CN-121973763-A - Automatic parking method, device, equipment and storage medium

CN121973763ACN 121973763 ACN121973763 ACN 121973763ACN-121973763-A

Abstract

The invention discloses an automatic parking method, device, equipment and storage medium, wherein the method comprises the steps of responding to a parking request, carrying out communication interaction with a garage management system of a field intelligent garage, and obtaining parking space state information in the field intelligent garage; the method comprises the steps of determining whether a parking space exists in a parking space intelligent garage based on parking space state information, controlling a vehicle to be parked in the parking space intelligent garage to be transferred if the parking space exists, determining a target parking space based on the parking space state information, and controlling the vehicle to be parked in the target parking space from the parking space to be transferred. Because the invention performs communication interaction with the garage management system of the intelligent garage at the site, the parking space state information in the intelligent garage at the site is obtained, then the parking space is determined according to the parking space state information, the vehicle is controlled to park into the parking space to be transferred, and then the target parking space is selected to finish parking.

Inventors

XIE YEJUN
GAO YONG
WANG JUN
WANG ZHE
GAN XIN

Assignees

上汽通用五菱汽车股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260106

Claims (10)

1. An automated parking method, the method comprising: responding to a parking request, performing communication interaction with a garage management system of the intelligent garage at the site, and acquiring parking space state information in the intelligent garage at the site; Determining whether a parking space exists in the intelligent parking garage at the field end based on the parking space state information; If the parking space exists, controlling the vehicle to be parked in the parking space to be transferred of the intelligent garage at the site, and determining a target parking space based on the parking space state information; and controlling the vehicle to be parked into the target parking space from the parking space to be transferred.
2. The automatic parking method according to claim 1, wherein the step of determining a target parking space based on the parking space state information includes: When the number of the parking spaces capable of being used for parking is larger than 1, predicting a first parking time required for parking the vehicle from the parking space to be transferred into each parking space capable of being used for parking, and a second parking time required for parking the vehicle from each parking space capable of being used for parking to the parking space to be transferred; determining comprehensive parking time corresponding to each parking space based on the first parking time and the second parking time corresponding to each parking space; And determining the parking space with the shortest comprehensive parking time as a target parking space.
3. The automatic parking method according to claim 2, wherein the step of predicting a first parking time required to park the vehicle from the parking space to be transferred into each of the parking spaces, and a second parking time required to park the vehicle from each of the parking spaces to be transferred out of the parking space to be transferred, includes: acquiring parking environment parameters related to each parking space capable of being parked and the parking space to be transferred, wherein the parking environment parameters comprise barrier distribution information; determining a corresponding track planning strategy according to the type and the number of the obstacles in the obstacle distribution information; And predicting a first parking time required for parking the vehicle from the parking spaces to be transferred into the parking spaces and a second parking time required for parking the vehicle from the parking spaces to be transferred out of the parking spaces to be transferred based on the track planning strategy.
4. The automatic parking method of claim 3, wherein the parking environment parameters further include starting position information and aisle width information of the vehicle with respect to each of the parkable spaces; The step of predicting a first parking time required for parking the vehicle from the parking space to be transferred into each of the parking spaces and a second parking time required for parking the vehicle from each of the parking spaces to be transferred out of the parking spaces to be transferred based on the trajectory planning strategy includes: Judging whether each parking space meets a preset parking requirement or not based on the initial position information and the aisle width information, and obtaining a judging result; Updating the parking space according to the judging result to obtain an updated parking space; and predicting a first parking time required for parking the vehicle from the parking space to be transferred into each updated parking space and a second parking time required for parking the vehicle from each updated parking space to the parking space to be transferred based on the track planning strategy.
5. The automatic parking method according to claim 3, wherein the step of predicting a first parking time required to park the vehicle from the to-be-transferred parking space into each of the parking spaces, and a second parking time required to park the vehicle from each of the parking spaces to the to-be-transferred parking space based on the trajectory planning strategy, comprises: Acquiring the current system calculation load, and adjusting a track search range for predicting the first parking time and the second parking time according to the current system calculation load to acquire an adjusted track search range; And predicting a first parking time required for parking the vehicle from the parking space to be transferred into each parking space and a second parking time required for parking the vehicle from each parking space to be transferred into the parking space to be transferred based on the track planning strategy and the adjusted track searching range.
6. The automatic parking method according to claim 5, wherein the step of predicting a first parking time required to park the vehicle from the to-be-transferred parking space into each of the parking spaces, and a second parking time required to park the vehicle from each of the parking spaces out to the to-be-transferred parking space based on the trajectory planning strategy and the adjusted trajectory search range, comprises: planning a parking track for the vehicle to park from the parking space to be transferred into each parking space within the adjusted track searching range based on the track planning strategy; Planning a parking track from each parking space to the parking space to be transferred for the vehicle in the adjusted track searching range based on the track planning strategy; and respectively predicting a first parking time and a second parking time based on each of the parking tracks and each of the parking tracks.
7. The automatic parking method according to any one of claims 1 to 6, characterized in that, after the step of controlling the vehicle to be parked from the parking space to be transferred to the target parking space, further comprises: Responding to a vehicle parking request, and sending a vehicle parking instruction to the garage management system; receiving a vehicle transfer completion notification sent by the garage management system, wherein the vehicle transfer completion notification indicates that the vehicle has been moved from the target parking space to the parking space to be transferred; and controlling the vehicle to be parked out of the intelligent garage at the site from the parking space to be transferred.
8. An automatic parking apparatus, the apparatus comprising: the information acquisition module is used for responding to a parking request, carrying out communication interaction with a garage management system of the intelligent garage at the site and acquiring parking space state information in the intelligent garage at the site; the parking space judging module is used for determining whether a parking space exists in the intelligent parking garage at the site or not based on the parking space state information; The parking space determining module is used for controlling a vehicle to be parked in a parking space to be transferred of the intelligent parking garage at the site if the parking space exists, and determining a target parking space based on the parking space state information; And the vehicle parking module is used for controlling the vehicle to be parked into the target parking space from the parking space to be transferred.
9. An automatic parking apparatus comprising a memory, a processor, and an automatic parking program stored on the memory and executable on the processor, the automatic parking program configured to implement the steps of the automatic parking method of any one of claims 1 to 7.
10. A storage medium having stored thereon an automatic parking program which, when executed by a processor, implements the steps of the automatic parking method according to any one of claims 1to 7.

Description

Automatic parking method, device, equipment and storage medium Technical Field The present invention relates to the field of intelligent driving technologies, and in particular, to an automatic parking method, apparatus, device, and storage medium. Background The automatic parking technology is widely applied and developed in recent years as one of key functions of intelligent network-connected automobiles. The existing automatic parking system generally relies on sensors (such as cameras, ultrasonic radars, laser radars and the like) of the vehicle to sense the surrounding environment, and performs path planning and control based on sensing information, so that the automatic parking and exiting functions of the vehicle on a common ground scribing parking space are realized. The parking load of a driver is effectively reduced, and the parking convenience is improved. However, as urban land resources become increasingly stringent, a stereoscopic and intelligent mechanical garage (i.e., a stereoscopic intelligent garage) becomes an important solution for improving space utilization. Such garages realize multi-layer dense parking of parking spaces through mechanical devices such as lifting and transverse movement, but the operation of the garage usually depends on an independent garage management system, vehicles need to be parked in a designated handover area (such as a first-layer parking space to be transferred), and then the vehicles are transported to a target parking space by a garage mechanism. At present, an automatic vehicle parking system and a garage management system of the intelligent field garage are in mutually independent states, and an effective information interaction and cooperative control mechanism is lacked between the automatic vehicle parking system and the garage management system. The existing automatic parking has the following limitation that one of the existing automatic parking has limited application scenes. The traditional automatic parking function cannot cover an important parking scene of the three-dimensional intelligent garage, the vehicle cannot automatically complete the whole process of entering a garage handover area and parking a specified mechanical parking space from the handover area, and a user still needs manual operation under the scene. Secondly, the overall parking efficiency is low. Even if a vehicle can park in the handover area, the vehicle system cannot know the real-time parking space state (such as the idle parking space position, the obstacle condition, etc.) in the garage in advance, and cannot evaluate and select the optimal parking space (such as the shortest time for subsequent vehicle taking) among a plurality of optional parking spaces for parking, which may not only lead to the fact that the garage space utilization is not optimal, but also leads to the lengthening of the subsequent vehicle taking waiting time of a user, and influences the overall flow efficiency from parking to parking. Therefore, there is a need for an automatic parking method that can expand the application scenario of automatic parking and improve the parking efficiency. Disclosure of Invention The invention mainly aims to provide an automatic parking method, an automatic parking device, automatic parking equipment and a storage medium, and aims to solve the technical problems that the automatic parking application scene is limited and the parking efficiency is low in the prior art. To achieve the above object, the present invention provides an automatic parking method, comprising the steps of: responding to a parking request, performing communication interaction with a garage management system of the intelligent garage at the site, and acquiring parking space state information in the intelligent garage at the site; Determining whether a parking space exists in the intelligent parking garage at the field end based on the parking space state information; If the parking space exists, controlling the vehicle to be parked in the parking space to be transferred of the intelligent garage at the site, and determining a target parking space based on the parking space state information; and controlling the vehicle to be parked into the target parking space from the parking space to be transferred. Optionally, the step of determining the target parking space based on the parking space state information includes: When the number of the parking spaces capable of being used for parking is larger than 1, predicting a first parking time required for parking the vehicle from the parking space to be transferred into each parking space capable of being used for parking, and a second parking time required for parking the vehicle from each parking space capable of being used for parking to the parking space to be transferred; determining comprehensive parking time corresponding to each parking space based on the first parking time and the second parking time corresponding to each parking space; A