Parking space reservation parking method, vehicle exit method, device, equipment and medium

Abstract

The application provides a parking space reservation parking method, a vehicle exit method, a device, computer equipment and a storage medium. The method comprises the following steps: obtaining a target parking position, a topological map and a point cloud map of a target parking lot, and the target parking position is a parking position successfully reserved by a to-be-parked vehicle; generating a navigation route of the to-be-parked vehicle between an entrance position of the target parking lot and the target parking position based on the target parking position and the topological map; determining a vehicle pose of the to-be-parked vehicle when driving on the navigation route based on the point cloud map; and dynamically displaying a pose change of the to-be-parked vehicle in the topological map based on the vehicle pose. The embodiment enables a user to intuitively view the position of the target parking space in the topological map, without the need to search for the parking space within the line of sight, thereby improving the searching efficiency and safety of the parking space.

Description

Technical Field

[0001] This application relates to the field of smart city technology, and more specifically, to a parking space reservation parking method, a vehicle exit method, an apparatus, a computer device, and a storage medium. Background Technology

[0002] With the increasing number of vehicles, the problems of "difficulty in parking and disorderly parking" have become increasingly prominent. Currently, during peak parking periods, empty parking spaces are still very scarce in multi-story parking lots covering thousands or tens of thousands of square meters. Although vehicles are constantly leaving, drivers cannot find the location of empty parking spaces.

[0003] In related technologies, traffic lights are installed above parking spaces to guide vehicles to park, and indicators showing the number of available parking spaces are installed at the entrance and exit gates of parking lots. However, drivers can only look for available parking spaces within their line of sight, and even if they find one, other vehicles may take it first, making parking inefficiency very low and easily causing driver distraction and accidents. Summary of the Invention

[0004] The purpose of this application is to provide a parking space reservation parking method, a vehicle exit method, a device, a computer equipment, and a storage medium, aiming to solve the problem of low parking efficiency in the current parking space parking process.

[0005] In a first aspect, embodiments of this application provide a parking space reservation method, applied to a terminal, the method comprising:

[0006] Obtain the target parking location and the topology map and point cloud map of the target parking lot. The target parking location is the parking location where the vehicle waiting to park has been successfully reserved.

[0007] Based on the target parking location and topology map, generate a navigation route for the vehicle to be parked from the entrance of the target parking lot to the target parking location;

[0008] Based on point cloud maps, determine the vehicle pose of the vehicle waiting to be parked as it travels along the navigation route.

[0009] Based on the vehicle's pose, the pose changes of the vehicle to be parked in the topology map are dynamically displayed.

[0010] In this embodiment, by acquiring the target parking location and the topology map and point cloud map of the target parking lot, and based on the target parking location and the topology map, a navigation route is generated between the entrance of the target parking lot and the target parking location for the vehicle to be parked, thereby realizing the planning of the navigation route within the target parking lot, enabling the vehicle to drive according to the navigation route within the target parking lot; and based on the point cloud map, the vehicle pose of the vehicle to be parked while driving on the navigation route is determined, so as to realize the positioning of the vehicle to be parked during the driving process using the point cloud map; finally, based on the vehicle pose, the pose change of the vehicle to be parked in the topology map is dynamically displayed, allowing users to intuitively view the location of the target parking space in the topology map without having to search for a parking space within their line of sight, thus improving the efficiency and safety of finding a parking space.

[0011] In one implementation, after obtaining the target parking location and the topology map and point cloud map of the target parking lot, the method further includes:

[0012] Real-time acquisition of available parking space information in the target parking lot, and marking available parking spaces in the topology map based on the available parking space information;

[0013] If a user inputs a parking space change command based on the topology map, a parking space change request is sent to the cloud. The parking space change request contains the available parking space information corresponding to the target available parking space in the topology map.

[0014] If a successful parking space change message is received from the cloud in response to the parking space change request, the target available parking space will become the new target parking location.

[0015] In this implementation, by marking empty parking spaces on the topology map, users can view the available parking spaces in the entire parking lot at the current moment while driving. This allows users to find a better parking location or choose to change parking spaces for other reasons, providing users with more options and improving the user experience.

[0016] In one implementation, before generating the navigation route for the vehicle to be parked from the entrance of the target parking lot to the target parking location, based on the target parking location and the topology map, the method further includes:

[0017] Based on the Global Positioning System, determine whether the vehicles waiting to be parked have reached the operating area of ​​the target parking lot;

[0018] If a vehicle waiting to be parked arrives at the operating domain of the target parking lot, its position at the entrance of the target parking lot is determined based on the point cloud map of the target parking lot's entrance.

[0019] In this implementation, the GPS system is used to initially determine whether the vehicle to be parked is within the entrance range of the target parking lot. Then, the entrance point map is used to accurately locate the vehicle to be parked, thereby achieving accurate initial positioning of the vehicle in the topological map and improving the positioning accuracy of the vehicle during subsequent driving.

[0020] In one implementation, after determining the vehicle's pose as it travels along the navigation route based on a point cloud map, the method further includes:

[0021] If the overlap between the vehicle's position and the target parking position is greater than a preset value, the smart lock at the target parking position will be controlled to detect whether the vehicle to be parked has entered the parking space.

[0022] If the vehicle waiting to be parked has already entered the parking space, the system will send information to the cloud indicating that the parking space is occupied.

[0023] In this implementation, the degree of overlap between the vehicle's pose and the target parking position determines whether the vehicle has completed parking, thus achieving automated parking determination; and parking space status information is sent to the cloud, enabling the cloud to monitor the parking space status in real time and ensure the normal operation of the parking lot.

[0024] Secondly, embodiments of this application provide a parking space reservation method, applied in the cloud, the method including:

[0025] The terminal sends the target parking location, as well as the topology map and point cloud map of the target parking lot. The target parking location is the parking location that the vehicle to be parked has successfully booked. The target parking location and the topology map are used by the terminal to generate a navigation route for the vehicle to be parked from the entrance of the target parking lot to the target parking location. The point cloud map is used by the terminal to determine the vehicle pose when the vehicle to be parked is driving on the navigation route. The vehicle pose is used by the terminal to dynamically display the pose changes of the vehicle to be parked in the topology map.

[0026] In one implementation, after sending the target parking location and the topology map and point cloud map of the target parking lot to the terminal, the method further includes:

[0027] The system sends real-time information on available parking spaces in the target parking lot to the terminal. This information is used to mark available parking spaces on the topology map.

[0028] The receiving terminal triggers the sending of a parking space change request based on the parking space change instruction. The parking space change instruction is an instruction input by the user based on the topology map. The parking space change request contains the available parking space information corresponding to the target available parking space in the topology map.

[0029] In response to a parking space change request, if the target available parking space is not reserved or occupied, a parking space change success message is returned to the terminal. The parking space change success message indicates that the target available parking space is the new target parking location.

[0030] Thirdly, embodiments of this application provide a vehicle exit method, applied in a cloud environment, the method comprising:

[0031] If a parked vehicle requests to leave the parking lot, the terminal is sent the parking lot exit location, as well as the topology map and point cloud map of the target parking lot. The parking lot exit location and topology map are used by the terminal to generate the exit route of the parked vehicle from the current location to the parking lot exit location. The point cloud map is used by the terminal to determine the vehicle pose when the parked vehicle is driving on the exit route. The vehicle pose is used by the terminal to dynamically display the pose changes of the parked vehicle in the topology map.

[0032] Fourthly, embodiments of this application provide a parking space reservation device, applied to a terminal, the device comprising:

[0033] The acquisition module is used to acquire the target parking location and the topology map and point cloud map of the target parking lot. The target parking location is the parking location where the vehicle to be parked has been successfully reserved.

[0034] The generation module is used to generate a navigation route for the vehicle to be parked from the entrance of the target parking lot to the target parking location, based on the target parking location and the topology map.

[0035] The determination module is used to determine the vehicle pose of the vehicle to be parked as it travels along the navigation route, based on the point cloud map.

[0036] The update module is used to dynamically display the pose changes of the vehicle to be parked in the topology map based on the vehicle's pose.

[0037] Fifthly, embodiments of this application provide a parking space reservation device applied in a cloud environment, the device comprising:

[0038] The sending module is used to send the target parking location, as well as the topology map and point cloud map of the target parking lot, to the terminal. The target parking location is the parking location that the vehicle to be parked has successfully booked. The target parking location and the topology map are used by the terminal to generate a navigation route for the vehicle to be parked from the entrance of the target parking lot to the target parking location. The point cloud map is used by the terminal to determine the vehicle pose when the vehicle to be parked is driving on the navigation route. The vehicle pose is used by the terminal to dynamically display the pose changes of the vehicle to be parked in the topology map.

[0039] Sixthly, embodiments of this application provide a vehicle exit device applied in the cloud, the device comprising:

[0040] The exit module is used to send the parking lot exit location, topology map and point cloud map of the target parking lot to the terminal if a parked vehicle requests to leave the parking lot. The parking lot exit location and topology map are used by the terminal to generate the exit route of the parked vehicle from the current location to the parking lot exit location. The point cloud map is used by the terminal to determine the vehicle pose when the parked vehicle is driving on the exit route. The vehicle pose is used by the terminal to dynamically display the pose changes of the parked vehicle in the topology map.

[0041] In a seventh aspect, embodiments of this application provide a computer device, including a memory and a processor. The memory stores a computer program, and the processor runs the computer program to cause the computer device to perform the parking space reservation parking method described in either the first or second aspect above.

[0042] Eighthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the parking space reservation method of any one of the first or second aspects described above.

[0043] It should be noted that the beneficial effects of aspects two through eight above are described in the relevant description of aspect one above, and will not be repeated here. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the parking space reservation system provided in the embodiments of this application;

[0046] Figure 2 A flowchart illustrating the implementation of a parking space reservation method according to an embodiment of this application;

[0047] Figure 3 Topology provided for an embodiment of this application Figure 3 A and point cloud Figure 3 A schematic diagram of B;

[0048] Figure 4 A schematic diagram of a navigation route provided in one embodiment of this application;

[0049] Figure 5 A schematic diagram illustrating the pose changes of a vehicle waiting to be parked in a topology map, provided as an embodiment of this application;

[0050] Figure 6A flowchart illustrating the implementation of a parking space reservation method according to another embodiment of this application;

[0051] Figure 7 A flowchart illustrating the implementation of a vehicle exit method according to an embodiment of this application;

[0052] Figure 8 A structural flowchart of a parking space reservation device provided in an embodiment of this application;

[0053] Figure 9 A structural flowchart of a parking space reservation device provided in another embodiment of this application;

[0054] Figure 10 This is a schematic diagram of the structure of a vehicle exit device provided in an embodiment of this application;

[0055] Figure 11 A flowchart illustrating the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0056] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0057] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0058] As described in the background section, when parking in a parking lot, drivers can only look for empty parking spaces within their line of sight. Even if they find an empty space, other vehicles may take it first, making parking inefficient and easily causing drivers to become distracted and leading to accidents.

[0059] To address the problems in the prior art, this application provides a parking space reservation method. This method acquires the target parking location and the topology map and point cloud map of the target parking lot. Based on the target parking location and the topology map, it generates a navigation route from the entrance of the target parking lot to the target parking location, thereby planning the navigation route within the target parking lot so that the vehicle can travel according to the navigation route. Furthermore, based on the point cloud map, it determines the vehicle's pose while traveling on the navigation route, using the point cloud map to locate the vehicle during its journey. Finally, based on the vehicle's pose, it dynamically displays the pose changes of the vehicle in the topology map, allowing users to intuitively view the location of the target parking space without having to search for it within their line of sight, thus improving the efficiency and security of parking space search.

[0060] See Figure 1 , Figure 1 A schematic diagram of a parking space reservation system provided in an embodiment of this application is shown. Figure 1 As shown, this system includes a user terminal 11, an in-vehicle terminal 12, and a cloud 13, which are interconnected. The user terminal 11 includes, but is not limited to, terminal devices such as smartphones, tablets, and personal digital assistants; the in-vehicle terminal 12 can be a terminal device such as an in-vehicle computer; and the cloud 13 can be a cloud server and a cloud service cluster.

[0061] User terminal 11 can be used for parking space reservation, vehicle departure application, parking lot navigation, vehicle terminal settings, and other settings. Vehicle terminal 12 is used for vehicle positioning and navigation and vehicle driving data collection, and includes, but is not limited to, a data acquisition module 121, a navigation module 122, and a positioning module 123. Cloud 13 is used to provide map services, parking space reservation management services, and parking space monitoring services, and includes, but is not limited to, a map building module 131, a map service module 132, a parking space reservation management module 133, a parking space control module 134, and a cloud monitoring module 135.

[0062] See Figure 2 , Figure 2 This document illustrates a flowchart of a parking space reservation method provided in an embodiment of this application. The parking space reservation method described below in this embodiment can be applied to a terminal device, which may be an in-vehicle computer or other in-vehicle terminal. This terminal device should have an image acquisition function, or it should be communicatively connected to an image acquisition device on the vehicle, so that the terminal device can acquire scene images in front of the vehicle, and then match the point cloud data extracted from the scene images with a preset point cloud map to achieve vehicle positioning. The parking space reservation method of this embodiment includes steps S201 to S204, detailed below:

[0063] Step S201: Obtain the target parking location and the topology map and point cloud map of the target parking lot. The target parking location is the parking location where the vehicle to be parked has been successfully reserved.

[0064] In this step, the target parking location is the location of a successfully reserved parking space. In one embodiment, the user selects the target parking lot and target parking space via their terminal and sends a parking space reservation request to the cloud-based parking space reservation management module. The parking space reservation request may include, but is not limited to, the username, user terminal IMEI, license plate number of the vehicle to be parked, parking lot number, parking space number, and demand information. After confirming the availability of the parking space by indexing the current parking space status, the parking space reservation management module archives the parking space reservation request and updates the parking space status to reserved; if it finds that the parking space is unavailable, it notifies the user to reapply.

[0065] Optionally, when a vehicle is at the entrance of the target parking lot, the onboard terminal can request a parking space from the cloud, and the cloud will randomly assign a target parking space to the onboard terminal. When a vehicle is not at the entrance of the target parking lot, the onboard terminal or user terminal can reserve a target parking space from the cloud, and the cloud will assign the target parking space according to the reservation request. Further, based on the travel time from the vehicle's current location to the entrance of the target parking lot, the reservation time for the target parking space is calculated. If the vehicle arrives at the parking lot entrance within the reservation time, the reservation will continue until the vehicle arrives at the target parking space. If the vehicle does not arrive at the parking lot entrance within the reservation time, the reservation will be automatically cancelled, thereby improving the utilization rate of parking spaces.

[0066] Figure 3 The diagram illustrates point cloud maps and topology maps. The topology map is used for real-time navigation services in the vehicle-mounted intelligent terminal navigation module, while the point cloud map, constructed by extracting visual feature points from scene images, can be used for real-time positioning services in the vehicle-mounted terminal positioning module. As shown in 3A, the point cloud map constructed from visual feature points has sparse point clouds and small data volume, which is more conducive to real-time data transmission. During the point cloud map construction process, road structure information and parking space information on both sides are collected and combined with the point cloud map to construct road and scene topology maps, as shown in 3B. This includes information such as the traffic direction of roads within the parking lot, the connection relationship of roads at intersections, and parking spaces on both sides of the road.

[0067] In this embodiment, the user terminal interacts with the cloud to reserve a parking space. After successfully reserving the target parking space, the cloud sends the target parking location, the point cloud map and topology map of the target parking lot to the vehicle terminal. The vehicle terminal obtains the target parking location, the topology map and the point cloud map.

[0068] Step S202: Based on the target parking location and the topology map, generate a navigation route for the vehicle to be parked from the entrance of the target parking lot to the target parking location.

[0069] In this step, a path planning algorithm is used to plan the navigation route described above. Figure 5 A schematic diagram of the navigation route is shown, such as... Figure 4 As shown, once the navigation route is planned, it is integrated into the topology map and displayed on the display unit of the vehicle terminal or user terminal to provide navigation information to the vehicle.

[0070] Step S203: Based on the point cloud map, determine the vehicle pose of the vehicle to be parked while it is traveling on the navigation route.

[0071] In this step, vehicle pose refers to the vehicle's position and orientation. In one embodiment, based on visual positioning technology, an image of the scene in front of the vehicle while it is in motion is acquired. Point cloud feature data is extracted from the scene image, and the point cloud feature data is matched with point cloud features in a point cloud map. The vehicle pose is determined based on the matching result. In another embodiment, based on visual positioning technology, an image of the scene in front of the vehicle while it is in motion is acquired. First point cloud feature data is extracted from the scene image. Second point cloud feature data corresponding to the current position of the vehicle is predicted based on the point cloud map that determined the previous vehicle pose. The first and second point cloud feature data are iteratively compared, and the comparison result is optimized to determine the vehicle pose.

[0072] Optionally, determine whether the vehicle's pose is a waypoint of the navigation route. If so, the vehicle's pose is on the navigation route; otherwise, replan the navigation route based on the vehicle's pose, the target parking location, and the topology map.

[0073] Step S204: Based on the vehicle's pose, dynamically display the position changes of the vehicle to be parked in the topology map.

[0074] In this step, the topology map and the point cloud map have a preset coordinate transformation relationship. Based on the vehicle pose of the vehicle to be parked obtained in step S203, the position coordinates of the vehicle pose are used to determine the pose change of the vehicle pose in the topology map through the coordinate transformation relationship, thereby realizing the position update of the vehicle to be parked in the topology map.

[0075] Figure 5 This diagram illustrates the pose changes of the vehicle waiting to stop within the topology map. (For example...) Figure 5 As shown, the dynamic display shows the pose changes of the vehicles waiting to stop in the topology map.

[0076] In one implementation method, Figure 1 Based on the embodiment, after step S201 above, the method further includes:

[0077] Real-time acquisition of available parking space information in the target parking lot, and marking available parking spaces in the topology map based on the available parking space information;

[0078] If a user inputs a parking space change command based on the topology map, a parking space change request is sent to the cloud. The parking space change request contains the available parking space information corresponding to the target available parking space in the topology map.

[0079] If a successful parking space change message is received from the cloud in response to the parking space change request, the target available parking space will become the new target parking location.

[0080] In this implementation, the terminal interacts with the cloud in real time. Based on the parking space status monitored by the cloud monitoring module, the latest available parking space information is sent to the terminal, and available parking spaces are displayed on the navigation interface corresponding to the topology map based on this information. In one embodiment, after successfully reserving a parking space and obtaining the topology map, the user can view the available parking space information on the topology map to change the target parking space. For example, this could happen if the user changes the target parking space immediately after a successful reservation for some reason. In another embodiment, if a vehicle is driving within the target parking lot and discovers that a certain area has more convenient parking spaces or is closer to the garage elevator entrance, the user can view the available parking space information for that area on the topology map and initiate a change request.

[0081] In one implementation method, Figure 1 Based on the embodiments, before step S202 above, the following is also included:

[0082] Based on the Global Positioning System, determine whether the vehicles waiting to be parked have reached the operating area of ​​the target parking lot;

[0083] If a vehicle waiting to be parked arrives at the operating domain of the target parking lot, its position at the entrance of the target parking lot is determined based on the point cloud map of the target parking lot's entrance.

[0084] In this implementation, when the vehicle terminal navigation module determines that the vehicle to be parked has reached the operating domain (ODD) of the target parking lot, it requests the map service module to issue the point cloud map and topology map at the entrance, and determines the precise location of the vehicle to be parked in the topology map based on the entrance point cloud map.

[0085] In one implementation method, Figure 1 Based on the embodiment, after step S203 above, the method further includes:

[0086] If the overlap between the vehicle's position and the target parking position is greater than a preset value, the smart lock at the target parking position will be controlled to detect whether the vehicle to be parked has entered the parking space.

[0087] If the vehicle waiting to be parked has already entered the parking space, the system will send information to the cloud indicating that the parking space is occupied.

[0088] In this implementation, parking spaces have four states: available, reserved, occupied, and unavailable. The parking space reservation management module is responsible for managing and maintaining the status information of all parking spaces in the parking lot, and can provide parking space reservation services for users, parking space management when vehicles enter and exit, and parking space management for parking lot operators.

[0089] Optionally, the smart parking lock includes a geomagnetic detector for collecting parking space status data. The geomagnetic detector determines whether a vehicle is parked above it by sensing changes in the magnetic field. The smart parking lock communicates via 4G or 5G.

[0090] Before a vehicle parks, the navigation module of the in-vehicle terminal informs the cloud that it has arrived near the parking space, and the parking space reservation management module instructs the parking space control module to lower the smart lock (which can be understood as locking the target parking location when raised and unlocking it when lowered). After the vehicle parks, the parking space reservation management module determines that the vehicle has been correctly parked based on the parking space status provided by the smart lock and the degree of overlap between the vehicle's position and the parking space position, and updates the parking space status to "occupied". Optionally, the smart lock is equipped with a geomagnet, which can further confirm whether the vehicle has parked in the target parking location (i.e., entered the parking space) when the overlap between the vehicle's position and the target parking location is greater than a preset value. After confirming that the vehicle has parked in the target parking location, it sends parking space status information to the cloud indicating that the target parking location is occupied.

[0091] See Figure 6 , Figure 6 This document illustrates a flowchart of another parking space reservation method provided in an embodiment of this application. The parking space reservation method described below in this embodiment can be applied to the cloud. The parking space reservation method in this embodiment includes step S601, which is detailed below:

[0092] Step S601: Send the target parking location of the target parking space, as well as the topology map and point cloud map of the target parking lot, to the terminal. The target parking space is the parking space that the vehicle to be parked has successfully reserved. The target parking location and the topology map are used by the terminal to generate a navigation route for the vehicle to be parked from the entrance of the target parking lot to the target parking location. The point cloud map is used by the terminal to determine the vehicle pose when the vehicle to be parked is driving on the navigation route. The vehicle pose is used by the terminal to dynamically display the pose changes of the vehicle to be parked in the topology map.

[0093] In one implementation method, Figure 6 Based on the embodiment, after step S601 above, the method further includes:

[0094] The system sends real-time information on available parking spaces in the target parking lot to the terminal. This information is used to mark available parking spaces on the topology map.

[0095] The receiving terminal triggers the sending of a parking space change request based on the parking space change instruction. The parking space change instruction is an instruction input by the user based on the topology map. The parking space change request contains the available parking space information corresponding to the target available parking space in the topology map.

[0096] In response to a parking space change request, if the target vacant parking space is not reserved or occupied, a parking space change success message is returned to the terminal. The parking space change success message indicates that the target vacant parking space is the new target parking location.

[0097] Understandable, Figure 6 Examples and Figure 2The embodiments have the same technical features. Figure 6 For a description of the embodiments, please refer to the above. Figure 2 Explanation of the embodiments.

[0098] See Figure 7 , Figure 7 This document illustrates a flowchart of a vehicle exit method provided in an embodiment of this application. The vehicle exit method described below in this embodiment can be applied to the cloud. The vehicle exit method of this embodiment includes step S701, which is detailed below:

[0099] If a parked vehicle requests to leave the parking lot, the terminal is sent the parking lot exit location, as well as the topology map and point cloud map of the target parking lot. The parking lot exit location and topology map are used by the terminal to generate the exit route of the parked vehicle from the current location to the parking lot exit location. The point cloud map is used by the terminal to determine the vehicle pose when the parked vehicle is driving on the exit route. The vehicle pose is used by the terminal to dynamically display the pose changes of the parked vehicle in the topology map.

[0100] In this embodiment, a vehicle waiting to park requests to leave the parking space from the parking space reservation management module. After the vehicle leaves, the parking space reservation management module determines that the vehicle has been correctly parked based on the parking space status provided by the smart lock and the distance between the vehicle's position and the parking space location. It then instructs the parking space control module to raise the smart lock and update the parking space status to available. The navigation module requests the parking space reservation management module to provide the vehicle's current location and exit location, and requests the map service module to provide a topology map. Based on the vehicle's current location and exit location, it generates a driving route based on the topology map, uploads the driving route to the map service module, requests the map service module to provide a point cloud map, and then... Figure 1 The method in this embodiment navigates the vehicle based on the driving route and point cloud map until the vehicle leaves the target parking lot. It is understood that the navigation process for a vehicle leaving the parking lot is similar to the navigation process for a vehicle entering the parking lot, and will not be described further here.

[0101] In order to perform the above Figure 2 The method embodiments correspond to methods that achieve corresponding functions and technical effects. Below is a parking space reservation device. See also... Figure 8 , Figure 8 This is a structural block diagram of a parking space reservation device provided in an embodiment of this application. For ease of explanation, only the parts relevant to this embodiment are shown. The parking space reservation device 800 provided in this embodiment includes:

[0102] The acquisition module 801 is used to acquire the target parking location of the target parking space, as well as the topology map and point cloud map of the target parking lot. The target parking space is the parking space that the vehicle waiting to park has successfully reserved.

[0103] The generation module 802 is used to generate a navigation route for the vehicle to be parked from the entrance of the target parking lot to the target parking location based on the target parking location and the topology map.

[0104] The determination module 803 is used to determine the vehicle pose of the vehicle to be parked as it travels on the navigation route based on the point cloud map.

[0105] Update module 804 is used to dynamically display the pose changes of the vehicle to be parked in the topology map based on the vehicle's pose.

[0106] In one implementation, the aforementioned device 800 further includes:

[0107] The marking module is used to obtain real-time information on available parking spaces in the target parking lot and mark available parking spaces in the topology map based on the available parking space information;

[0108] The sending module is used to send a parking space change request to the cloud if it hears a parking space change command input by the user based on the topology map. The parking space change request contains the available parking space information corresponding to the target available parking space in the topology map.

[0109] The determination module is used to determine the new target parking location if it receives a successful parking space change message from the cloud in response to the parking space change request.

[0110] In one implementation, the aforementioned device 800 further includes:

[0111] The second determining module is used to determine whether the vehicle to be parked has reached the operating domain of the target parking lot based on the Global Positioning System.

[0112] The third determination module is used to determine the entrance position of the vehicle to be parked at the target parking lot based on the entrance point cloud map of the target parking lot if the vehicle to be parked arrives at the operating domain of the target parking lot.

[0113] In one implementation, the aforementioned device 800 further includes:

[0114] The control module is used to control the smart lock at the target parking position to detect whether the vehicle to be parked has entered the parking space if the overlap between the vehicle's position and the target parking position is greater than a preset value.

[0115] If the vehicle waiting to be parked has already entered the parking space, the system will send information to the cloud indicating that the parking space is occupied.

[0116] The aforementioned parking space reservation parking device 800 can implement the above-mentioned... Figure 2 A parking space reservation method according to an embodiment of the method. (The above...) Figure 2 The options described in the method embodiments also apply to this embodiment, and will not be detailed here. The remaining contents of the embodiments of this application can be referred to the above. Figure 2 The details of the method implementation examples will not be repeated in this embodiment.

[0117] In order to perform the above Figure 6 The method embodiments correspond to the methods used to achieve the corresponding functions and technical effects. Another parking space reservation device is provided below. See [link to documentation]. Figure 9 , Figure 9 This is a structural block diagram of another parking space reservation device provided in an embodiment of this application. For ease of explanation, only the parts related to this embodiment are shown. The parking space reservation device 900 provided in this embodiment includes:

[0118] The sending module 901 is used to send the target parking location of the target parking space, as well as the topology map and point cloud map of the target parking lot, to the terminal. The target parking space is the parking space that the vehicle to be parked has successfully reserved. The target parking location and the topology map are used by the terminal to generate a navigation route for the vehicle to be parked from the entrance of the target parking lot to the target parking location. The point cloud map is used by the terminal to determine the vehicle pose when the vehicle to be parked is driving on the navigation route. The vehicle pose is used by the terminal to dynamically display the pose changes of the vehicle to be parked in the topology map.

[0119] In one implementation, the aforementioned device 900 further includes:

[0120] The second sending module is used to send real-time information on available parking spaces in the target parking lot to the terminal. This information is used to mark available parking spaces in the topology map.

[0121] The receiving module is used to receive parking space change requests sent by the terminal based on the parking space change instruction. The parking space change instruction is an instruction input by the user based on the topology map. The parking space change request contains the available parking space information corresponding to the target available parking space in the topology map.

[0122] The return module is used to respond to parking space change requests. If the target vacant parking space is not reserved or occupied, it returns a parking space change success message to the terminal. The parking space change success message is used to indicate that the target vacant parking space is the new target parking location.

[0123] The aforementioned parking space reservation parking device can implement the above-mentioned... Figure 6 A parking space reservation method according to an embodiment of the method. (The above...) Figure 6 The options described in the method embodiments also apply to this embodiment, and will not be detailed here. The remaining contents of the embodiments of this application can be referred to the above. Figure 6 The details of the method implementation examples will not be repeated in this embodiment.

[0124] In order to perform the above Figure 7The method embodiments correspond to methods that achieve corresponding functions and technical effects. Below is a vehicle exit device. See also... Figure 10 , Figure 10 This is a structural block diagram of a vehicle exit device provided in an embodiment of this application. For ease of explanation, only the parts relevant to this embodiment are shown. The vehicle exit device 1000 provided in this embodiment includes:

[0125] The exit module 1001 is used to send the parking lot exit location, topology map and point cloud map of the target parking lot to the terminal if a parked vehicle requests to leave the parking lot. The parking lot exit location and topology map are used by the terminal to generate the exit route of the parked vehicle from the current location to the parking lot exit location. The point cloud map is used by the terminal to determine the vehicle pose when the parked vehicle is driving on the exit route. The vehicle pose is used by the terminal to dynamically display the pose changes of the parked vehicle in the topology map.

[0126] The aforementioned parking space reservation parking device can implement the above-mentioned... Figure 7 A parking space reservation method according to an embodiment of the method. (The above...) Figure 7 The options described in the method embodiments also apply to this embodiment, and will not be detailed here. The remaining contents of the embodiments of this application can be referred to the above. Figure 7 The details of the method implementation examples will not be repeated in this embodiment.

[0127] Figure 11 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Figure 11 As shown, the computer device 110 of this embodiment includes: at least one processor 1100 ( Figure 11 (Only one is shown) a processor, a memory 1101, and a computer program 1102 stored in the memory 1101 and executable on the at least one processor 1100, wherein the processor 1100 executes the computer program 1102 to implement the steps in the above method embodiments.

[0128] The computer device 110 can be an in-vehicle terminal such as a vehicle-mounted computer, or a cloud-based device such as a cloud server and cloud service cluster. It is understood that when the computer device is an in-vehicle terminal, the above-mentioned functions can be achieved. Figure 2 The steps of the method embodiment can be implemented when the computer device is in the cloud. Figure 6 The steps of the method embodiment. The computer device may include, but is not limited to, processor 1100 and memory 1101. Those skilled in the art will understand that... Figure 11 The computer device 110 is merely an example and does not constitute a limitation on the computer device 110. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0129] The processor 1100 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0130] In some embodiments, the memory 1101 may be an internal storage unit of the computer device 110, such as a hard disk or memory of the computer device 110. In other embodiments, the memory 1101 may be an external storage device of the computer device 110, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 110. Further, the memory 1101 may include both internal and external storage units of the computer device 110. The memory 1101 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 1101 can also be used to temporarily store data that has been output or will be output.

[0131] In addition, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in any of the above method embodiments.

[0132] This application provides a computer program product that, when run on a computer device, enables the computer device to perform the steps described in the above-described method embodiments.

[0133] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0134] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0135] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0136] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0137] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0138] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for reserving parking spaces, characterized in that, Applied to terminals, the methods include: The system acquires the target parking location and its topology map and point cloud map. The target parking location is the parking location where the vehicle has successfully booked a spot. The topology map is constructed by collecting road structure information and parking space information on both sides of the point cloud map during the point cloud map construction process. The information contained in the topology map includes: the traffic direction of the roads within the parking lot, the connection relationship of the roads at intersections, and the parking spaces on both sides of the roads. Based on the target parking location and the topology map, a navigation route is generated for the vehicle to be parked between the entrance of the target parking lot and the target parking location; Based on the point cloud map, the vehicle pose of the vehicle to be parked is determined when it is traveling on the navigation route. Based on the vehicle's pose, the pose change of the vehicle to be parked in the topology map is dynamically displayed; the topology map and the point cloud map have a preset coordinate transformation relationship; the pose change is determined according to the position coordinates of the vehicle's pose and the preset coordinate transformation relationship. The step of determining the vehicle pose of the vehicle to be parked while traveling on the navigation route based on the point cloud map includes: Based on visual positioning technology, an image of the scene ahead of the vehicle to be parked is acquired while it is in motion. Point cloud feature data is extracted from the image, and the point cloud feature data is matched with point cloud features in a point cloud map. Based on the matching result, the vehicle pose of the vehicle to be parked while traveling on the navigation route is determined; or... Based on visual positioning technology, an image of the scene in front of the vehicle to be parked is acquired while it is in motion. First point cloud feature data is extracted from the image of the scene in front. Second point cloud feature data corresponding to the current position of the vehicle to be parked is predicted based on the point cloud map that determines the previous vehicle pose. The first point cloud feature data and the second point cloud feature data are iteratively compared. By optimizing the comparison results, the vehicle pose of the vehicle to be parked while it is traveling on the navigation route is determined.

2. The parking space reservation method according to claim 1, characterized in that, After obtaining the target parking location and the topology map and point cloud map of the target parking lot, the process also includes: The system acquires real-time information on available parking spaces in the target parking lot and marks available parking spaces in the topology map based on this information. If a parking space change command is detected by the user based on the topology map, a parking space change request is sent to the cloud. The parking space change request contains the available parking space information corresponding to the target available parking space in the topology map. If the cloud receives a parking space change success message in response to the parking space change request, then the target empty parking space becomes the new target parking location.

3. The parking space reservation method according to claim 1, characterized in that, Before generating a navigation route for the vehicle to be parked between the entrance of the target parking lot and the target parking location based on the target parking location and the topology map, the method further includes: Based on the Global Positioning System, determine whether the vehicle to be parked has reached the operating area of ​​the target parking lot; If the vehicle to be parked arrives at the operating area of ​​the target parking lot, the entrance position of the vehicle to be parked in the target parking lot is determined based on the entrance point cloud map of the target parking lot.

4. The parking space reservation method according to claim 1, characterized in that, After determining the vehicle pose of the vehicle to be parked on the navigation route based on the point cloud map, the method further includes: If the overlap between the vehicle's position and the target parking location is greater than a preset value, then the smart lock at the target parking location is controlled to detect whether the vehicle to be parked has entered the parking space. If the vehicle to be parked has already entered the parking space, then the parking space status information indicating that the target parking location is occupied is sent to the cloud.

5. A method for reserving parking spaces, characterized in that, Applied to the cloud, the methods include: The system sends a target parking location, along with a topology map and a point cloud map of the target parking lot, to the terminal. The target parking location is the parking spot where the vehicle has successfully booked a spot. The target parking location and the topology map are used by the terminal to generate a navigation route for the vehicle from the entrance of the target parking lot to the target parking location. The point cloud map is used by the terminal to determine the vehicle's pose as it travels along the navigation route. The vehicle's pose is used by the terminal to dynamically display the pose changes of the vehicle in the topology map. The topology map is constructed by collecting road structure information and parking space information on both sides during the point cloud map construction process, and combining this information with the point cloud map. The information included in the topology map includes: the traffic direction of roads within the parking lot, the road connections at intersections, and the parking spaces on both sides of the roads. The topology map and the point cloud map have a preset coordinate transformation relationship. The pose changes are determined based on the vehicle's position coordinates and the preset coordinate transformation relationship. The vehicle's position and orientation while traveling on the navigation route are obtained based on the following method: Based on visual positioning technology, an image of the scene ahead of the vehicle to be parked is acquired while it is in motion. Point cloud feature data is extracted from the image, and the point cloud feature data is matched with point cloud features in a point cloud map. Based on the matching result, the vehicle pose of the vehicle to be parked while traveling on the navigation route is determined; or... Based on visual positioning technology, an image of the scene in front of the vehicle to be parked is acquired while it is in motion. First point cloud feature data is extracted from the image of the scene in front. Second point cloud feature data corresponding to the current position of the vehicle to be parked is predicted based on the point cloud map that determines the previous vehicle pose. The first point cloud feature data and the second point cloud feature data are iteratively compared. By optimizing the comparison results, the vehicle pose of the vehicle to be parked while it is traveling on the navigation route is determined.

6. The parking space reservation method according to claim 5, characterized in that, After sending the target parking location and the topology map and point cloud map of the target parking lot to the terminal, the method further includes: The terminal sends real-time information on available parking spaces in the target parking lot, and the available parking space information is used to mark available parking spaces in the topology map. The system receives a parking space change request triggered by the terminal based on a parking space change instruction. The parking space change instruction is an instruction input by the user based on the topology map. The parking space change request includes the available parking space information corresponding to the target available parking space in the topology map. In response to the parking space change request, if the target vacant parking space is not reserved or occupied, a parking space change success message is returned to the terminal. The parking space change success message is used to indicate that the target vacant parking space is the new target parking location.

7. A method for removing a vehicle from the factory, characterized in that, Applied to the cloud, the method includes: If a parked vehicle requests to leave the parking lot, the terminal receives the parking lot exit location, along with a topology map and a point cloud map of the target parking lot. The parking lot exit location and the topology map are used by the terminal to generate an exit route for the parked vehicle from its current location to the parking lot exit location. The point cloud map is used by the terminal to determine the vehicle's pose as it travels along the exit route. The vehicle's pose is used by the terminal to dynamically display the pose changes of the parked vehicle in the topology map. The topology map is constructed by collecting road structure information and parking space information on both sides during the point cloud map construction process, and combining this with the point cloud map. The information included in the topology map includes: the traffic direction of roads within the parking lot, the road connections at intersections, and the parking spaces on both sides of the roads. The topology map and the point cloud map have a preset coordinate transformation relationship. The pose changes are determined based on the vehicle's position coordinates and the preset coordinate transformation relationship. The vehicle position and orientation of the parked vehicle while it is traveling on the exit route are obtained based on the following method: Based on visual positioning technology, an image of the scene ahead of the parked vehicle while it is in motion is acquired. Point cloud feature data is extracted from the image, and the point cloud feature data is matched with point cloud features in a point cloud map. Based on the matching result, the vehicle pose of the parked vehicle while it is traveling on the exit route is determined; or... Based on visual positioning technology, an image of the scene in front of the parked vehicle while it is in motion is acquired. First point cloud feature data is extracted from the image of the scene in front. Second point cloud feature data corresponding to the current position of the parked vehicle is predicted based on the point cloud map that determines the previous vehicle pose. The first point cloud feature data and the second point cloud feature data are iteratively compared. By optimizing the comparison results, the vehicle pose of the parked vehicle when it is in motion on the exit route is determined.

8. A parking space reservation device, characterized in that, Applied to terminals, the device includes: The acquisition module is used to acquire the target parking location and the topology map and point cloud map of the target parking lot. The target parking location is the parking location where the vehicle waiting to park has been successfully reserved. The topology map is constructed by collecting road structure information and parking space information on both sides during the point cloud map construction process and combining them with the point cloud map. The information contained in the topology map includes: the traffic direction of the roads in the parking lot, the connection relationship of the roads at intersections, and the parking spaces on both sides of the roads. The generation module is used to generate a navigation route for the vehicle to be parked between the entrance of the target parking lot and the target parking location, based on the target parking location and the topology map. The determination module is used to determine the vehicle pose of the vehicle to be parked when it is traveling on the navigation route, based on the point cloud map. An update module is used to dynamically display the pose change of the vehicle to be parked in the topology map based on the vehicle's pose; the topology map and the point cloud map have a preset coordinate transformation relationship; the pose change is determined based on the position coordinates of the vehicle's pose and the preset coordinate transformation relationship; Specifically, the determining module is used for: Based on visual positioning technology, an image of the scene ahead of the vehicle to be parked is acquired while it is in motion. Point cloud feature data is extracted from the image, and the point cloud feature data is matched with point cloud features in a point cloud map. Based on the matching result, the vehicle pose of the vehicle to be parked while traveling on the navigation route is determined; or... Based on visual positioning technology, an image of the scene in front of the vehicle to be parked is acquired while it is in motion. First point cloud feature data is extracted from the image of the scene in front. Second point cloud feature data corresponding to the current position of the vehicle to be parked is predicted based on the point cloud map that determines the previous vehicle pose. The first point cloud feature data and the second point cloud feature data are iteratively compared. By optimizing the comparison results, the vehicle pose of the vehicle to be parked while it is traveling on the navigation route is determined.

9. A parking space reservation device, characterized in that, Applied to the cloud, the device includes: A sending module is used to send a target parking location, a topology map, and a point cloud map of the target parking lot to the terminal. The target parking location is the parking location where the vehicle has successfully reserved a spot. The target parking location and the topology map are used by the terminal to generate a navigation route for the vehicle from the entrance of the target parking lot to the target parking location. The point cloud map is used by the terminal to determine the vehicle's pose as it travels along the navigation route. The vehicle's pose is used by the terminal to dynamically display the pose changes of the vehicle in the topology map. The topology map is constructed by collecting road structure information and parking space information on both sides during the point cloud map construction process, and combining this information with the point cloud map. The information contained in the topology map includes: the traffic direction of roads within the parking lot, the connection relationship of roads at intersections, and the parking spaces on both sides of the roads. The topology map and the point cloud map have a preset coordinate transformation relationship. The pose changes are determined based on the vehicle's position coordinates and the preset coordinate transformation relationship. The vehicle's position and orientation while traveling on the navigation route are obtained based on the following method: Based on visual positioning technology, an image of the scene ahead of the vehicle to be parked is acquired while it is in motion. Point cloud feature data is extracted from the image, and the point cloud feature data is matched with point cloud features in a point cloud map. Based on the matching result, the vehicle pose of the vehicle to be parked while traveling on the navigation route is determined; or... Based on visual positioning technology, an image of the scene in front of the vehicle to be parked is acquired while it is in motion. First point cloud feature data is extracted from the image of the scene in front. Second point cloud feature data corresponding to the current position of the vehicle to be parked is predicted based on the point cloud map that determines the previous vehicle pose. The first point cloud feature data and the second point cloud feature data are iteratively compared. By optimizing the comparison results, the vehicle pose of the vehicle to be parked while it is traveling on the navigation route is determined.

10. A vehicle exit device, characterized in that, The device, applied in the cloud, includes: The exit module is used to send the parking lot exit location, a topology map, and a point cloud map of the target parking lot to the terminal when a parked vehicle requests to leave. The parking lot exit location and the topology map are used by the terminal to generate an exit route for the parked vehicle from its current location to the parking lot exit location. The point cloud map is used by the terminal to determine the vehicle's pose as it travels along the exit route. The vehicle's pose is used by the terminal to dynamically display the pose changes of the parked vehicle in the topology map. The topology map is constructed by collecting road structure information and parking space information on both sides during the point cloud map construction process, and combining this with the point cloud map. The information included in the topology map includes: the traffic direction of roads within the parking lot, the road connections at intersections, and the parking spaces on both sides of the roads. The topology map and the point cloud map have a preset coordinate transformation relationship. The pose changes are determined based on the vehicle's position coordinates and the preset coordinate transformation relationship. The vehicle position and orientation of the parked vehicle while it is traveling on the exit route are obtained based on the following method: Based on visual positioning technology, an image of the scene ahead of the parked vehicle while it is in motion is acquired. Point cloud feature data is extracted from the image, and the point cloud feature data is matched with point cloud features in a point cloud map. Based on the matching result, the vehicle pose of the parked vehicle while it is traveling on the exit route is determined; or... Based on visual positioning technology, an image of the scene in front of the parked vehicle while it is in motion is acquired. First point cloud feature data is extracted from the image of the scene in front. Second point cloud feature data corresponding to the current position of the parked vehicle is predicted based on the point cloud map that determines the previous vehicle pose. The first point cloud feature data and the second point cloud feature data are iteratively compared. By optimizing the comparison results, the vehicle pose of the parked vehicle when it is in motion on the exit route is determined.

11. A computer device, characterized in that, The device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to cause the computer device to perform the parking space reservation parking method according to any one of claims 1 to 6, or the vehicle exit method according to claim 7.

12. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the parking space reservation parking method as described in any one of claims 1 to 6, or the vehicle exit method as described in claim 7.

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