CN111439255A - Set-top box, control box and control device for realizing autonomous parking by matching use - Google Patents
Set-top box, control box and control device for realizing autonomous parking by matching use Download PDFInfo
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- CN111439255A CN111439255A CN201910041625.5A CN201910041625A CN111439255A CN 111439255 A CN111439255 A CN 111439255A CN 201910041625 A CN201910041625 A CN 201910041625A CN 111439255 A CN111439255 A CN 111439255A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
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Abstract
The invention discloses an autonomous parking control device, which comprises a vehicle top box, a communication box and a vehicle end communication module, wherein the vehicle top box is used for receiving information from a background server in a wireless communication mode and sending vehicle top end information representing the information of the background server to the communication box through the vehicle end communication module; and the communication box receives the vehicle top end information from the vehicle top box and controls the vehicle function execution unit to execute corresponding functions according to the vehicle top end information. According to the invention, the high-precision positioning system is built in the parking lot, so that the position information of the vehicle can be accurately and timely obtained, and the running track of the vehicle can be accurately adjusted. The vehicle top box with higher cost is placed outside the vehicle, and the communication box with lower cost is additionally arranged inside the vehicle, so that the modification cost is reduced. The vehicle end communication module is arranged in the roof box and the communication box, so that reliable and stable communication connection between the roof box and the communication box is realized, the vehicle can be accurately controlled, and automatic parking is realized.
Description
Technical Field
The invention relates to the field of wireless communication, in particular to a set top box, a control box and a control device for realizing autonomous parking by matching use.
Background
With the increasing popularization of vehicles and the continuous improvement of the technology level, the automatic driving technology has become a new trend of research of numerous scientific research institutes and scientific companies, but is limited by inconsistent standards, incomplete basic settings, incomplete related legal systems and incomplete safety and stability guarantee of numerous vehicles, and a long way is needed to promote the automatic driving technology on a driving road. However, the automatic driving technology is implemented in the slow driving areas such as the parking lot and the like to realize the autonomous parking, so that the potential safety hazard is small, and the problems that a lot of drivers are difficult to find the parking space and park are solved. Based on this, enterprises at home and abroad have developed intense competition in the fields of intelligent parking lots and autonomous parking. However, there are many problems in the research and promotion process of intelligent parking lot and autonomous parking.
Firstly, the parking lot is mostly arranged underground or indoors, the existing global positioning navigation system GPS, Beidou and the like cannot play a role in the parking lot, the terrain in the parking lot is complex, the number of obstacles is large, and extremely accurate real-time position information is needed in the parking process so as to realize control over vehicles.
Secondly, if the autonomous parking is to be realized, a communication module with a parking lot end is required to be additionally arranged in the vehicle and used for receiving a parking lot map, a target parking lot, environmental information and the like, and in addition, an operation module for realizing the autonomous parking route planning and a control assembly for controlling the vehicle to run according to the planned parking route are required. If the modules and components are added to all vehicles which may be parked in the parking lot in advance, the cost of the vehicles is increased, and the popularization difficulty is high.
In order to reduce the vehicle cost, those skilled in the art will appreciate that a communication module and an arithmetic module, which are relatively high in cost, are integrated into a peripheral component, and the peripheral component is temporarily assigned when a vehicle enters an autonomous parking lot to realize autonomous parking. However, in the above technical solution, how the peripheral component communicates with the vehicle and how to control the vehicle to park autonomously also exists.
Therefore, how to provide an autonomous parking lot which can realize high-precision positioning, stable communication, low cost and is suitable for popularization becomes a technical problem to be solved urgently in the field.
Disclosure of Invention
According to one aspect of the invention, a communication box used with a roof box to realize autonomous parking of a vehicle is disclosed, wherein the roof box comprises a wireless communication module and a second vehicle-end communication module, the wireless communication module receives information from a background server in a wireless communication mode, and the second vehicle-end communication module is coupled to the wireless communication module to obtain roof-end information representing the information of the background server. The communication box comprises a first vehicle-end communication module and a vehicle communication line interface, wherein the first vehicle-end communication module acquires vehicle roof-end information from a second vehicle-end communication module in a wireless communication mode; the vehicle communication line interface is coupled to the first vehicle end communication module to acquire communication end information representing roof end information, and the communication end information is issued to the vehicle to control the vehicle to realize autonomous parking. Wherein the communication box is mounted on the vehicle in advance, and the roof box is placed on the vehicle when the vehicle enters autonomous parking.
According to another aspect of the invention, a roof box used with a communication box for realizing autonomous parking of a vehicle is disclosed, which comprises a wireless communication module and a second vehicle-end communication module, wherein the wireless communication module receives information from a background server in a wireless communication mode; and the second vehicle-end communication module is coupled to the wireless communication module to obtain the roof-end information representing the background server information, and transmits the roof-end information to the first vehicle-end communication module in a wireless communication mode.
According to another aspect of the invention, the invention discloses an autonomous parking control device, which comprises a vehicle top box and a control box, wherein the vehicle top box comprises a wireless communication module and a second vehicle-end communication module, and the wireless communication module receives information from a background server in a wireless communication mode; the second vehicle-end communication module is coupled to the wireless communication module to obtain vehicle roof-end information representing the background server information.
According to the invention, the high-precision positioning system is built in the parking lot, so that the position information of the vehicle can be accurately and timely obtained, the running track of the vehicle can be accurately adjusted, and the collision risk of the vehicle can be reduced. Secondly, the vehicle top box with higher cost is placed outside the vehicle, namely the vehicle top box is temporarily placed on the vehicle when the vehicle enters the parking lot for autonomous parking, so that the vehicle top box belongs to the parking lot and is recycled, and the communication box with lower cost is additionally arranged inside the vehicle, so that the modification cost can be reduced, and the vehicle top box is easy to popularize and popularize. In some embodiments, some components related to autonomous parking, such as a high-speed operation unit, are arranged on the set-top box, so that the complexity of the communication box is reduced, and the related regulation of the installation of the autonomous parking device by the vehicle is easier to meet. In addition, a vehicle end communication module is arranged in the roof box and the communication box, and data is transmitted in a Bluetooth mode, so that reliable and stable communication connection between the roof box and the communication box is realized, vehicles can be accurately controlled, and automatic parking is realized.
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Fig. 1 is a schematic view of an autonomous parking lot system 100 according to an embodiment of the present invention;
fig. 2 is a schematic view showing the installation of the autonomous parking control apparatus according to an embodiment of the present invention;
fig. 3 is a schematic view showing the installation of an autonomous parking control apparatus according to another embodiment of the present invention;
fig. 4 is a schematic block diagram of an autonomous parking control apparatus 400 according to an embodiment of the present invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below, and it should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known circuits, materials, or methods have not been described in detail in order to avoid obscuring the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. It will be understood that when an element is referred to as being "connected" or "connected" to another element, it can be directly connected or connected to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected to" or "directly connected to" another element, there are no intervening elements present. Like reference numerals refer to like elements. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 shows a schematic diagram of an autonomous parking lot system 100 according to an embodiment of the present invention, the autonomous parking lot system 100 includes a field end device and an autonomous parking control device, wherein the field end device transmits data information required for autonomous parking of a vehicle, in the embodiment shown in fig. 1, the field end device is a backend server SE. autonomous parking control device, which is installed on the vehicle, receives the data information from the field end device through a wireless communication manner, and generates a vehicle execution instruction according to the data information to control the vehicle to execute a corresponding function so as to realize autonomous parking of the vehicle.
In one embodiment, the autonomous parking lot system 100 further includes a positioning base station group including N positioning base stations BS, where N is an integer greater than or equal to 3, installed in the field of the autonomous parking lot, for transceiving positioning signals with a positioning Tag installed on the vehicle, thereby acquiring high-precision position information of the vehicle. In one embodiment, the positioning Tag is pre-installed in a wave-transparent area of the vehicle, such as a non-metal part of a vehicle window, a shark fin antenna, a spoiler, a rearview mirror housing, etc., so as to enable the positioning Tag to receive and transmit positioning signals with the positioning base station BS. In yet another embodiment, the positioning Tag is pre-installed inside a spoiler, shark fin or other wave-transparent material of the vehicle. In yet another embodiment, the positioning Tag is pre-installed in a fixed location on the vehicle. When the vehicle starts to park autonomously, the positioning Tag interacts with the background server SE for positioning Tag ID and authentication information, so that the positioning of the positioning Tag is started. In one embodiment, the authentication information includes whether the positioning Tag belongs to the autonomous parking lot system 100.
In one embodiment, the autonomous parking lot system 100 further includes an environment detection component, which is a plurality of cameras Cam erected in the field of the autonomous parking lot in the embodiment shown in fig. 1, acquires real-time image information in the parking lot, transmits the image information to the background server SE, integrates and operates the image information through the background server SE to acquire map information of the parking lot, empty space information of the parking lot and real-time environment information of the parking lot, and transmits the data information to the autonomous parking control device disposed on the vehicle. The parking lot real-time environment information includes position information of other vehicles, pedestrians, obstacles, and the like in the parking lot.
In one embodiment, the positioning Tag placed on the vehicle is an ultra-wideband positioning Tag, the positioning Tag transmits an ultra-wideband positioning signal to the positioning base station BS, and the positioning base station BS receives the ultra-wideband positioning signal and records the time information of the arrival of the positioning signal. In yet another embodiment, the positioning base station BS transmits an ultra-wideband positioning signal, and the positioning Tag receives the ultra-wideband positioning signal and records the time information of the arrival of the positioning signal. The autonomous parking lot system 100 obtains the position of the positioning Tag using the transmission time of the positioning signal and/or the reception time of the positioning signal and the position of the positioning base station BS. In one embodiment, the autonomous parking lot system 100 uses a TDOA (Time difference of Arrival) or TOA (Time of Arrival) positioning algorithm to resolve the location information of the location Tag, and since the ultra-wideband signal has ultra-high Time resolution, higher positioning accuracy can be achieved.
In one embodiment, the backend server SE further includes a positioning calculation unit, the positioning calculation unit is configured to calculate position information of the positioning Tag, and the backend server SE transmits the obtained position information to the autonomous parking control device in real time, so that the autonomous parking control device can accurately obtain the position information of the vehicle according to the position information of the positioning Tag, a position relationship of the positioning Tag placed on the vehicle, and a vehicle size of the vehicle. In one embodiment, the positioning tags Tag placed on different vehicles have different identification information, the background server SE broadcasts the position information of the positioning Tag with the identification information to each vehicle, and the autonomous parking control device can obtain the position information of its own positioning Tag according to the identification information and can also obtain the position information of other vehicles. The autonomous parking control device plans an autonomous parking route according to the map of the parking lot, the information empty parking spaces of the parking lot and the real-time environment information of the parking lot, which are acquired from the background server SE, and controls the vehicle to drive into the target empty parking space according to the planned autonomous parking route according to the position information of the vehicle. In addition, the autonomous parking control device may also control the vehicle according to the position information of the other vehicle to avoid a collision with the other vehicle.
In one embodiment, the autonomous parking route is planned by a backend server SE, the backend server SE transmits the planned autonomous parking route to an autonomous parking control device, and the autonomous parking control device decodes data representing the autonomous automobile route to generate a vehicle execution instruction which can be recognized by a vehicle.
Fig. 2 is a schematic diagram showing the installation of the autonomous parking control apparatus according to an embodiment of the present invention. The autonomous parking control device comprises a communication box CB which is arranged inside the vehicle in advance, and a roof box RB which is obtained in a vehicle delivery area and placed at a specified position of a vehicle body after the vehicle drives into the autonomous parking lot. In the embodiment shown in fig. 2, the communication box CB is attached to the inside of the spoiler at the rear of the vehicle. The set-top box RB is placed in a position where it can communicate wirelessly with the backend server SE and with the communication box CB, in the embodiment shown in fig. 2, the set-top box RB is placed outside the roof of the vehicle. The vehicle top box RB is used for receiving information from the background server SE, generating roof end information representing the background server information and transmitting the roof end information to the communication box CB in a wireless communication mode, and the communication box CB generates communication end information after receiving the roof end information representing the background server information from the roof box RB and transmits the communication end information to the vehicle to control the vehicle to realize autonomous parking.
In one embodiment, the wireless communication mode between the set-top box RB and the communication box CB includes bluetooth communication, WIFI communication, and nfc (near Field communication).
In one embodiment, the information of the background server SE includes parking lot map information, parking lot empty space information, parking lot real-time environment information and/or vehicle position or posture information, the roof end information generated by the set-top box RB and representing the background server information includes autonomous parking route information obtained by calculation according to the background server SE information and/or instructions for controlling speed, acceleration, steering angle, light and/or honking number of the vehicle at the corresponding time, and the communication end information generated by the communication box CB and representing the roof end information after receiving the roof end information includes instructions which can be recognized and executed by the vehicle floor function execution unit obtained by calculation according to the vehicle top end information to control speed, acceleration and steering angle of the vehicle at the corresponding time. (average treatment)
In another embodiment, the information transmitted from the background server SE to the roof box RB includes parking lot map information, parking lot empty space information, parking lot real-time environment information and/or vehicle position or posture information and/or instructions for controlling the speed, acceleration, steering angle, lighting and/or sounding number of the vehicle at the corresponding time, the roof end information transmitted from the roof box RB to the communication box CB is the background server SE information, and the communication end information calculated and generated by the communication box CB according to the received roof end information includes instructions that can be recognized and executed by the vehicle bottom function execution unit to control the speed, acceleration and steering angle of the vehicle at the corresponding time. (roof direct transmission, communication processing)
In another embodiment, the information transmitted from the backend server SE to the roof box RB includes parking lot map information, parking lot empty space information, parking lot real-time environment information, and/or vehicle position or posture information, the roof end information transmitted from the roof box RB to the communication box CB is the backend server SE information, and the communication end information calculated and generated by the communication box CB according to the received roof end information includes instructions for controlling the speed, acceleration, steering angle, lighting and/or sounding of the vehicle at the corresponding time. (roof direct transmission, communication processing)
In another embodiment, the information transmitted from the backend server SE to the roof box RB includes parking lot map information, parking lot empty space information, parking lot real-time environment information, and/or vehicle position or posture information, and/or instructions for controlling the speed, acceleration, steering angle, lighting, and/or sounding sign of the vehicle at the corresponding time, and the roof box RB is obtained by calculation according to the backend server SE information, and directly includes instructions that can be recognized and executed by the vehicle floor function execution unit to control the speed, acceleration, steering angle of the vehicle at the corresponding time, so that the communication end information is the roof end information. (vehicle roof processing, communication direct transmission)
In another embodiment, the information transmitted to the roof box RB by the backend server SE includes parking lot map information, parking lot empty space information, parking lot real-time environment information, and/or vehicle position or posture information, the roof box RB is obtained by calculation according to the backend server SE information, and the roof end information transmitted to the communication box CB includes an instruction for controlling the speed, acceleration, steering angle, lighting and/or sounding sign of the vehicle at the corresponding time, and the communication end information transmitted to the vehicle by the communication box CB is the instruction for controlling the speed, acceleration, steering angle, lighting and/or sounding sign of the vehicle at the corresponding time, that is, the roof end information. (vehicle roof processing, communication direct transmission)
In another embodiment, the information transmitted from the background server SE to the roof box RB directly includes an instruction that can be recognized and executed by the vehicle bottom function execution unit to control the speed, acceleration, and steering angle of the vehicle at the corresponding time, the roof end information transmitted from the roof box RB to the communication box CB is the background server information, and the communication end information transmitted from the communication box CB to the vehicle is the platform server information. (all direct transmission)
In another embodiment, the information transmitted by the background server SE to the roof box RB includes an instruction for controlling the speed, the acceleration, the steering angle, the lighting and/or the sounding number of the vehicle at the corresponding time, the roof end information transmitted by the roof box RB to the communication box CB is the background server information, and the communication end information transmitted by the communication box CB to the vehicle is the server information. (all direct transmission)
The set top box RB generates set top box information based on a planned autonomous parking route and real-time position information of the vehicle, and transmits the set top box information to a communication box CB. additionally installed inside the vehicle, wherein the communication box CB is connected with a vehicle communication line and transmits communication end information to a corresponding function execution unit of the vehicle through the vehicle communication line to control the vehicle to execute corresponding functions so as to control the speed, the acceleration and the steering angle of the vehicle at corresponding time.
In one embodiment, the vehicle is provided with a sensor for sensing vehicle surrounding environment information, the sensor comprises a radar sensor, an ultrasonic sensor, an optical sensor and the like, the sensor is connected with a vehicle communication line, the vehicle surrounding environment information obtained by the sensor, such as obstacle information of other vehicles, pedestrians, fixed buildings and the like, is transmitted to a communication box CB through the vehicle communication line, the communication box CB transmits the received vehicle surrounding environment information to a roof box RB, and the roof box RB fuses the vehicle surrounding environment information into planning of an autonomous parking route and generation of roof end information, for example, when an obstacle in a vehicle approaching traveling area is sensed, the vehicle is controlled to brake or detour. In another embodiment, the communication box CB pre-stores vehicle type information of the vehicle, including a vehicle body scale, and a specific position of the communication box CB in the vehicle, that is, a positional relationship where the positioning Tag is placed in the vehicle, and transmits the vehicle type information and the positional relationship where the positioning Tag is placed in the vehicle to the set top box RB, so that the autonomous parking control apparatus can accurately obtain the position information of the vehicle according to the position information of the positioning Tag, the positional relationship where the positioning Tag is placed in the vehicle, and the vehicle size of the vehicle itself.
In the process of transmitting the position relation of the roof end information, the vehicle surrounding environment information, the vehicle type information and the positioning Tag placed in the vehicle between the roof box RB and the control box CB, the roof box RB and the communication box CB are required to establish effective communication connection. In one embodiment, the set top box RB and the communication box CB communicate with each other by using bluetooth technology. In one embodiment, a maximum threshold value of the distance between the car top box RB and the communication box CB may be set according to the power of the wireless signal, and the installation distance between the car top box RB and the communication box CB may be smaller than the maximum threshold value to ensure the quality of wireless communication. In yet another embodiment, there is no substance or material between the roof box RB and the communication box CB that interferes or shields the communication to ensure the quality of the wireless communication.
Fig. 3 is a schematic diagram showing the installation of the autonomous parking control apparatus according to another embodiment of the present invention. The communication box CB is mounted inside a shark fin antenna of a vehicle. The set-top box RB is placed in a position where it can communicate wirelessly with the backend server SE and with the communication box CB, and in the embodiment shown in fig. 3, the set-top box RB is placed in a roof position. The vehicle top box RB is used for receiving information from the background server SE, generating roof end information representing the background server information and transmitting the roof end information to the communication box CB in a Bluetooth communication mode, and the communication box CB generates communication end information after receiving the roof end information representing the background server information from the roof box RB and transmits the communication end information to the vehicle to control the vehicle to realize autonomous parking.
In yet another embodiment, the autonomous parking control apparatus further includes another assistant positioning Tag2, such that the positioning Tag and the assistant positioning Tag2 have a certain lateral baseline. In one embodiment, the locating Tag2 is placed in a wave-transparent area, such as a spoiler or window position, that is also pre-installed in the vehicle. In one embodiment, the secondary positioning Tag2 is wired to a communications box CB, which controls the turning on and off of the secondary positioning Tag2 and provides power thereto. The auxiliary positioning label Tag2 adopts the same working mode as the positioning label Tag, the set-top box RB obtains the position information of the positioning label Tag and the auxiliary positioning label Tag2 at the same time, and because the positioning label Tag and the auxiliary positioning label Tag2 have certain transverse baselines, the set-top box RB can acquire the steering information of the vehicle and apply the steering information of the vehicle to the control of the vehicle, so that the vehicle can drive into the target empty space according to the planned autonomous parking route.
Fig. 4 is a schematic block diagram of an autonomous parking control apparatus 400 according to an embodiment of the present invention. The autonomous parking control apparatus 400 includes a set-top box RB and a communication box CB. In one embodiment, the set-top box RB and/or the communication box CB are components or integrated components including a box body; in yet another embodiment, the roof box RB and the communication box CB are only a collection of modules performing the respective functions, which modules are not integrated with each other. The set-top box RB illustratively includes a wireless communication module 401 and a second vehicle-end communication module 402, where the wireless communication module 401 receives information from the background server SE in a wireless communication manner, and the second vehicle-end communication module 402 is coupled to the wireless communication module 401 to obtain vehicle roof-end information representing information of the background server SE. The communication box CB exemplarily comprises a first vehicle-end communication module 405 and a vehicle communication line interface 406, wherein the first vehicle-end communication module 405 acquires the roof-end information from the second vehicle-end communication module 402 through wireless communication, and the vehicle communication line interface 406 is coupled to the first vehicle-end communication module 405 to acquire the communication-end information representing the roof-end information and issue the communication-end information to the vehicle to control the vehicle to realize autonomous parking. Wherein the communication box CF is mounted on the vehicle in advance, and the roof box RF is placed on the vehicle when the vehicle enters autonomous parking
In one embodiment, the wireless communication module 401 receives information of the background server SE by means of Dedicated Short-Range communication, such as DSRC (Dedicated Short-Range Communications) or L TE-V (long term evolution technology-vehicle Communications).
In one embodiment, the wireless communication mode between the set-top box RB and the communication box CB includes bluetooth communication, WIFI communication, and nfc (near Field communication). When the wireless communication mode is bluetooth communication, the first vehicle-end communication module 405 of the communication box CB and the second vehicle-end communication module 402 of the roof box RB are vehicle-end communication modules, and when bluetooth communication is performed, the two vehicle-end communication modules are matched in advance.
In one embodiment, the background server SE directly calculates and plans the autonomous parking route, the information transmitted to the roof box RB by the background server SE includes autonomous parking route information and/or instructions for controlling the speed, acceleration, steering angle, lighting and/or sounding sign of the vehicle at the corresponding time, the roof end information transmitted to the communication box CB by the roof box RB is the background server SE information, and the communication end information generated after the communication box CB receives the roof end information includes instructions that the vehicle bottom function execution unit can recognize and execute so as to control the speed, acceleration and steering angle of the vehicle at the corresponding time.
In another embodiment, the set-top box RF further comprises a second data processor 403 coupled to the wireless communication module 401 to receive the information transmitted by the backend server SE, and to generate the roof-side information based on the information of the backend server SE, and to transmit the roof-side information to the communication box CB via the second vehicle-side communication module 402. In one embodiment, the information of the backend server SE includes a map of the parking lot, a target empty space, real-time environment information of the parking lot, and position information of the positioning Tag, the second data processor 403 calculates, as roof end information, autonomous parking route information obtained according to the information of the backend server SE and/or instructions for controlling speed, acceleration, steering angle, lighting and/or sounding of the vehicle at a corresponding time, and the communication end information generated after the communication box CB receives the roof end information includes instructions that can be recognized and executed by the vehicle bottom function execution unit to control the speed, acceleration, steering angle of the vehicle at a corresponding time.
In one embodiment, the roof end information transmitted by the set top box RB to the communication box CB directly includes an instruction that can be recognized and executed by the vehicle floor function execution unit to control the speed, the acceleration and the steering angle of the vehicle at the corresponding time, and then the communication end information is the roof end information.
IN one embodiment, the communication box CB further includes a first data processor 407 coupled to the first vehicle-end communication module 405 to receive the roof-end information sent by the roof box RB, and generate an instruction that CAN be recognized and executed by the vehicle-floor function execution unit according to the roof-end information, so as to control the speed, acceleration, and steering angle of the vehicle at the corresponding time, and send the instruction to the corresponding vehicle-floor function execution unit through a vehicle communication line via the vehicle communication line interface 406.
In one embodiment, the autonomous parking control apparatus 400 further includes a positioning tag 408. In one embodiment, the locating tag 408 is integrated with the first vehicle end communication module 405 and the vehicle communication line interface 406 for placement inside a spoiler, shark fin, or other wave transparent material of the vehicle. In yet another embodiment, the positioning tag 408 is coupled to the first data processor 407 of the communication box CB, and when the vehicle starts an autonomous parking process, the first data processor 407 controls the positioning tag 408 to turn on the positioning function. In one embodiment, the positioning tag 408 is an ultra-wideband positioning tag, and the positioning tag 408 transmits a positioning signal to the positioning base station BS in a designated time slot after the positioning function is turned on.
In one embodiment, the set-top box RB further includes a motion state measuring module 404, which detects motion state information such as speed, angular velocity, acceleration, etc. of the vehicle and transmits the motion state information to the second data processor 403, and the second data processor 403 uses the motion state information to correct the position information of the vehicle. In one embodiment, the motion state measurement module 404 includes a gyroscope and an accelerometer.
In one embodiment, the communication box CB receives vehicle surroundings information, such as obstacle information, learned by sensors on the vehicle that sense the vehicle surroundings information, from the vehicle communication line via the vehicle communication line interface 406. The sensor sensing the information of the surrounding environment of the vehicle includes a radar sensor, an ultrasonic sensor, an optical sensor, and the like. The communication box CB transmits the vehicle surrounding environment information received from the vehicle communication line interface 406 to the roof box RB via the second vehicle-side communication module 405, and the roof box RB fuses the vehicle surrounding environment information into a generation process of the roof-side information, for example, when it is sensed that an obstacle exists in an approaching vehicle traveling region, the vehicle is controlled to brake or detour.
In another embodiment, the first data processor 407 of the communication box CB pre-stores vehicle type information of the vehicle, including a vehicle body size and a position relationship of the positioning Tag placed on the vehicle, and transmits the vehicle type information and the position relationship of the positioning Tag placed on the vehicle to the roof box RB via the first vehicle-end communication module 405, so that the roof box RB accurately knows the position information of the vehicle according to the position information of the positioning Tag, the position relationship of the positioning Tag placed on the vehicle, and the vehicle size of the vehicle itself.
The invention provides an autonomous parking lot system and an autonomous parking control device, which can accurately and timely acquire vehicle position information by building a high-precision positioning system in a parking lot, further accurately adjust the vehicle running track and reduce the risk of vehicle collision. Secondly, the vehicle top box with higher cost is placed outside the vehicle, namely the vehicle top box is temporarily placed on the vehicle when the vehicle enters the parking lot for autonomous parking, so that the vehicle top box belongs to the parking lot and is recycled, and the communication box with lower cost is additionally arranged inside the vehicle, so that the modification cost can be reduced, and the vehicle top box is easy to popularize and popularize. In some embodiments, some components related to autonomous parking, such as a high-speed operation unit, are arranged on the set-top box, so that the complexity of the communication box is reduced, and the related regulation of the installation of the autonomous parking device by the vehicle is easier to meet. In addition, a vehicle end communication module is arranged in the roof box and the communication box, and data is transmitted in a Bluetooth mode, so that reliable and stable communication connection between the roof box and the communication box is realized, vehicles can be accurately controlled, and automatic parking is realized.
As noted above, while the preferred embodiments of the invention have been illustrated and described, many changes can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is not limited by the disclosure of the preferred embodiments. Rather, the invention should be determined entirely by reference to the claims that follow.
Claims (12)
1. A communication box for use with a roof box to enable autonomous parking of a vehicle, wherein the roof box includes a wireless communication module and a second vehicle-side communication module, the wireless communication module receives information from a background server via wireless communication, and the second vehicle-side communication module is coupled to the wireless communication module to obtain roof-side information representing information of the background server, the communication box comprising:
the first vehicle-end communication module acquires the vehicle roof-end information from the second vehicle-end communication module in a wireless communication mode; and
the vehicle communication line interface is coupled to the first vehicle end communication module to acquire communication end information representing roof end information and sends the communication end information to the vehicle to control the vehicle to realize autonomous parking;
the communication box is pre-installed on the vehicle, and the roof box is placed on the vehicle when the vehicle enters autonomous parking.
2. The communication box of claim 1, wherein the first vehicle-end communication module and the second vehicle-end communication module communicate with each other via bluetooth communication.
3. The communication box according to claim 2, wherein the communication box comprises a positioning tag, and a positioning base station installed in a parking lot transceives a positioning signal to measure position information of the positioning tag for enabling autonomous parking of the vehicle.
4. The communication box of claim 3, wherein the positioning tag is pre-installed in a wave-transparent area of the vehicle to enable transceiving of the positioning signal between the positioning tag and the positioning base station.
5. The telecommunications enclosure of claim 4, wherein the locator tag is pre-mounted in a fixed location on the vehicle.
6. The communication box of claim 4, wherein the locating tag is pre-installed in a spoiler or shark fin of the vehicle.
7. The communication box of claim 4, wherein the locating tag is integrated with the first vehicle-end communication module and the vehicle communication line interface for placement within a spoiler or shark fin of the vehicle.
8. The communication box of claim 1, wherein the communication end information is roof end information, the top box further comprising a data processor coupled between the wireless communication module and the second vehicle end communication module, the data processor receiving the backend server information and generating the roof end information according to the backend server information.
9. The communication box of claim 1, wherein the roof side information is backend server information, the communication box further comprising a data processor coupled between the first roof side communication module and the vehicle communication line interface, the data processor receiving the roof side information and generating the communication side information based on the roof side information.
10. The communication box of claim 1, wherein the set-top box and the communication box each further comprise a data processor, the data processor in the set-top box is coupled between the wireless communication module and the second vehicle-side communication module to receive the backend server information and generate the roof-side information according to the backend server information, and the data processor in the communication box is coupled between the first vehicle-side communication module and the vehicle communication line interface to receive the roof-side information and generate the communication-side information according to the roof-side information.
11. A roof box for use with the communication box of any one of claims 1 to 9 to enable autonomous parking of a vehicle, comprising:
the wireless communication module receives information from the background server in a wireless communication mode; and
and the second vehicle-end communication module is coupled to the wireless communication module to obtain the roof-end information representing the background server information, and transmits the roof-end information to the first vehicle-end communication module in a wireless communication mode.
12. An autonomous parking control apparatus comprising:
the vehicle top box includes:
the wireless communication module receives information from the background server in a wireless communication mode; and
the second vehicle-end communication module is coupled to the wireless communication module to obtain vehicle roof-end information representing background server information; and
the communication box of any of claims 1 to 10.
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| CN111439255B (en) | 2024-05-31 |
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