-dimensional vector under each pose calculated during the training process, identify the pose with the smallest distance, and consider this face pose as the input image The posture of the head of the remote control driver; track and identify the head of the remote control driver through the Kalman filter method to realize head movement state recognition (such as turning left, turning right, raising the head, and lowering the head). The head movement state data will be used to control the rotation of the pan-tilt camera on the remote-controlled vehicle. The measurement and control computer sends the head movement state data and the steering wheel, accelerator, and brake state data to the remote-controlled vehicle through the wireless communication device. The measurement and control computer also receives data from the remote-controlled vehicle through wireless communication equipment (including on-site video, and the real-time status of the vehicle such as fuel volume, water volume, speed, mileage, power and vehicle control status), and then transmits these data through the VGA interface. Displayed on the display so that the operator can keep abreast of the status of the site.
再如图3所示，显示设备由多个显示器组成。所述显示器分别摆放在遥控驾驶员的不同方向，最多有4个方向（前、后、左、右）。所述显示器通过VGA接口接收来自测控计算机的数据，后将现场视频及被操控车辆状态显示在显示器的屏幕上。此现场视频最初是由被遥控车车上的摄像机拍摄，后通过无线通信设备传入测控计算机，最后通过显示器进行显示。通过现场视频，操作员能够了解车辆周边环境，以便操作员进行下一步操作，控制实际车辆的行驶。As shown in FIG. 3 again, the display device is composed of multiple displays. The displays are respectively placed in different directions of the remote control driver, and there are at most 4 directions (front, rear, left, right). The display receives data from the measurement and control computer through the VGA interface, and then displays the live video and the state of the controlled vehicle on the screen of the display. The on-site video is initially taken by the camera on the remote-controlled vehicle, then transmitted to the measurement and control computer through wireless communication equipment, and finally displayed on the monitor. Through the live video, the operator can understand the surrounding environment of the vehicle, so that the operator can carry out the next operation and control the driving of the actual vehicle.
如图4所示，是本发明车载自动泊车系统的实施例的结构示意图，我们采用已有的自动泊车系统，包括中央处理单元、传感器单元、无线通信单元以及人机交互单元。中央处理单元通过车上的CAN数据总线获取车辆行驶状态包括车速、档位、车轮转角信号，控制泊车系统，其接收传感器单元的传感数据，实现车道线和空车位识别；通过无线通信单元与远程操控室进行交互；通过人机交互单元完成人机交互，以便设定车辆自动泊车模式，显示车辆行驶状态；通过CAN数据总线，与车辆的动力系统和转向系统连接，用于实现控制车辆行驶及转向。传感器单元包括超声波传感器、摄像机、光电传感器、电子罗盘。声波传感器安装在车身四周，前后各四个，左右各两个，用于泊车过程中的障碍物检测以及距离测量。车辆配备一个可360度旋转的云台摄相机，用于辅助识别车道线及空车位。在车辆被远程操控室遥控时，摄像机的影像传输到临场感遥控系统，辅助室内驾驶员完成遥控泊车过程。光电传感器用于车辆循线检测。电子罗盘用于测量车辆的偏角，从而获知车辆姿态。无线通信单元采用WIFI无线通信网络，用于车辆与停车场管理系统进行信息传输，包括车辆控制指令、实时视频、实时车辆状态。人机交互单元使用触摸显示屏，采集驾驶员的输入，显示车辆的行驶状态，包括车速、电量、车辆控制状态。As shown in Figure 4, it is a schematic structural diagram of an embodiment of the vehicle-mounted automatic parking system of the present invention. We use an existing automatic parking system, including a central processing unit, a sensor unit, a wireless communication unit, and a human-computer interaction unit. The central processing unit obtains the driving status of the vehicle through the CAN data bus on the vehicle, including the vehicle speed, gear position, and wheel angle signals, and controls the parking system. It receives the sensor data from the sensor unit to realize lane line and empty parking space identification; Interact with the remote control room; complete the human-computer interaction through the human-computer interaction unit to set the automatic parking mode of the vehicle and display the driving status of the vehicle; connect to the power system and steering system of the vehicle through the CAN data bus to realize control Vehicle movement and steering. The sensor unit includes an ultrasonic sensor, a camera, a photoelectric sensor, and an electronic compass. Acoustic sensors are installed around the vehicle body, four at the front and rear, and two at the left and right, and are used for obstacle detection and distance measurement during parking. The vehicle is equipped with a 360-degree rotatable pan-tilt camera to assist in identifying lane lines and empty parking spaces. When the vehicle is remotely controlled by the remote control room, the image of the camera is transmitted to the telepresence remote control system to assist the driver in the room to complete the remote parking process. Photoelectric sensors are used for vehicle line detection. The electronic compass is used to measure the deflection angle of the vehicle, so as to know the attitude of the vehicle. The wireless communication unit adopts WIFI wireless communication network for information transmission between the vehicle and the parking lot management system, including vehicle control instructions, real-time video, and real-time vehicle status. The human-computer interaction unit uses a touch screen to collect the driver's input and display the driving status of the vehicle, including vehicle speed, battery power, and vehicle control status.
如图5所示，是本发明停车场道路系统的实施例的结构示意图，我们参照并改进已有的用于自动泊车的道路系统，系统由两个区域组成，第一个是车辆待停区，由多条车道组成，每条车道通往停车场的不同区，车道宽度为3米，底色为白色，车道中间有一条宽20厘米的黑色车道线，用于车辆循线行驶。驾驶员将车辆放到车辆待停区的车道上，并设定自动泊车模式后即可离开车辆。另一个区域是停车区，该区域的道路经过特殊标线设计。其车道与车辆待停区的车道标线一致。在每个区的停车场入口设有入场标志，是与车道线垂直交叉的黑色线段，宽度为20厘米，长度与车道宽度等同。在每个停车位处设有车位标志，是与车道线垂直的两条黑色线段，宽度为20厘米，长度为70厘米，分布在车道线的两边。在停车场出口处设有出场标志，是与车道线垂直交叉的两条黑色线段，宽度为20厘米，长度与车道宽度等同，两条线段间距为40厘米。入口处均标有停车位编号，车辆在停入车位之前进行车位号识别。As shown in Figure 5, it is a structural schematic diagram of an embodiment of the parking lot road system of the present invention. We refer to and improve the existing road system for automatic parking. The system is composed of two areas, the first is the vehicle waiting to be parked The area consists of multiple lanes, each of which leads to a different area of the parking lot. The width of the lane is 3 meters, the background color is white, and there is a black lane line with a width of 20 cm in the middle of the lane for vehicles to follow the line. The driver can leave the vehicle after putting the vehicle on the lane of the vehicle waiting area and setting the automatic parking mode. Another area is the parking area, the roads in this area are specially marked. The lane is consistent with the lane markings in the parking area. There is an admission sign at the entrance of the parking lot in each district, which is a black line segment perpendicular to the lane line, with a width of 20 cm and a length equal to the width of the lane. There is a parking space mark at each parking space, which are two black line segments perpendicular to the lane line, with a width of 20 cm and a length of 70 cm, distributed on both sides of the lane line. There is an exit sign at the exit of the parking lot, which are two black line segments perpendicular to the lane line, with a width of 20 cm and a length equal to the width of the lane, and the distance between the two line segments is 40 cm. The parking space number is marked at the entrance, and the vehicle is identified by the parking space number before parking in the parking space.
本发明基于临场感的停车场管理详细步骤如下：The detailed steps of the parking lot management based on presence sense of the present invention are as follows:
步骤1：驾驶员将车辆停放入车辆待停区的车道上，并通过车载模块的人机交互界面，设定自动泊车模式，待驾驶员离开车辆之后，向中心的信息管理系统发送车辆信息，包括车辆号牌、入场时间及车主手机号码；等待信息管理系统为其分配空车位和规划行驶路径，车辆即开始自动泊车。Step 1: The driver parks the vehicle in the lane of the vehicle waiting area, and sets the automatic parking mode through the human-computer interaction interface of the vehicle module. After the driver leaves the vehicle, the vehicle is sent to the central information management system. Information, including the vehicle license plate, entry time and the owner's mobile phone number; wait for the information management system to allocate an empty parking space and plan the driving route, and the vehicle will start to park automatically.
步骤2：车载模块利用光电传感器和摄像机识别道路标线，指示车辆循线行驶，直至识别到入场标志。此时，开启停车位识别功能。Step 2: The on-board module uses photoelectric sensors and cameras to identify road markings and instructs vehicles to follow the lines until the entry signs are recognized. At this time, the parking space recognition function is turned on.
步骤3：车辆继续循线行驶，直至识别到车位标志，旋转云台相机，判断是否为空车位。如果为空，即开启泊车功能。否则，继续行驶直至找到空车位。车辆在泊入停车位之前，需要进行车位号识别（可利用成熟的车牌识别方法实现，不再赘述）。Step 3: The vehicle continues to drive along the line until the parking space sign is recognized, and the gimbal camera is rotated to determine whether it is an empty parking space. If it is empty, the parking function is turned on. Otherwise, keep driving until you find an empty parking space. Before the vehicle is parked in the parking space, it needs to be identified by the parking space number (it can be realized by using a mature license plate recognition method, so I won’t go into details).
步骤4：车辆通过车位标志计算目标位置，比较起始和目标位置计算理论泊车轨迹。根据由CAN总线获取到的各种数据包括车速、档位和车轮转角，计算汽车的实际位置，控制汽车转向及车速，使汽车按理论泊车轨迹泊入车位。利用车身周围的超声波传感器，测量车位的深度及障碍物的距离，利用电子罗盘测量车辆的姿态。当车辆泊入停车位，无线通信单元车位号发送到信息管理系统。停车场的信息管理系统再将车辆信息发送到驾驶员的手机终端。本步骤利用现有的自动泊车技术。Step 4: The vehicle calculates the target position through the parking space mark, and compares the initial and target positions to calculate the theoretical parking trajectory. According to various data obtained by the CAN bus, including vehicle speed, gear position and wheel angle, calculate the actual position of the car, control the steering and speed of the car, and make the car park in the parking space according to the theoretical parking trajectory. Use the ultrasonic sensors around the vehicle body to measure the depth of the parking space and the distance to obstacles, and use the electronic compass to measure the attitude of the vehicle. When the vehicle is parked in the parking space, the wireless communication unit sends the parking space number to the information management system. The information management system of the parking lot then sends the vehicle information to the driver's mobile phone terminal. This step utilizes the existing automatic parking technology.
步骤5：驾驶员需要取车时，通过短信或电话的方式通知信息管理系统，由远程操控室启动取车过程。车辆循线驶出停车场，检测到出场标志时，将驶出时间发送至信息管理系统，以方便计费。随后进入车辆待停区的取车区域，等待车主取车。Step 5: When the driver needs to pick up the car, he notifies the information management system by SMS or phone, and the remote control room starts the car pick-up process. The vehicle drives out of the parking lot along the line, and when the exit sign is detected, the time of departure is sent to the information management system to facilitate billing. Then enter the pick-up area of the vehicle waiting area and wait for the owner to pick up the car.
所述步骤1、步骤2、步骤3、步骤4和步骤5中，车辆无法计算下一步行动时，包括车辆偏离车道线、长时间未停入车位、遇到障碍物且长时间无动作等，随时通过无线通信单元向远程操纵室发出请求，由临场感遥控系统接管遥控车辆，完成车辆泊车/取车过程。整个系统在响应多个泊车请求时，采用“一对多”的响应方式，顺序响应辅助泊车请求。In step 1, step 2, step 3, step 4 and step 5, when the vehicle cannot calculate the next action, including the vehicle deviates from the lane line, does not park in the parking space for a long time, encounters an obstacle and does not move for a long time, etc., Send a request to the remote control room through the wireless communication unit at any time, and the telepresence remote control system will take over the remote control vehicle to complete the vehicle parking/picking process. When the entire system responds to multiple parking requests, it adopts a "one-to-many" response method to respond to assisted parking requests sequentially.
以上所述是对本发明具体实施方式的描述，并非对本发明保护范围的限制；凡依前述描述可得之等效方案，皆涵盖在本发明的保护范围之内。The above descriptions are descriptions of specific implementations of the present invention, and are not intended to limit the protection scope of the present invention; all equivalent solutions that can be obtained according to the foregoing descriptions are included in the protection scope of the present invention.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310379503.XACN103473951B (en) | 2013-08-27 | 2013-08-27 | A kind of Automatic Carpark Control System based on telepresenc |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310379503.XACN103473951B (en) | 2013-08-27 | 2013-08-27 | A kind of Automatic Carpark Control System based on telepresenc |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103473951Atrue CN103473951A (en) | 2013-12-25 |
| CN103473951B CN103473951B (en) | 2015-09-23 |
Family
ID=49798778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310379503.XAExpired - Fee RelatedCN103473951B (en) | 2013-08-27 | 2013-08-27 | A kind of Automatic Carpark Control System based on telepresenc |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103473951B (en) |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150149022A1 (en)* | 2015-02-01 | 2015-05-28 | Thomas Danaher Harvey | Methods for dense parking of remotely controlled or autonomous vehicles |
| CN104730988A (en)* | 2015-03-23 | 2015-06-24 | 中国民航大学 | Intelligent management system of aircraft pipeline fuelling vehicle |
| CN104750107A (en)* | 2015-03-23 | 2015-07-01 | 中国民航大学 | Intelligent management system for airport luggage tractor |
| CN105118321A (en)* | 2015-09-30 | 2015-12-02 | 上海斐讯数据通信技术有限公司 | Intelligent extraction method and system for vehicle and vehicle |
| CN105549583A (en)* | 2014-10-27 | 2016-05-04 | 罗伯特·博世有限公司 | Method for operating a towing robot |
| CN106205208A (en)* | 2016-09-29 | 2016-12-07 | 青岛松立软件信息技术股份有限公司 | A kind of managing system of car parking |
| CN106981215A (en)* | 2017-03-23 | 2017-07-25 | 北京联合大学 | A kind of automatic parking parking stall bootstrap technique of multi sensor combination formula |
| CN107000757A (en)* | 2014-11-26 | 2017-08-01 | 罗伯特·博世有限公司 | Method and apparatus for running vehicle |
| CN107077790A (en)* | 2014-10-27 | 2017-08-18 | 罗伯特·博世有限公司 | Method and system for guiding the vehicle to the free parking space on parking lot |
| CN107111934A (en)* | 2014-10-27 | 2017-08-29 | 罗伯特·博世有限公司 | Method and system for monitoring vehicles on a parking lot |
| CN107516346A (en)* | 2017-09-22 | 2017-12-26 | 南京维智感网络科技有限公司 | Road parking managing device and its method based on parking deviation detection and berth lock |
| CN108121944A (en)* | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | A kind of automatic parking scheme of balance car based on camera and system |
| CN108198450A (en)* | 2017-12-26 | 2018-06-22 | 佛山市道静科技有限公司 | A kind of intelligent parking system based on wireless telecommunications |
| CN108269422A (en)* | 2017-01-04 | 2018-07-10 | 罗伯特·博世有限公司 | Facility for the method for asking for parking place and for performing this method |
| CN108944917A (en)* | 2018-07-24 | 2018-12-07 | 上海擎感智能科技有限公司 | Vehicle, remotely controls method and system of parking at vehicle device equipment |
| CN109067925A (en)* | 2018-10-09 | 2018-12-21 | 北京智行者科技有限公司 | A kind of method and system of parking of remote control |
| CN109104502A (en)* | 2018-10-09 | 2018-12-28 | 北京智行者科技有限公司 | A kind of method and system of parking of remote control |
| CN109101014A (en)* | 2018-07-20 | 2018-12-28 | 驭势科技（北京）有限公司 | A kind of intelligent driving vehicle remote control apparatus, method and storage medium |
| CN109410641A (en)* | 2018-12-07 | 2019-03-01 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of method, apparatus and system of parking lot automatic buffer |
| CN110060497A (en)* | 2019-03-07 | 2019-07-26 | 西安艾润物联网技术服务有限责任公司 | The management method and device of porte-cochere |
| CN110226144A (en)* | 2017-01-25 | 2019-09-10 | 福特全球技术公司 | virtual reality remote valet parking |
| CN110766960A (en)* | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | Server, mobile terminal, in-vehicle terminal and vehicle search control method |
| CN110945577A (en)* | 2017-07-21 | 2020-03-31 | 罗伯特·博世有限公司 | Apparatus and method for providing status information of automated valet parking system |
| CN111240316A (en)* | 2018-11-09 | 2020-06-05 | 现代自动车株式会社 | Systems and methods for supporting automated valet parking and infrastructure and vehicles therefor |
| CN111696235A (en)* | 2020-04-28 | 2020-09-22 | 佛山市公安局交通警察支队 | Rapid inspection channel for motor vehicle and control method thereof |
| US10810875B2 (en) | 2017-07-06 | 2020-10-20 | Ford Global Technologies, Llc | Navigation of impaired vehicle |
| CN112124301A (en)* | 2019-06-25 | 2020-12-25 | 上海擎感智能科技有限公司 | Control method and device for automatic parking |
| CN112133122A (en)* | 2019-06-25 | 2020-12-25 | 上海擎感智能科技有限公司 | Parking lot for automatic parking |
| CN112249005A (en)* | 2020-10-23 | 2021-01-22 | 广州小鹏汽车科技有限公司 | An interactive method and device for automatic parking of vehicles |
| CN112422607A (en)* | 2019-08-23 | 2021-02-26 | 三菱电机株式会社 | Remote parking device and remote parking method |
| CN112428987A (en)* | 2020-11-25 | 2021-03-02 | 苏州优达斯汽车科技有限公司 | Automatic parking system and method interacting with parking lot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104539022A (en)* | 2015-01-16 | 2015-04-22 | 蔡乌力吉 | Parking lot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1839066A (en)* | 2003-08-18 | 2006-09-27 | 罗伯特·博世有限公司 | Device for semi-independently supporting the parking process of a motor vehicle |
| JP2007219738A (en)* | 2006-02-15 | 2007-08-30 | Fujitsu Ten Ltd | Parking management system, on-vehicle parking control apparatus, and parking control apparatus |
| CN101281037A (en)* | 2007-04-05 | 2008-10-08 | 财团法人车辆研究测试中心 | Automatic parking device |
| CN101322166A (en)* | 2005-12-02 | 2008-12-10 | 株式会社视骋 | Parking control system and method |
| CN101434259A (en)* | 2008-12-11 | 2009-05-20 | 奇瑞汽车股份有限公司 | Adaptive steering system and control method thereof |
| US20090260907A1 (en)* | 2008-04-22 | 2009-10-22 | Gm Global Technology Operations, Inc. | Autonomous parking strategy based on available parking space |
| CN101593407A (en)* | 2009-07-01 | 2009-12-02 | 奇瑞汽车股份有限公司 | A kind of parking system |
| CN101980916A (en)* | 2008-04-03 | 2011-02-23 | 法雷奥开关和传感器有限责任公司 | Method and device for supporting a driver of a vehicle during the process of leaving a parking space |
| CN102069799A (en)* | 2011-02-24 | 2011-05-25 | 南京航空航天大学 | Intelligent parking system |
| KR101072353B1 (en)* | 2010-09-27 | 2011-10-11 | 서동산업(주) | Unmanned parking management system and method using navigation |
- 2013
- 2013-08-27CNCN201310379503.XApatent/CN103473951B/ennot_activeExpired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1839066A (en)* | 2003-08-18 | 2006-09-27 | 罗伯特·博世有限公司 | Device for semi-independently supporting the parking process of a motor vehicle |
| CN101322166A (en)* | 2005-12-02 | 2008-12-10 | 株式会社视骋 | Parking control system and method |
| JP2007219738A (en)* | 2006-02-15 | 2007-08-30 | Fujitsu Ten Ltd | Parking management system, on-vehicle parking control apparatus, and parking control apparatus |
| CN101281037A (en)* | 2007-04-05 | 2008-10-08 | 财团法人车辆研究测试中心 | Automatic parking device |
| CN101980916A (en)* | 2008-04-03 | 2011-02-23 | 法雷奥开关和传感器有限责任公司 | Method and device for supporting a driver of a vehicle during the process of leaving a parking space |
| US20090260907A1 (en)* | 2008-04-22 | 2009-10-22 | Gm Global Technology Operations, Inc. | Autonomous parking strategy based on available parking space |
| CN101434259A (en)* | 2008-12-11 | 2009-05-20 | 奇瑞汽车股份有限公司 | Adaptive steering system and control method thereof |
| CN101593407A (en)* | 2009-07-01 | 2009-12-02 | 奇瑞汽车股份有限公司 | A kind of parking system |
| KR101072353B1 (en)* | 2010-09-27 | 2011-10-11 | 서동산업(주) | Unmanned parking management system and method using navigation |
| CN102069799A (en)* | 2011-02-24 | 2011-05-25 | 南京航空航天大学 | Intelligent parking system |
Non-Patent Citations (3)
| Title |
|---|
| 蒋志文，等: "基于双目视觉和路径规划的车辆自动泊车系统", 《公路与汽运》* |
| 贾江伟: "新技术", 《产品可靠性报告》* |
| 郭志强，等: "基于ARM11的智慧无人泊车系统设计与实现", 《硅谷》* |
Cited By (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105549583A (en)* | 2014-10-27 | 2016-05-04 | 罗伯特·博世有限公司 | Method for operating a towing robot |
| US10755568B2 (en) | 2014-10-27 | 2020-08-25 | Robert Bosch Gmbh | Method and system for driving a vehicle to a free parking space in a parking facility |
| CN105549583B (en)* | 2014-10-27 | 2020-05-26 | 罗伯特·博世有限公司 | Method for operating a traction robot |
| CN107111934A (en)* | 2014-10-27 | 2017-08-29 | 罗伯特·博世有限公司 | Method and system for monitoring vehicles on a parking lot |
| CN107077790A (en)* | 2014-10-27 | 2017-08-18 | 罗伯特·博世有限公司 | Method and system for guiding the vehicle to the free parking space on parking lot |
| CN107000757A (en)* | 2014-11-26 | 2017-08-01 | 罗伯特·博世有限公司 | Method and apparatus for running vehicle |
| US20150149022A1 (en)* | 2015-02-01 | 2015-05-28 | Thomas Danaher Harvey | Methods for dense parking of remotely controlled or autonomous vehicles |
| US9139199B2 (en)* | 2015-02-01 | 2015-09-22 | Thomas Danaher Harvey | Methods for dense parking of remotely controlled or autonomous vehicles |
| CN104730988A (en)* | 2015-03-23 | 2015-06-24 | 中国民航大学 | Intelligent management system of aircraft pipeline fuelling vehicle |
| CN104750107A (en)* | 2015-03-23 | 2015-07-01 | 中国民航大学 | Intelligent management system for airport luggage tractor |
| CN105118321B (en)* | 2015-09-30 | 2017-06-16 | 上海斐讯数据通信技术有限公司 | A kind of intelligent extract method of the vehicles, system and the vehicles |
| CN105118321A (en)* | 2015-09-30 | 2015-12-02 | 上海斐讯数据通信技术有限公司 | Intelligent extraction method and system for vehicle and vehicle |
| CN106205208A (en)* | 2016-09-29 | 2016-12-07 | 青岛松立软件信息技术股份有限公司 | A kind of managing system of car parking |
| CN108269422A (en)* | 2017-01-04 | 2018-07-10 | 罗伯特·博世有限公司 | Facility for the method for asking for parking place and for performing this method |
| CN110226144A (en)* | 2017-01-25 | 2019-09-10 | 福特全球技术公司 | virtual reality remote valet parking |
| CN110226144B (en)* | 2017-01-25 | 2022-12-13 | 福特全球技术公司 | Virtual Reality Remote Valet Parking |
| CN106981215A (en)* | 2017-03-23 | 2017-07-25 | 北京联合大学 | A kind of automatic parking parking stall bootstrap technique of multi sensor combination formula |
| CN106981215B (en)* | 2017-03-23 | 2020-09-11 | 北京联合大学 | A multi-sensor combined automatic parking space guidance method |
| US10810875B2 (en) | 2017-07-06 | 2020-10-20 | Ford Global Technologies, Llc | Navigation of impaired vehicle |
| CN110945577B (en)* | 2017-07-21 | 2022-08-23 | 罗伯特·博世有限公司 | Apparatus and method for providing status information of automated valet parking system |
| CN110945577A (en)* | 2017-07-21 | 2020-03-31 | 罗伯特·博世有限公司 | Apparatus and method for providing status information of automated valet parking system |
| CN107516346A (en)* | 2017-09-22 | 2017-12-26 | 南京维智感网络科技有限公司 | Road parking managing device and its method based on parking deviation detection and berth lock |
| CN108121944A (en)* | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | A kind of automatic parking scheme of balance car based on camera and system |
| CN108198450A (en)* | 2017-12-26 | 2018-06-22 | 佛山市道静科技有限公司 | A kind of intelligent parking system based on wireless telecommunications |
| CN109101014A (en)* | 2018-07-20 | 2018-12-28 | 驭势科技（北京）有限公司 | A kind of intelligent driving vehicle remote control apparatus, method and storage medium |
| CN108944917A (en)* | 2018-07-24 | 2018-12-07 | 上海擎感智能科技有限公司 | Vehicle, remotely controls method and system of parking at vehicle device equipment |
| CN110766960A (en)* | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | Server, mobile terminal, in-vehicle terminal and vehicle search control method |
| CN109067925A (en)* | 2018-10-09 | 2018-12-21 | 北京智行者科技有限公司 | A kind of method and system of parking of remote control |
| CN109104502A (en)* | 2018-10-09 | 2018-12-28 | 北京智行者科技有限公司 | A kind of method and system of parking of remote control |
| CN111240316A (en)* | 2018-11-09 | 2020-06-05 | 现代自动车株式会社 | Systems and methods for supporting automated valet parking and infrastructure and vehicles therefor |
| CN109410641A (en)* | 2018-12-07 | 2019-03-01 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of method, apparatus and system of parking lot automatic buffer |
| CN110060497A (en)* | 2019-03-07 | 2019-07-26 | 西安艾润物联网技术服务有限责任公司 | The management method and device of porte-cochere |
| CN112124301A (en)* | 2019-06-25 | 2020-12-25 | 上海擎感智能科技有限公司 | Control method and device for automatic parking |
| CN112133122A (en)* | 2019-06-25 | 2020-12-25 | 上海擎感智能科技有限公司 | Parking lot for automatic parking |
| CN112422607A (en)* | 2019-08-23 | 2021-02-26 | 三菱电机株式会社 | Remote parking device and remote parking method |
| CN111696235A (en)* | 2020-04-28 | 2020-09-22 | 佛山市公安局交通警察支队 | Rapid inspection channel for motor vehicle and control method thereof |
| CN112249005A (en)* | 2020-10-23 | 2021-01-22 | 广州小鹏汽车科技有限公司 | An interactive method and device for automatic parking of vehicles |
| CN112428987A (en)* | 2020-11-25 | 2021-03-02 | 苏州优达斯汽车科技有限公司 | Automatic parking system and method interacting with parking lot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103473951B (en) | 2015-09-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103473951B (en) | A kind of Automatic Carpark Control System based on telepresenc | |
| CN103465906B (en) | A kind of parking area automatic train stop implementation method based on telepresenc | |
| CN109828581B (en) | Multi-mode intelligent electric sweeper with automatic driving system | |
| CN115035728B (en) | Autonomous parking system and method based on cloud sharing and map fusion | |
| CN105825713B (en) | The method of operation of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) | |
| CN105539430B (en) | A kind of people's car mutual intelligent parking method based on handheld terminal | |
| CN105946853B (en) | The system and method for long range automatic parking based on Multi-sensor Fusion | |
| US20210311476A1 (en) | Patrol robot and patrol robot management system | |
| CN103824455B (en) | road patrol system and control method | |
| CN106945660A (en) | A kind of automated parking system | |
| CN108928343A (en) | A kind of panorama fusion automated parking system and method | |
| CN107134147B (en) | Method, device and system for managing parking spaces under pole based on camera and sensor | |
| CN107272683A (en) | Parallel intelligent vehicle control based on ACP methods | |
| KR20130085235A (en) | System for driving manless of car | |
| CN108544912A (en) | Four-wheel differentia all-terrain mobile robot control system and its control method | |
| CN104122891A (en) | Intelligent robot inspection system for city underground railway detection | |
| CN115179781B (en) | Wireless charging guide system | |
| CN110293965A (en) | Method of parking and control device, mobile unit and computer-readable medium | |
| CN203838560U (en) | A manipulator carrier AGV trolley for radiation environment | |
| CN209904906U (en) | Parking area patrol robot based on license plate identification | |
| CN209928618U (en) | Parking area patrol robot based on facial recognition | |
| CN115593434A (en) | Parking lot automatic parking system matched with intelligent automobile | |
| CN113848956A (en) | Unmanned vehicle system and unmanned method | |
| CN102323827A (en) | Autonomous Tracking System with Force-Delayed Virtual Flexible Curved Rod | |
| CN117746664A (en) | Autonomous valet parking positioning and position assessment method for underground garages integrated with parking lots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20150923 |