Method, device, storage medium and electronic device for determining vehicle parking location

Abstract

This specification discloses a method, device, storage medium and electronic device for determining a parking location of a vehicle. For a designated area where a parking location needs to be determined, the trajectory formed when the delivery capacity executes each historical order with a task point within the designated area is used as a basis for determining the parking location of the vehicle. Since the average daily transaction volume of takeout and express delivery orders is large, the amount of trajectory data formed by the delivery capacity is also large, which can provide relatively rich data support in the process of determining the parking location for the vehicle. In addition, if the delivery capacity stops and then walks to execute the order when executing a historical order, the delivery capacity will inevitably pass by the parking location of the vehicle when entering and leaving the designated area. In this specification, matching points whose distance between two points is less than a preset first distance threshold are used as the basis for determining the parking location, which can ensure the authenticity and accuracy of the obtained parking location.

Description

Technical Field

[0001] The present specification relates to the field of Internet technology, and in particular to a method, device, storage medium, and electronic device for determining a parking location of a vehicle. Background Art

[0002] Smart transportation is the full use of technologies such as the Internet and mobile Internet in the transportation field. Through high-tech, traffic information is collected to control and support processes such as traffic management and public travel, in order to improve the operating efficiency and management level of the transportation system.

[0003] In order to cooperate with regional management and achieve traffic evacuation, some areas in actual scenarios will restrict the transportation methods that can be used when passing through the area. Taking the execution of orders by delivery capacity as an example, under ideal conditions, when executing orders, the delivery capacity can reach the task point of the order (including at least one of the pickup point and delivery point of the goods corresponding to the order) by riding all the way, and perform corresponding operations at the task point. However, in actual scenarios, vehicles used by delivery capacity are prohibited from entering within a certain range around certain task points, so the delivery capacity needs to execute orders in a "riding" + "walking" manner. When guiding the delivery capacity to execute orders, the methods in the prior art often do not take into account the need to determine the parking location for the delivery capacity in the actual scenario, which makes it impossible for the delivery capacity to know the reasonable parking location of the vehicle, which in turn causes the distribution capacity to park randomly and ride illegally.

[0004] It can be seen that how to determine reasonable parking locations for the public has become an urgent problem to be solved. Summary of the invention

[0005] The embodiments of this specification provide a method, device, storage medium and electronic device for determining a parking location of a vehicle, so as to partially solve the above-mentioned problems existing in the prior art.

[0006] The embodiments of this specification adopt the following technical solutions:

[0007] The method for determining a parking location of a vehicle provided in this specification comprises:

[0008] Determine the historical orders where the mission points are located within the specified area;

[0009] For each determined historical order, determine a trajectory of the delivery capacity entering the designated area and a trajectory of the delivery capacity leaving the designated area when executing the historical order;

[0010] Determine a matching point pair on a trajectory entering the designated area and a trajectory leaving the designated area, and use each point in the matching point pair as a candidate point; wherein one point in the matching point pair is located on the trajectory entering the designated area, and the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold;

[0011] Based on the candidate points determined for each historical order, a parking location available for parking the vehicle is determined.

[0012] Optionally, determining the trajectory of the delivery capacity entering the designated area and the trajectory of leaving the designated area when executing the historical order specifically includes:

[0013] Determine a trajectory of the delivery transport capacity executing the historical order, the trajectory passing through a task point of the historical order located within the designated area, and both a starting point and an end point of the trajectory are located outside the designated area;

[0014] According to the task point of the historical order located in the designated area, the trajectory is processed, and the trajectory between the starting point and the task point is used as the trajectory entering the designated area; the trajectory between the task point and the end point is used as the trajectory leaving the designated area.

[0015] Optionally, according to each candidate point determined for each historical order, a parking location available for parking the vehicle is determined, specifically including:

[0016] Among the candidate points, remove the candidate points where the speed of the delivery transport capacity passing through the candidate point is greater than a preset speed threshold;

[0017] A parking location available for parking the vehicle is determined based on the remaining candidate points after removing the candidate points where the speed of the delivery transport capacity passing through the candidate points is greater than a preset speed threshold.

[0018] Optionally, according to each candidate point determined for each historical order, a parking location available for parking the vehicle is determined, specifically including:

[0019] Among the candidate points, remove the candidate points whose minimum distance from the edge of the designated area is greater than a preset second distance threshold;

[0020] A parking location available for parking the vehicle is determined based on the remaining candidate points after removing the candidate points whose minimum distance from the edge of the designated area is greater than a preset second distance threshold.

[0021] Optionally, according to each candidate point determined for each historical order, a parking location available for parking the vehicle is determined, specifically including:

[0022] Among the candidate points, remove the candidate points where the delivery transport capacity stayed at the candidate point for a time shorter than a preset time threshold when executing the historical order;

[0023] A parking location available for parking the vehicle is determined based on the remaining candidate points after removing the candidate points at which the delivery transport capacity stayed for a time less than a preset time threshold when executing the historical order.

[0024] Optionally, determining a parking location available for parking the vehicle includes:

[0025] Clustering the determined candidate points to obtain at least one point cluster;

[0026] According to the density of candidate points in each point cluster, the parking places available for parking vehicles are determined.

[0027] Optionally, clustering the determined candidate points to obtain at least one point cluster specifically includes:

[0028] Divide the location of the designated area into grids to obtain at least one grid unit;

[0029] For each grid cell, if the grid cell contains a candidate point and is adjacent to other grid cells containing candidate points, the adjacent grid cells are determined as a point cluster;

[0030] If the grid cell contains a candidate point and is not adjacent to other grid cells containing candidate points, the grid cell is determined as a point cluster.

[0031] Optionally, determining parking locations available for parking vehicles according to the density of candidate points in each point cluster includes:

[0032] In each point cluster, a point cluster whose density of candidate points is greater than a preset density threshold is determined;

[0033] For each point cluster whose density of candidate points is greater than a preset density threshold, determine a grid cell with the largest density of candidate points in the point cluster;

[0034] The parking places available for parking vehicles are determined based on the grid cells with the largest density of candidate points.

[0035] Optionally, after determining a parking location available for parking the vehicle, the method further comprises:

[0036] When the current delivery transport capacity executes an unfinished order at a task point within the designated area, a path for the current delivery transport capacity to execute the unfinished order is determined based on the parking location in the designated area, so that the path passes through the parking location in the designated area.

[0037] The device for determining the parking location of a vehicle provided in this manual includes:

[0038] A historical order determination module configured to determine each historical order where a task point is located within a specified area;

[0039] A trajectory determination module is configured to determine, for each determined historical order, a trajectory of the delivery capacity entering the designated area and a trajectory of leaving the designated area when executing the historical order;

[0040] a candidate point determination module, configured to determine a matching point pair on a trajectory entering the designated area and a trajectory leaving the designated area, and use each point in the matching point pair as a candidate point; wherein one point in the matching point pair is located on the trajectory entering the designated area, and the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold;

[0041] The parking location determination module is configured to determine a parking location available for parking the vehicle based on each candidate point determined for each historical order.

[0042] The path planning method provided in this specification includes:

[0043] For each current unfinished order, determine the task point of the unfinished order;

[0044] For each determined task point of the uncompleted order, determine the designated area to which the task point belongs as the designated area corresponding to the uncompleted order;

[0045] Among the delivery transport capacities, the delivery transport capacity that will execute the uncompleted order is determined as the delivery transport capacity corresponding to the uncompleted order;

[0046] According to the preset parking location in the designated area corresponding to the unfinished order, a path to be adopted when executing the unfinished order is planned for the distribution capacity corresponding to the unfinished order; the parking location in the designated area is obtained based on the matching point pairs in the trajectory generated when the historical execution point of the historical order was located in the designated area; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, and the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold.

[0047] Optionally, a delivery capacity corresponding to the uncompleted order is planned to execute a path for the uncompleted order, specifically including:

[0048] The path used by the delivery transport capacity to execute the uncompleted order is planned so that the path passes through a preset parking location in a designated area corresponding to the uncompleted order.

[0049] Optionally, planning a path for the delivery transport capacity corresponding to the uncompleted order to be used when executing the uncompleted order specifically includes: determining a path for the delivery transport capacity to go to a task point of the uncompleted order, so that the determined path to the task point passes through a parking place in the designated area; or,

[0050] Determine a path for the delivery transport capacity to go to the task point of the uncompleted order, and determine a path for the delivery transport capacity to leave the task point of the uncompleted order, so that the determined path to go to the task point of the uncompleted order and the determined path to leave the task point of the uncompleted order both pass through a parking location in the designated area.

[0051] Optionally, after planning the delivery capacity corresponding to the uncompleted order for the path to be taken when executing the uncompleted order, the method further includes:

[0052] The path is sent to the terminal of the delivery capacity corresponding to the uncompleted order, so that the terminal displays the information of the path.

[0053] The path planning device provided in this specification includes:

[0054] A task point determination module, configured to determine the task point of each current uncompleted order;

[0055] A designated area determination module, configured to determine, for each task point of the determined uncompleted order, the designated area to which the task point belongs as the designated area corresponding to the uncompleted order;

[0056] A delivery capacity determination module, configured to determine, from among various delivery capacities, a delivery capacity that will execute the uncompleted order as the delivery capacity corresponding to the uncompleted order;

[0057] A planning module is configured to plan a path to be taken when executing the unfinished order for the distribution capacity corresponding to the unfinished order according to a preset parking location in a designated area corresponding to the unfinished order; the parking location in the designated area is obtained based on matching point pairs in trajectories generated when historical orders in which task points were historically executed in the designated area; the trajectories include: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold.

[0058] The order execution method provided in this specification includes:

[0059] Acceptance of outstanding orders;

[0060] Acquire a path pre-planned for the uncompleted order, the path passing through a preset parking location in a designated area to which the task point of the uncompleted order belongs; the parking location in the designated area is obtained based on a pair of matching points in a trajectory generated when a historical order whose task point is located in the designated area is executed in history; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the pair of matching points is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold;

[0061] Provides the information of the obtained path.

[0062] Optionally, the path includes: a path to a parking location in a designated area to which the task point of the uncompleted order belongs;

[0063] Provide the information of the obtained path, including:

[0064] Get the current location of the delivery capacity that executes the uncompleted order;

[0065] Generate first guidance information from the current position of the delivery transport capacity to the parking location according to the acquired path to the parking location in the designated area to which the task point of the uncompleted order belongs;

[0066] The first guidance information is provided so that the distribution transport capacity goes to the parking location according to the first guidance information.

[0067] Optionally, the path includes: a path from a parking place in a designated area to which the task point of the uncompleted order belongs to to the task point;

[0068] Provide the information of the obtained path, including:

[0069] Determine whether the delivery capacity has reached the parking location in the designated area of ​​the task point of the uncompleted order;

[0070] If so, generating second guidance information between the parking place and the task point according to the path from the parking place in the designated area to which the task point of the uncompleted order belongs to the task point;

[0071] The second guidance information is provided so that the distribution capacity goes to the task point of the unfinished order according to the second guidance information.

[0072] Optionally, the path includes: a path leaving the task point of the uncompleted order;

[0073] Provide the information of the obtained path, including:

[0074] After the delivery transport capacity executing the uncompleted order arrives at the task point of the uncompleted order, the current position of the delivery transport capacity is obtained;

[0075] Generate third guidance information between the current position of the delivery transport capacity and the parking location in the designated area according to the path leaving the task point of the uncompleted order;

[0076] The third guidance information is provided so that the delivery transport capacity moves from its current position to the parking location in the designated area according to the third guidance information.

[0077] The order execution device provided in this manual includes:

[0078] an order acceptance module configured to accept outstanding orders;

[0079] a path acquisition module, configured to acquire a path pre-planned for the uncompleted order, the path passing through a preset parking location in a designated area to which a task point of the uncompleted order belongs; the parking location in the designated area is obtained based on a pair of matching points in a trajectory generated when a historical order whose task point is located in the designated area is executed in history; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the pair of matching points is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold;

[0080] An information providing module is configured to provide the acquired information of the path.

[0081] The information providing method provided in this specification comprises:

[0082] For each user, obtain information about the order to be sent generated by the user;

[0083] According to the information of the order to be sent, the designated area to which the task point of the order to be sent belongs is determined in each preset designated area as the designated area corresponding to the order to be sent;

[0084] Predicting the execution difficulty of the order to be sent according to the preset parking location of the designated area corresponding to the order to be sent; the parking location of the designated area is obtained according to the matching point pairs in the trajectory generated when the historical execution task point is located in the designated area; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold;

[0085] Determine the resources that will be consumed in executing the order to be sent based on the predicted difficulty of executing the order to be sent;

[0086] The determined resources are provided.

[0087] The information providing device provided in this manual includes:

[0088] A module for obtaining orders to be sent, which is configured to obtain information about orders to be sent generated by each user;

[0089] A designated area selection module is configured to determine, according to the information of the order to be sent, the designated area to which the task point of the order to be sent belongs in each preset designated area as the designated area corresponding to the order to be sent;

[0090] An execution difficulty prediction module is configured to predict the execution difficulty of the order to be sent according to a preset parking location in a designated area corresponding to the order to be sent; the parking location in the designated area is obtained according to a matching point pair in a trajectory generated when a historical order in which a task point was historically executed was located in the designated area; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold;

[0091] A resource determination module, configured to determine the resources that will be consumed in executing the order to be sent according to the predicted execution difficulty of the order to be sent;

[0092] The resource providing module is configured to provide the determined resources.

[0093] The vehicle parking method provided in this specification comprises:

[0094] Determine the current location of the vehicle;

[0095] According to the current position of the vehicle, in each preset designated area, each designated area within a preset distance from the vehicle is determined;

[0096] For each designated area within a preset distance of the vehicle, a preset parking location of the designated area is obtained; the parking location of the designated area is obtained based on a matching point pair in a trajectory generated when a historical order in which a task point is located in the designated area; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point of the matching point pair is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold;

[0097] Determine parking locations in each designated area within a preset distance of the vehicle as candidate parking locations for the vehicle;

[0098] A candidate parking location for the vehicle is provided so that the vehicle is parked according to the candidate parking location.

[0099] Optionally, after providing the candidate parking location of the vehicle, the method further includes:

[0100] receiving a selection operation for a candidate parking location to select a target parking location from among the candidate parking locations;

[0101] Based on the determined target parking location, a path to the target parking location is generated.

[0102] The vehicle parking device provided in this manual includes:

[0103] a vehicle position determination module configured to determine a current position of the vehicle;

[0104] A designated area screening module is configured to determine, based on the current position of the vehicle, each designated area within a preset distance from the vehicle within each preset designated area;

[0105] A parking location acquisition module is configured to acquire a preset parking location of each designated area within a preset distance of the vehicle; the parking location of the designated area is obtained based on a matching point pair in a trajectory generated when a historical order in which a task point is located in the designated area; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point of the matching point pair is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold;

[0106] a candidate parking location determination module configured to determine parking locations in each designated area within a preset distance of the vehicle as candidate parking locations for the vehicle;

[0107] The parking location providing module is configured to provide candidate parking locations for the vehicle so that the vehicle parks according to the provided candidate parking locations.

[0108] The computer-readable storage medium provided in this specification stores a computer program, and when the computer program is executed by a processor, it implements at least one of the above-mentioned path planning method, order execution method, information providing method, vehicle parking method, and method for determining a vehicle parking location.

[0109] The electronic device provided in this specification includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, at least one of the above-mentioned path planning method, order execution method, information providing method, vehicle parking method, and method for determining a vehicle parking location is implemented.

[0110] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0111] The method, device, storage medium and electronic device for determining the parking location of a vehicle in the embodiments of this specification, for a designated area where the parking location needs to be determined, uses the trajectory formed when the delivery capacity executes the task point of each historical order within the designated area as the basis for determining the parking location of the vehicle. Since the average daily transaction volume of takeout and express delivery orders is large, the amount of trajectory data formed by the delivery capacity is also large, which can provide richer data support in the process of determining the parking location for the vehicle. In addition, if the delivery capacity stops and then walks to execute the order when executing historical orders, the delivery capacity will inevitably pass by the parking location of the vehicle when entering and leaving the designated area. In this specification, the matching point where the distance between the two points is less than the preset first distance threshold is used as the basis for determining the parking location, which can ensure the authenticity and accuracy of the obtained parking location. BRIEF DESCRIPTION OF THE DRAWINGS

[0112] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0113] Figure 1 The process of determining the parking location of a vehicle provided in the embodiments of this specification;

[0114] Figure 2a A schematic diagram of a scenario for determining a parking location for a vehicle provided in an embodiment of this specification;

[0115] Figure 2b Based on Figure 2a Abstraction obtained schematic diagram;

[0116] Figure 3a Another schematic diagram of a scenario for determining a parking location of a vehicle provided in an embodiment of this specification;

[0117] Figure 3b Another schematic diagram of a scenario for determining a parking location of a vehicle provided in an embodiment of this specification;

[0118] Figure 4 A schematic diagram of a scenario for determining a parking location by dividing grid units provided in an embodiment of this specification;

[0119] Figure 5 A schematic diagram of the structure of a device for determining a parking location of a vehicle provided in an embodiment of this specification;

[0120] Figure 6 The embodiments of this specification provide corresponding to Figure 1 Schematic diagram of electronic equipment;

[0121] Figure 7 The process of path planning provided in the embodiments of this specification;

[0122] Figure 8 A schematic diagram of the structure of a path planning device provided in an embodiment of this specification;

[0123] Fig. 9 The embodiments of this specification provide corresponding to Figure 7 Schematic diagram of electronic equipment;

[0124] Fig.10 The process of order execution provided in the embodiments of this specification;

[0125] Fig.11 A schematic diagram of the structure of an order execution device provided in an embodiment of this specification;

[0126] Fig.12 The embodiments of this specification provide corresponding to Fig.10 Schematic diagram of electronic equipment;

[0127] Fig.13 The process of providing information for the embodiments of this specification;

[0128] Fig.14 A schematic diagram of the structure of an apparatus for providing information provided by the embodiments of this specification;

[0129] Fig.15 The embodiments of this specification provide corresponding to Fig.13 Schematic diagram of electronic equipment;

[0130] Fig.16 The process of parking a vehicle provided in the embodiments of this specification;

[0131] Fig.17 A schematic diagram of the structure of a vehicle parking device provided in an embodiment of this specification;

[0132] Fig.18 The embodiments of this specification provide corresponding to Fig.16 Schematic diagram of electronic equipment. DETAILED DESCRIPTION

[0133] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in the specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0134] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0135] Figure 1 The process of determining the parking location of a vehicle provided in the embodiments of this specification may specifically include one or more of the following steps:

[0136] S100: Determine each historical order whose task point is located in a specified area.

[0137] This specification does not limit the type of order involved, and the order may be a takeaway order, a courier order, or other types of orders. A historical order may be an order that was formed and completed at a historical moment. During the execution of an order, the distribution capacity is required to perform corresponding operations at the task point of the goods corresponding to the order. Among them, the task point may include at least one of the pickup point and delivery point of the goods corresponding to the order, that is, the task point corresponds to a more specific geographical location.

[0138] The historical orders obtained by this step can be used as samples to determine the parking location of the vehicle. Optionally, the historical time period can be determined based on the required number of samples, and then the historical orders executed within the historical time period can be obtained through the historical time period. If the distribution of orders executed in the history of a specified area is relatively sparse, the length of the historical time period can be extended, and the orders executed within the extended historical time period can be used as historical orders. It can be seen that the number of historical orders used in the process of this specification to determine the parking location of the vehicle is not unique.

[0139] The designated area in this specification may express a designated geographical range, such as Figure 2aAs shown, the range may have a relatively clear boundary, which is the edge of the designated area. Optionally, the designated area is a geographically closed area.

[0140] In actual scenarios, designated areas can be divided by building groups, streets, longitude and latitude, artificial rules, etc. For example, when determining a designated area by building groups, a certain residential area can be used as a designated area; for another example, when determining a designated area by artificial rules, a circle can be drawn with a certain geographical location as the center and a certain specified distance as the radius, and the resulting circular area can be used as the designated area.

[0141] The process in this specification does not limit the number of designated areas involved. For the sake of convenience, the following is an example of one of the multiple designated areas. In addition, when there are multiple designated areas, there may be two designated areas with different division rules among the multiple designated areas; there may also be a certain degree of overlap between two or more designated areas.

[0142] S102: For each determined historical order, determine a trajectory of the delivery capacity entering the designated area and a trajectory of the delivery capacity leaving the designated area when executing the historical order.

[0143] The track in this specification can be formed by the vehicle used by the delivery transport when executing the historical order (for example, the vehicle is equipped with a positioning device), or it can be formed by the handheld terminal of the delivery transport. Specifically, the server can collect the location of the delivery transport in the process of the delivery transport executing the historical order. The location of the delivery transport can be represented by the location of the vehicle used by the delivery transport and / or the location of the handheld terminal of the delivery transport. Then, each location of the determined delivery transport can be displayed as a number of discrete points on the preset map, and the point can be as follows: Figures 2a to 3b shown.

[0144] Then, the trajectory of the delivery capacity when executing the historical order can be determined based on the location of the delivery capacity. Specifically, the locations of the delivery capacity can be connected in sequence according to the order in which the locations are obtained to obtain the trajectory of the delivery capacity when executing the historical order. The trajectory determined by the location of the delivery capacity can be as follows: Figure 3a , Figure 3b Any one shown.

[0145] Optionally, when the location of the delivery capacity is obtained, the time when the delivery capacity is at the location is also obtained, and the trajectory of the delivery capacity when executing the historical order is determined based on the obtained locations of the delivery capacity and the time corresponding to each location.

[0146] Since the orders used in this manual are all orders that have been executed in the past, the tracks generated when the delivery capacity executes the historical orders must include tracks entering the specified area and tracks leaving the specified area, such as Figure 2a and Figure 2b shown.

[0147] It should be noted that the points on the trajectory of entering the designated area and the trajectory of leaving the designated area in this description may not all be located within the designated area. The entry and exit can be regarded as the actions taken or to be taken by the distribution capacity when executing the order. In other optional embodiments of this specification, the trajectory formed when going to the task point of the uncompleted order can be used as the trajectory of entering the designated area; the trajectory formed when leaving the task point of the uncompleted order can be used as the trajectory of leaving the designated area.

[0148] S104: Determine matching point pairs on the trajectory entering the specified area and the trajectory leaving the specified area, and use each point in the matching point pair as a candidate point; wherein one point in the matching point pair is located on the trajectory entering the specified area, and the other point is located on the trajectory leaving the specified area, and the distance between the two points is less than a preset first distance threshold.

[0149] In an optional embodiment of the present specification, the determined matching point pair can be as follows: Figure 2b As shown, the Figure 2b Yes Figure 2a Obtained by outlining.

[0150] It can be seen that each matching point pair in this specification can include two points, such as Figure 2b The matching point pairs a1 to a3 in . One of the two points belonging to the same matching point pair is located on the trajectory entering the specified area, and the other point is located on the trajectory leaving the specified area. Both points in point pair a4 are located on the trajectory entering the specified area, so point pair a4 is not a matching point pair.

[0151] If the distance between the two points in the matching point pair is less than the preset first distance threshold, it indicates that the distance between the two points is relatively close, that is, when the delivery transport capacity executes the historical order, both entering and leaving the designated area must pass through the range determined by the two points in the matching point pair, and it is highly likely that the range determined by the two points in the matching point pair is the parking location of the delivery transport capacity. If the trajectory of the delivery transport capacity executing a historical order can determine multiple matching point pairs, then the parking location of the delivery transport capacity must be one of the ranges determined by each matching point pair.

[0152] Optionally, since the trajectory may include two types of points: the location where the delivery capacity is collected (the data is collected, such as Figures 2a to 3bAny of the points shown in the figure) and the line between the two locations where the distribution capacity is collected (the data is calculated, such as Figures 2a to 3b The points in the matching point pair may be actually collected data or calculated data based on the collected data.

[0153] For ease of explanation, the following description is based on the case where all points in the matching point pair are locations where the delivery capacity is collected. Since the accuracy of the collected data is also high, the accuracy of the determined vehicle parking location can be improved by using the collected locations as a basis.

[0154] Alternatively, there may be a situation where a point is shared by two matching point pairs.

[0155] After obtaining the matching point pair, the candidate point can be determined based on the two points in the matching point pair. For example, the two points in the matching point pair can be directly used as candidate points, and two candidate points can be determined for each matching point pair; the center of the range determined by the two points in the matching point pair can also be used as a candidate point, and one candidate point can be determined for each matching point pair.

[0156] In addition, it should be noted that the “point” representing the position involved in this specification can be a point that can be expressed by coordinates; it can also be a range that needs to be expressed by both coordinates and radius points.

[0157] S106: Determine a parking location available for parking the vehicle based on the candidate points determined for each historical order.

[0158] Optionally, after determining the candidate points, the candidate points may be summarized, and the point with the greatest possibility of becoming the anchorage point may be selected as the anchorage point. Alternatively, the geographical distribution range of the candidate points may be determined based on the candidate points, and the anchorage point may be determined based on the distribution range (for example, the center of the distribution range may be determined as the anchorage point).

[0159] The parking location referred to in this specification can be a point that can be expressed by coordinates; it can also be a range that needs to be expressed by coordinates and coverage area. When the parking location is expressed by a range, the resulting parking location can be as follows: Figures 2a to 3b Any one shown.

[0160] The parking location determined by the process of this specification may be located within the designated area (e.g. Figure 2b The matching point pair a2 in the parking location in the designated area (such as Figure 2b The matching point pair a1) in the parking location in or on the edge of the designated area.

[0161] The process of determining the parking location of the vehicle described in this manual is described in detail below.

[0162] As can be seen from the foregoing, the process in this description can determine parking locations for more than two designated areas. To facilitate the process of determining parking locations for different designated areas, each designated area can be planned in advance, and an R-tree can be established based on the attributes of each designated area (for example, the location of the designated area). Optionally, in the R-tree, each designated area is used as a leaf node.

[0163] At least one task point of the historical order is determined based on the pre-stored information of each historical order. For each determined task point, a search is performed in the R-tree to determine the designated area where the task point is located in each designated area. Through this process, for each designated area, the historical orders of the designated area where the task point is located can be found.

[0164] So far, for the designated area, various historical orders required for determining the berthing locations in the designated area have been obtained.

[0165] In this specification, when determining the parking location, the sample trajectory is divided into orders. In actual scenarios, the data corresponding to the trajectory recorded in the server is usually the trajectory data formed by all historical orders executed by a certain delivery capacity within a day. The trajectory of the historical order should be intercepted from the trajectories of all historical orders to determine the parking location generated during the execution of the historical order.

[0166] In an optional embodiment of the present specification, the trajectory of the historical order can be intercepted from the trajectories of various historical orders according to the location and range of the designated area where the task point of the historical order is located. The process can be:

[0167] First, determine the points (which may be the aforementioned "location points" or "connection points") located outside the designated area in the trajectory of the delivery capacity when executing each historical order. The parking location determined in this specification may be outside the designated area (such as Figure 2b For the matching point pair a1 in the parking location in the distribution capacity, the part of the trajectory formed when the distribution capacity executes the historical order outside the specified area should also be used as the trajectory of the historical order. For each point inside the specified area, they are all used as points on the trajectory of the historical order. The determined trajectory of the historical order can be as follows Figures 2a to 3b Any one shown.

[0168] Then, for each point outside the specified area, determine whether the point on the trajectory that is a preset distance from the point is within the specified area. The preset distance can be set according to the actual scene, so this step can be understood as "drawing a circle with the point as the center and the preset distance as the radius, and determining whether the circle intersects the specified area".

[0169] If yes, it indicates that the point outside the designated area is closer to the designated area, then the point and the trajectory corresponding to each point on the trajectory within the designated area are determined as the trajectory formed when the delivery capacity executes the historical order. If no, the point is discarded.

[0170] Alternatively, the trajectory of the historical order can be determined based on the points formed by the actual collection of the positions of the distribution capacity. The interception process can also be: determine the points (which may be the aforementioned "position points") in the trajectory when the distribution capacity executes each historical order that are outside the designated area. For each point outside the designated area, determine whether the point on the trajectory that is separated from the point by a preset number of collection steps (which may be the preset time when collecting data, or the distance the distribution capacity moves) is located in the designated area. If so, determine the point and the trajectory corresponding to each point on the trajectory that is located in the designated area as the trajectory formed when the distribution capacity executes the historical order. If not, discard the point.

[0171] Alternatively, the reference area may be determined according to the location of the designated area and the range covered by the designated area, such as Figure 2a As shown, the designated area is located within the reference area, and the coverage area of ​​the reference area is larger than the coverage area of ​​the designated area; the part of the trajectory of the distribution capacity executing all historical orders that falls within the reference area is used as the trajectory of the distribution capacity executing the historical order.

[0172] It can be seen that through the above-mentioned "interception" step, the track of the historical order can be obtained, and the starting point and the end point of the obtained track can be located outside the designated area. It can be seen that through the process in this specification, at least some points located outside the designated area can also be used as the basis for determining the parking location. If there is a situation where the parking location is located outside the designated area, the process in this specification can also accurately determine the parking location.

[0173] In actual scenarios, multiple historical orders may be executed in a specified area within the historical time period. According to the aforementioned process of intercepting the historical orders, it is possible that more than two tracks are intercepted for a certain order.

[0174] like Figure 3aAs shown in the figure, the trajectory shown in the figure is the trajectory formed when the delivery capacity executes historical order B and historical order C. The trajectory of historical order B and historical order C is the same. Figure 3b As shown in the figure, the trajectory shown in the figure is the trajectory formed when the distribution capacity executes historical order D and historical order E. The trajectories of historical order D and historical order E are different, but the parking locations when executing historical order D and historical order E are the same or similar. According to the aforementioned trajectory interception method, it is possible to determine two trajectories for historical order D and historical order E.

[0175] In order to achieve the matching between the historical orders and the trajectories, the trajectory belonging to each historical order in the specified area is determined, and then constraints can be imposed by preset conditions during interception.

[0176] Specifically, a trajectory matching the historical order may be determined from the two or more trajectories intercepted from the designated area as the trajectory of the historical order. Alternatively, it may be determined whether the determined trajectory matches the historical order based on a preset constraint condition.

[0177] The constraint condition may be a time condition, and then the difference between the time when the recorded delivery capacity arrives at the task point (which may be the data recorded in the server) and the time range formed by the track can be used to determine whether the historical order to which the task point belongs matches the track. If the time is not within the time range, then it does not match; if the time point is within the time range, then it matches.

[0178] The constraint condition can also be a location condition, which can determine whether the trajectory passes through the task point of the historical order in the specified area. If so, it is matched; if not, it is not matched. Figure 3b As shown, the trajectory of historical order D will not pass through task point e, so the trajectory of historical order D will not be determined as the trajectory of order E.

[0179] Since the process in this manual can determine samples in units of orders, in order to ensure the authenticity and validity of the samples, the accuracy of the matching relationship between the trajectory of the historical order and the historical order should be ensured. This can prevent a certain trajectory from being used as a sample repeatedly; and prevent a certain historical order from not being matched to the real trajectory, resulting in the trajectory of the historical order not being able to be used as a sample.

[0180] After obtaining the trajectory formed when the delivery transport capacity executes the historical order, the trajectory of the historical order needs to be further processed to obtain the trajectory of entering the designated area and the trajectory of leaving the designated area when the delivery transport capacity executes the historical order. The processing process for the trajectory of the historical order can be: according to the task point of the historical order in the designated area, the trajectory is processed, and the trajectory between the starting point and the task point is used as the trajectory entering the designated area; the trajectory between the task point and the end point is used as the trajectory leaving the designated area.

[0181] In an optional scenario, the processed trajectory of entering the designated area and the trajectory of leaving the designated area are connected at the location of the task, and a turn occurs at the location of the task point. Figure 2b As shown, the task point a is the dividing point between the trajectory leaving the specified area and the trajectory entering the specified area, and the entire trajectory turns at the task point a.

[0182] After obtaining the candidate points through the above steps, the candidate points can be summarized and the point with the greatest possibility of becoming the anchorage point can be selected as the anchorage point. There are many ways to implement this process. This description uses the exemplary method of clustering the candidate points to determine the anchorage point.

[0183] Specifically, the process of determining the parking location according to the candidate points by clustering method can be:

[0184] (1) Cluster the determined candidate points to obtain at least one point cluster.

[0185] The process in this specification does not limit the specific algorithm used for clustering. For example, the clustering algorithm can be any one of the K-MEANS clustering algorithm, the mean shift clustering algorithm, the hierarchical clustering algorithm, and the expectation maximization (EM) clustering algorithm using the Gaussian mixture model (GMM).

[0186] In an optional embodiment of the present specification, the Geohash (address coding) algorithm and the clustering algorithm are combined to perform clustering. The clustering process may be: gridding the location of the designated area to obtain at least one grid unit. The grid unit obtained by the division may be as follows: Figure 4 As shown, Figure 4 Grid cells that do not contain candidate points are omitted.

[0187] The grid units obtained by the Geohash algorithm have a uniform size, and each grid unit is arranged in an array at the location of the designated area. The location of the designated area can be determined according to the actual scenario. For example, in order to reduce the amount of calculation during the division, only the area where the trajectory of the historical order is located can be divided. Optionally, the size of the grid unit obtained by the division can be determined according to the actual scenario. For example, the size of the grid unit can be Geohash8.

[0188] If the intersection of the region where the track is located and the specified region is not an empty set, and the region includes part of the track outside the specified region, then the region where the track is located is not equal to the specified region. Optionally, the aforementioned reference region can be used as the region where the track is located.

[0189] After obtaining each grid unit, the grid to which the candidate point belongs can be determined according to the location of each candidate point. Since the determined candidate points may be distributed in a certain area, the grid units containing the candidate points can be dispersed (there are no adjacent grid units containing candidate points around the grid unit containing the candidate point) or concentrated (there are adjacent grid units containing candidate points around the grid unit containing the candidate point) in the location of the specified area.

[0190] For the scattered grid cells containing candidate points, the grid cells can be treated as a point cluster separately, such as Figure 4 Point cluster 3 in . The adjacent grid cells that contain the candidate points (the arrangement of the adjacent grid cells) are regarded as a point cluster, such as Figure 4 Point clusters 1, 2, and 4 in .

[0191] It can be seen that the process in this specification combines the Geohash algorithm and the clustering algorithm, and can cluster the candidate points according to the relative position relationship between the grid units, so that the clustered point clusters can reflect the connectivity between the adjacent grid units that contain the candidate points.

[0192] (2) Determine the parking locations available for parking vehicles based on the density of candidate points in each point cluster.

[0193] This specification exemplarily uses density as the basis for clustering. In addition, clustering can also be performed based on the distance between points (such as Euclidean distance).

[0194] "Density" in this specification can be used to express the number of candidate points in a unit area. Since this specification uses the Geohash algorithm for grid division, the density can also be used to express the number of candidate points in a grid unit.

[0195] In an optional embodiment of the present specification, the process of determining the parking location according to density may be: among each point cluster, determining a point cluster whose density of candidate points is greater than a preset density threshold. Figure 4 The point clusters shown in are point clusters whose density of candidate points is greater than a preset density threshold. Optionally, when characterizing the density of candidate points, the density of candidate points can be visualized to obtain a heat map in which the depth of color is positively correlated with the density. The heat map obtained after visualization can be shown as Figure 4 For the convenience of explanation, "h" is defined in this manual as the unit of density. Figure 4 In point cluster 1, the grid cell with a density of 1h is lighter in color, and the density of candidate points in this grid cell is lower; the grid cell with a density of 3h is darker in color, and the density of candidate points in this grid cell is higher.

[0196] Then, for each point cluster whose density of candidate points is greater than a preset density threshold, a grid cell having the largest density of candidate points is determined in the point cluster. Figure 4 In , the grid cell with the highest candidate point density in clusters 1 and 2 is the grid cell with a density of 3h. Cluster 3 includes only one grid cell, which is the grid cell with the highest density in cluster 3. All three grid cells in cluster 4 are the grid cells with the highest density.

[0197] Afterwards, the parking location available for parking the vehicle is determined based on each grid cell with the largest density of candidate points, wherein the density threshold can be set according to the actual scenario.

[0198] It should be noted that in the aforementioned embodiment, the point clusters are first screened according to the density threshold, and then the grid unit with the highest density is determined for the screened point clusters. In actual use, the grid unit with the highest density may be determined for the point clusters first, and then the grid units with the highest density may be screened according to the density threshold for each of the determined grid units with the highest density. In other words, the execution order of the two steps of "screening according to the density threshold" and "determining the grid unit with the highest density" may not be in particular order.

[0199] As can be seen from the above content, the parking location determined by the process in this specification can be a range or a specific coordinate point. Then, according to the grid cell with the largest density of the candidate point, the process of determining the parking location available for parking the vehicle can be:

[0200] If there is only one grid cell with the highest density of candidate points in the point cluster, the grid cell with the highest density can be used as a parking location; or the center (for example, the geometric center) of the grid cell with the highest density can be used as a parking location.

[0201] If there are more than two grid cells with the highest density in the point cluster, the grid cells with the highest density can also be used as parking locations; alternatively, the grid cell where the center (for example, the geometric center) of the figure surrounded by the grid cells with the highest density is located can be determined as a parking location; alternatively, the center (for example, the geometric center) of the figure surrounded by the grid cells with the highest density can be determined as a parking location.

[0202] It can be seen that the parking location in the designated area determined by the process in this specification may not be unique. Figure 2a and Figure 3a shown.

[0203] In an optional embodiment of the present specification, the first distance threshold may be set according to an actual scenario, and the first distance threshold may be set to a fixed value, such as 10 m.

[0204] All candidate points obtained through the above steps may be parking locations in the trajectory. However, although some of the candidate points meet the first distance threshold, indicating that the delivery capacity passes through the point when entering and leaving, it may not be the actual parking location. Therefore, the obtained candidate points need to be further screened to exclude candidate points that are not parking locations and only retain candidate points that are more likely to be parking locations.

[0205] The screening process may be performed according to a preset screening condition, for example, the screening condition may include at least one of a speed screening condition, a stay time screening condition and a relative position screening condition of a designated area.

[0206] Specifically, when screening according to the speed screening condition, the following steps may be included: among the candidate points, the candidate points whose speed when the delivery transport passes through the candidate point is greater than a preset speed threshold are determined and removed, and the remaining candidate points are retained. Since it takes a certain amount of time for the delivery transport to park the vehicle, when the delivery transport passes through the candidate points, the points with lower speed are more likely to be the parking locations.

[0207] The preset speed threshold can be set according to the actual scenario, and the speed threshold can be set to a fixed value, such as 1.5m / s. Different speed thresholds can be set for different designated areas to reflect the differences between designated areas. In addition, the speed threshold can be calculated based on the speed of each point on the trajectory of the historical order passed by the delivery capacity, for example, the calculated average speed on the trajectory is used as the speed threshold.

[0208] In addition, when filtering according to the stay time filtering condition, the following steps may be included: among the candidate points, the candidate points whose stay time at the candidate point when the delivery capacity executes the historical order is less than a preset time threshold are determined and removed. The time threshold may be a preset value, for example, 1 second.

[0209] Furthermore, when screening according to the relative position screening condition of the designated area, the following steps may be included: among the candidate points, the candidate points whose minimum distance to the edge of the designated area is greater than a preset second distance threshold are determined and removed.

[0210] In the actual order execution process, if there are fewer restrictions on parking locations in the designated area, the delivery capacity can determine the parking location based on its own judgment. However, with the rise of the logistics and distribution industry and the strengthening of traffic management in the region, more and more designated areas have become difficult-to-deliver areas (i.e., certain vehicles are not allowed to enter the area, or outsiders can only enter the area by walking).

[0211] In order to cooperate with regional management, it is necessary to determine parking locations for auxiliary vehicles in the difficult delivery area. Generally, the difficult delivery area allows vehicles to be parked at a designated location outside and / or inside the area. The process in this specification can determine the parking location among the candidate points through the positional relationship between the candidate points and the edge of the designated area.

[0212] Among them, the preset second distance threshold can be set to a fixed value, such as 10m, according to the actual scenario or actual needs. Different second distance thresholds can be set for different designated areas. In addition, the second distance threshold can be determined based on the distribution of each candidate point in the reference area. For example, if the candidate points are distributed more discretely in the reference area, the second distance threshold should not be too small; if the candidate points are distributed more concentratedly in the reference area, the second distance threshold should be set to a larger value.

[0213] In such Figure 2b In the scene shown, the candidate points in the matching point pair a1 and the matching point pair a2 both meet the relative position filtering conditions of the specified area, so the candidate points in the matching point pair a1 and the matching point pair a2 can be used as the basis for determining the parking location. The matching point pair a3 does not meet the relative position filtering conditions of the specified area, so the matching point pair a3 cannot be used as the basis for determining the parking location.

[0214] In addition, it should be noted that the "relative position screening condition of the designated area" in this specification uses the second distance threshold to determine the relative position relationship between the candidate point and the designated area is only an exemplary solution. In actual scenarios, the judgment can be made based on the relative position between the point collected from the candidate point at a preset number of collection steps and the designated area.

[0215] From the above content, it can be seen that the candidate points retained after the above screening steps are points with a high probability of being actual anchorage locations in history. The anchorage location is determined based on the retained candidate points, and the accuracy of the result obtained is also high.

[0216] The parking locations obtained through the above steps can be used online as a basis for planning the driving path and / or trajectory for the delivery transport capacity, so that the delivery transport capacity can accurately find the parking location and park the vehicle at the location when executing the order.

[0217] This specification does not specifically limit the range of the determined path extension. For example, the path may be the path between the current location of the delivery capacity for an order whose execution task point is located in the specified area and a parking place in the specified area; or, the path may be the path between a parking place in the specified area and the task point of the order.

[0218] Optionally, the path in this specification may be directional or sequential, and the path determined by the process in this specification may be used to guide the delivery capacity to the parking location, or may be used to guide the delivery capacity to leave the parking location.

[0219] Then in an optional embodiment of the present specification, when the path determined by the process in the present specification is used to guide the delivery capacity to the parking location, and guide the delivery capacity to leave the designated area from the parking location, the process of planning the path may be: when the current delivery capacity executes an unfinished order whose task point is located in the designated area, the path for the current delivery capacity to enter the designated area and the path for leaving the designated area when executing the order are determined based on the parking location in the designated area, so that the determined path for entering the designated area and the path for leaving the designated area both pass through the parking location.

[0220] It should be noted that when describing how to plan a route based on parking locations, the use of delivery capacity as the object of route planning is only exemplary, and the parking locations determined by the process in this specification can also be used to plan routes for any person or any vehicle (e.g., driverless vehicle). The vehicle can be an intelligent vehicle (e.g., a vehicle with assisted driving function, an unmanned vehicle, a vehicle connected to a smart terminal), public transportation equipment (e.g., shared bicycles, shared electric vehicles), etc.

[0221] Based on the same idea, the present specification also provides a corresponding embodiment Figure 1 The device for determining the parking location of a vehicle according to the process shown in FIG. Figure 5 shown.

[0222] Figure 5 This is a schematic diagram of a structure of a device for determining a parking location of a vehicle provided in an embodiment of this specification. The device for determining a parking location of a vehicle may include one or more of the following modules:

[0223] A historical order determination module 500, which is configured to determine each historical order where a task point is located in a specified area;

[0224] A trajectory determination module 502 is configured to determine, for each determined historical order, a trajectory of the delivery capacity entering the designated area and a trajectory of the delivery capacity leaving the designated area when executing the historical order;

[0225] A candidate point determination module 504 is configured to determine a matching point pair on a trajectory entering the specified area and a trajectory leaving the specified area, and use each point in the matching point pair as a candidate point; wherein one point in the matching point pair is located on the trajectory entering the specified area, and the other point is located on the trajectory leaving the specified area, and the distance between the two points is less than a preset first distance threshold;

[0226] The parking location determination module 506 is configured to determine a parking location available for parking the vehicle based on each candidate point determined for each historical order.

[0227] Optionally, the trajectory determination module 502 may include: a historical order trajectory determination submodule and a processing submodule.

[0228] The historical order trajectory determination submodule is configured to determine the trajectory of the distribution capacity in executing the historical order, the trajectory passes through the task point of the historical order located in the specified area, and the starting point and end point of the trajectory are both located outside the specified area.

[0229] and a processing submodule, which is configured to process the trajectory according to the task point of the historical order located in the designated area, and use the trajectory between the starting point and the task point as the trajectory entering the designated area; and use the trajectory between the task point and the end point as the trajectory leaving the designated area.

[0230] Optionally, the parking location determination module 506 may include at least one of a first submodule, a second submodule, a third submodule, and a fourth submodule.

[0231] The first submodule may include: a first screening unit and a first determining unit.

[0232] The first screening unit is configured to remove, from among the candidate points, candidate points whose speed when the delivery transport capacity passes through the candidate point is greater than a preset speed threshold.

[0233] The first determining unit is configured to determine a parking location for the vehicle based on the remaining candidate points after removing the candidate points where the speed of the delivery transport capacity passing through the candidate points is greater than a preset speed threshold.

[0234] Optionally, the second submodule may include: a second screening unit and a second determining unit.

[0235] The second screening unit is configured to remove, from among the candidate points, the candidate points whose minimum distance from the edge of the designated area is greater than a preset second distance threshold.

[0236] The second determining unit is configured to determine a parking location for the vehicle based on the remaining candidate points after removing the candidate points whose minimum distance from the edge of the designated area is greater than a preset second distance threshold.

[0237] Optionally, the third submodule may include: a third screening unit and a third determining unit.

[0238] The third screening unit is configured to remove, from among the candidate points, candidate points where the time the delivery transport capacity stays at the candidate point when executing the order is less than a preset time threshold.

[0239] The third determining unit is configured to determine a parking location available for parking the vehicle based on the remaining candidate points after removing the candidate points where the delivery capacity stays at the candidate points for a time less than a preset time threshold when executing the order.

[0240] Optionally, the fourth submodule may include: a clustering unit and a fourth determining unit.

[0241] The clustering unit is configured to cluster the determined candidate points to obtain at least one point cluster.

[0242] The fourth determining unit is configured to determine a parking location available for parking the vehicle according to the density of the candidate points in each point cluster.

[0243] Optionally, the clustering unit may include: a partitioning subunit and a point cluster determination subunit.

[0244] The division subunit is configured to divide the location of the designated area into grids to obtain at least one grid unit.

[0245] A point cluster determination subunit is configured to, for each grid unit, if the grid unit contains a candidate point and is adjacent to other grid units containing candidate points, determine the adjacent grid units as a point cluster; if the grid unit contains a candidate point and is not adjacent to other grid units containing candidate points, determine the.

[0246] Optionally, the fourth determination unit is specifically configured to determine, in each point cluster, a point cluster in which the density of candidate points is greater than a preset density threshold; for each point cluster in which the density of candidate points is greater than the preset density threshold, determine in the point cluster each grid cell in which the density of candidate points is the largest; and determine a parking location available for parking the vehicle based on the grid cell with the largest density of candidate points.

[0247] Optionally, the device for determining the parking location of a vehicle may further include: a path determination module. The path determination module is configured to determine a path for the current delivery capacity to execute the uncompleted order according to the parking location in the designated area when the current delivery capacity executes the task point of the uncompleted order in the designated area, so that the path passes through the parking location in the designated area.

[0248] The embodiments of the present specification also provide a computer-readable storage medium, which stores a computer program. The computer program can be used to execute any of the above processes for determining a parking location of a vehicle.

[0249] The embodiments of this specification also propose Figure 6 The schematic structure diagram of the electronic device shown in FIG. Figure 6 At the hardware level, the electronic device may include a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement any of the above processes for determining the parking location of the vehicle.

[0250] Based on the same idea, the embodiment of this specification also provides a path planning process, such as Figure 7 As shown, the path planning method may specifically include one or more of the following steps:

[0251] S700: For each current unfinished order, determine the task point of the unfinished order.

[0252] The unfinished orders in this description may correspond to only one task point. For example, in a supermarket scenario, the delivery capacity is stationed at a supermarket task point (pick-up point). At this time, there is no need to determine the parking location of the supermarket task point for the delivery capacity. The delivery point of the order is the task point of the order.

[0253] In addition, the number of task points in the order can also be several. For ease of description, the following takes one of the task points in the order as an example for explanation.

[0254] S702: For each determined task point of the unfinished order, determine the designated area to which the task point belongs as the designated area corresponding to the unfinished order.

[0255] The process of determining the designated area can be obtained by searching according to the aforementioned R-tree.

[0256] S704: Determine the delivery capacity that will execute the uncompleted order from among the delivery capacities as the delivery capacity corresponding to the uncompleted order.

[0257] This specification does not limit the process of order allocation involved in this step, and existing order allocation methods are all used in the process of this specification.

[0258] S706: Based on the preset parking location in the designated area corresponding to the unfinished order, a distribution capacity corresponding to the unfinished order is planned to determine a path to be taken when executing the unfinished order; the parking location in the designated area is obtained based on matching point pairs in trajectories generated when historical orders whose task points were historically executed in the designated area; the trajectories include: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold.

[0259] The parking location involved in this step can be obtained through any of the aforementioned processes for determining the parking location of the vehicle.

[0260] The process of planning the path used by the delivery capacity corresponding to the unfinished order when executing the unfinished order may be: planning the path used by the delivery capacity when executing the unfinished order so that the path passes through a preset parking location in a designated area corresponding to the unfinished order.

[0261] In an optional embodiment of the present specification, a path can be determined only for the delivery transport capacity to assist the delivery transport capacity in reaching the task point of the unfinished order, and the delivery transport capacity can determine the path to leave the task point by itself. The path to be taken by the delivery transport capacity corresponding to the unfinished order when executing the unfinished order can include: determining the path for the delivery transport capacity to reach the task point of the unfinished order, so that the determined path to the task point passes through a parking location in the designated area.

[0262] In another optional embodiment of the present specification, a path can also be determined for the delivery transportation capacity to assist the delivery transportation capacity in going to and leaving the task point of the unfinished order. The path used by the delivery transportation capacity corresponding to the unfinished order when planning to execute the unfinished order can include: determining the path for the delivery transportation capacity to go to the task point of the unfinished order, and determining the path for the delivery transportation capacity to leave the task point of the unfinished order, so that the determined path to the task point of the unfinished order and the path to leave the task point of the unfinished order both pass through the parking location in the designated area.

[0263] Optionally, the path planning process in this specification can be performed by a server. After the server plans a path for the delivery capacity, the path can be sent to the terminal of the delivery capacity, so that the terminal displays the information of the path to the delivery capacity. This specification does not specifically limit the way in which the terminal displays information. The display can be a graphical display on the screen of the terminal; it can also be a sound signal emitted by the terminal.

[0264] Based on the same idea, the present specification also provides a corresponding embodiment Figure 7 The path planning device of the process shown in FIG. Figure 8 shown.

[0265] Figure 8 This is a schematic diagram of the structure of a path planning device provided in an embodiment of this specification. The path planning device may include one or more of the following modules:

[0266] A task point determination module 800 is configured to determine the task point of each current unfinished order;

[0267] A designated area determination module 802 is configured to determine, for each task point of the determined uncompleted order, the designated area to which the task point belongs as the designated area corresponding to the uncompleted order;

[0268] A delivery capacity determination module 804 is configured to determine, from among various delivery capacities, a delivery capacity that will execute the uncompleted order as the delivery capacity corresponding to the uncompleted order;

[0269] The planning module 806 is configured to plan the path to be taken when executing the unfinished order for the distribution capacity corresponding to the unfinished order according to the preset parking location in the designated area corresponding to the unfinished order; the parking location in the designated area is obtained based on the matching point pairs in the trajectory generated when the historical execution point of the historical order was located in the designated area; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, and the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold.

[0270] Optionally, the planning module 806 is further configured to determine a path for the delivery capacity to go to the task point of the uncompleted order, so that the determined path to the task point passes through a parking location in the designated area.

[0271] Optionally, the planning module 806 is also configured to determine a path for the delivery transport capacity to go to the task point of the uncompleted order, and to determine a path for the delivery transport capacity to leave the task point of the uncompleted order, so that the determined path to go to the task point of the uncompleted order and the determined path to leave the task point of the uncompleted order both pass through a parking location in the designated area.

[0272] Optionally, the path planning device may further include a path sending module. The path sending module is configured to send the path to a terminal of the delivery capacity corresponding to the uncompleted order, so that the terminal displays information of the path.

[0273] The embodiments of this specification also provide a computer-readable storage medium, which stores a computer program. The computer program can be used to execute any one of the above-mentioned path planning processes.

[0274] The embodiments of this specification also propose Fig. 9 The schematic structure diagram of the electronic device shown in FIG. Fig. 9 At the hardware level, the electronic device may include a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement any of the above path planning processes.

[0275] Based on the same idea, the embodiment of this specification also provides an order execution process, such as Fig.10 As shown, the order execution process may specifically include one or more of the following steps:

[0276] S1000: Accept outstanding orders.

[0277] This specification does not limit the device for executing the order execution process. Specifically, the order execution process can be executed by a terminal and / or other devices for distributing transportation capacity.

[0278] Taking the execution of the process in this specification by the terminal of the distribution capacity as an example, the order execution process in this specification can be automatically executed by the software loaded in the terminal according to the preset business rules, or it can be executed by the terminal according to the operation of the distribution capacity.

[0279] That is, in an optional embodiment of the present specification, "acceptance" may mean that the terminal automatically receives information about unfinished orders (which may be sent by the server) according to preset business rules, and the terminal automatically returns the order acceptance information to the server.

[0280] In another optional embodiment of the present specification, "acceptance" can be that the terminal receives the information of the unfinished order and displays the information of the unfinished order to the delivery capacity holding the terminal, and the delivery capacity determines whether to accept the order based on the information of the unfinished order. If the result of the judgment of the delivery capacity is to accept the order, the operation of accepting the order is performed on the terminal (for example, clicking the order acceptance icon), and the terminal automatically returns the information of the order acceptance operation to the server.

[0281] S1002: Obtain a path pre-planned for the unfinished order, the path passing through a preset parking location in a designated area to which the task point of the unfinished order belongs; the parking location in the designated area is obtained based on matching point pairs in trajectories generated when historical orders whose task points were located in the designated area were executed in the past; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold.

[0282] The preset parking locations in the designated areas involved in the order execution process in this specification can be obtained by the process of determining the vehicle parking locations in the aforementioned steps.

[0283] After accepting the order, the terminal can automatically obtain the route pre-planned for the uncompleted order according to the preset business rules or according to the operation of the distribution capacity. The route can be planned by the server.

[0284] The content defined by the path in this specification can be determined according to the actual scenario. For example, the path may include at least one of the following: a path to (for example, from the current location of the delivery capacity that executes the uncompleted order to) the parking place in the designated area to which the task point of the uncompleted order belongs, a path from the parking place in the designated area to which the task point of the uncompleted order belongs to the task point, and a path to leave the task point of the uncompleted order (which may include: from the task point to the parking place, from the parking place to the next task point to which the delivery capacity will arrive, etc.).

[0285] S1004: Provide the acquired path information.

[0286] This specification does not limit the method of providing, nor does it limit the objects corresponding to the provided information.

[0287] Specifically, the providing process may be a process of displaying information to the delivery transport capacity executing the uncompleted order, and the information displayed to the delivery transport capacity may be the position and direction of the path on the map displayed by the terminal.

[0288] In addition, the information display process may also be a process of providing guidance information for navigation to the user. The guidance information may be generated by the terminal of the distribution transport capacity.

[0289] The navigation information in this specification may include: at least one of: first guidance information generated based on the path to the parking location in the designated area to which the task point of the uncompleted order belongs, second guidance information generated based on the path from the parking location in the designated area to which the task point of the uncompleted order belongs to the task point, and third guidance information generated based on the path leaving the task point of the uncompleted order.

[0290] The guidance information referred to in this specification may be at least one of sound information and graphic information emitted by the terminal.

[0291] Optionally, the process of determining the first guidance information may be:

[0292] The current position of the delivery transport capacity executing the uncompleted order is obtained, and the current position can be obtained by the positioning module of the terminal. According to the obtained path to the parking place in the designated area to which the task point of the uncompleted order belongs, first guidance information is generated from the current position of the delivery transport capacity to the parking place. The first guidance information is provided so that the delivery transport capacity goes to the parking place according to the first guidance information.

[0293] The process of determining the second guidance information may be:

[0294] Determine whether the delivery transport capacity has reached the parking location in the designated area to which the task point of the uncompleted order belongs. If so, generate second guidance information between the parking location and the task point based on the path from the parking location in the designated area to which the task point of the uncompleted order belongs. Provide the second guidance information so that the delivery transport capacity goes to the task point of the uncompleted order according to the second guidance information.

[0295] The process of determining the third guidance information may be:

[0296] After the delivery transport capacity executing the uncompleted order arrives at the task point of the uncompleted order, the current position of the delivery transport capacity is obtained. At this time, if the delivery transport capacity has not left the task point, the obtained current position of the delivery transport capacity is the position of the task point. According to the path leaving the task point of the uncompleted order, the third guidance information between the current position of the delivery transport capacity and the parking place in the designated area is generated. The third guidance information is provided so that the delivery transport capacity goes from the current position of the delivery transport capacity to the parking place in the designated area according to the third guidance information.

[0297] In addition, as mentioned above, the order execution process in this specification can also be executed by other devices. The other device can be a resource determination device. The resource determination device can be used to receive an unfinished order, corresponding to step S800, and obtain a path pre-planned for the unfinished order based on the received unfinished order data (for example, the acquisition can be obtained from the received unfinished order data), corresponding to step S802. Afterwards, determine the resources that will be consumed by executing the unfinished order according to the acquired path, and this specification does not specifically limit the type of the resource.

[0298] Specifically, the resource can be time (for example, the time the rider will spend to execute the order, the time the unfinished order is promised to be delivered to the user corresponding to the unfinished order, etc.), amount (for example, the delivery fee that the user corresponding to the unfinished order needs to pay for the unfinished order, the remuneration to be paid to the delivery capacity that executes the unfinished order, etc.), computing resources that will be consumed by at least part of the device involved in the process of executing the unfinished order, etc.

[0299] Afterwards, the information determined by the other device (such as the resources mentioned above) is used as the information of the path. The information of the path is provided to other devices other than the device, corresponding to step S804. Optionally, the other device other than the device may be a server, a terminal of a user corresponding to the uncompleted order, a terminal of a delivery vehicle that executes the uncompleted order, etc.

[0300] Specifically, the process of providing information may be a process of displaying information, for example, displaying the promised delivery time to the user corresponding to the uncompleted order.

[0301] The process of providing information may also be a process of transmitting information, for example, sending the estimated consumed resources to other devices other than the device for further processing.

[0302] Based on the same idea, the present specification also provides a corresponding embodiment Fig.10 The order execution device of the process shown in FIG. Fig.11 shown.

[0303] Fig.11 This is a schematic diagram of the structure of an order execution device provided in an embodiment of this specification. The order execution device may include one or more of the following modules:

[0304] An order acceptance module 1100 configured to accept uncompleted orders;

[0305] A path acquisition module 1102 is configured to acquire a path pre-planned for the uncompleted order, the path passing through a preset parking location in a designated area to which the task point of the uncompleted order belongs; the parking location in the designated area is obtained based on a pair of matching points in a trajectory generated when a historical order whose task point is located in the designated area is executed in history; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the pair of matching points is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold;

[0306] The information providing module 1104 is configured to provide the acquired path information.

[0307] Optionally, the path includes: a path to a parking location in a designated area to which the task point of the uncompleted order belongs.

[0308] Optionally, the information providing module 1104 is specifically configured to obtain the current position of the delivery transport capacity executing the uncompleted order. According to the obtained path to the parking location in the designated area to which the task point of the uncompleted order belongs, generate first guidance information from the current position of the delivery transport capacity to the parking location. Provide the first guidance information so that the delivery transport capacity goes to the parking location according to the first guidance information.

[0309] Optionally, the path includes: a path from a parking place in a designated area to which the task point of the uncompleted order belongs to the task point.

[0310] Optionally, the information providing module 1104 is specifically configured to determine whether the delivery transport capacity has reached the parking location in the designated area to which the task point of the uncompleted order belongs. If so, second guidance information between the parking location and the task point is generated based on the path from the parking location in the designated area to which the task point of the uncompleted order belongs. The second guidance information is provided so that the delivery transport capacity goes to the task point of the uncompleted order according to the second guidance information.

[0311] Optionally, the path includes: a path leaving the task point of the uncompleted order.

[0312] Optionally, the information providing module 1104 is specifically configured to obtain the current position of the delivery transport capacity after the delivery transport capacity executing the uncompleted order arrives at the task point of the uncompleted order. According to the path leaving the task point of the uncompleted order, third guidance information between the current position of the delivery transport capacity and the parking place in the designated area is generated. The third guidance information is provided so that the delivery transport capacity goes from the current position of the delivery transport capacity to the parking place in the designated area according to the third guidance information.

[0313] The embodiments of this specification also provide a computer-readable storage medium, which stores a computer program, and the computer program can be used to execute any of the above-mentioned order execution processes.

[0314] The embodiments of this specification also propose Fig.12 The schematic structure diagram of the electronic device shown in FIG. Fig.12 At the hardware level, the electronic device may include a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement any of the above order execution processes.

[0315] Based on the same idea, the embodiment of this specification also provides an information providing process, such as Fig.13 As shown, the information providing process may specifically include one or more of the following steps:

[0316] S1300: For each user, obtain information of an order to be sent generated by the user;

[0317] The scope of users involved in the information provision process in this specification can be understood in a broad sense. The user can be a user who is not currently generating an order to be sent, or a user who is currently generating an order to be sent. For ease of description, the following description is based on a user who is currently generating an order to be sent.

[0318] In actual order delivery scenarios, an order must go through at least one of the following stages: "user places order", "merchant prepares inventory", and "delivery capacity executes order". Among them, the "user places order" stage can be regarded as the beginning of the order life cycle, which directly affects one or several subsequent stages.

[0319] If the process is currently at the "user placing an order" stage, before the user sends the information used to generate the order to the server (for example, it can be sent through the user's terminal), the information contained in the order that has not yet been sent to the service platform is in an uncertain state. This manual regards orders whose information may change due to user operations as orders to be sent.

[0320] Optionally, the information of the order to be sent may include at least one of the following: the delivery point of the goods in the order to be sent, the information of the merchant corresponding to the goods in the order to be sent (for example, the merchant's address), the information of the resources estimated to be consumed in executing the order to be sent, the user's personalized demand information for the order to be sent, the current environmental information (for example, weather, traffic conditions), etc. Among them, the delivery point and / or the merchant's address can be used as the task point in this specification.

[0321] The information providing process in this specification can be executed by a server. The server can obtain the information of the order to be sent in real time and make a decision based on the information of the order to be sent.

[0322] S1302: According to the information of the order to be sent, the designated area to which the task point of the order to be sent belongs is determined in each preset designated area as the designated area corresponding to the order to be sent.

[0323] If an order to be sent has multiple task points, the designated area to which each task point belongs can be determined based on the distribution of each task point of the order.

[0324] S1304: Predicting the difficulty of executing the order to be sent based on the preset parking location in the designated area corresponding to the order to be sent; the parking location in the designated area is obtained based on the matching point pairs in the trajectory generated when the historical order whose task point was executed was located in the designated area; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, and the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold.

[0325] The preset parking location of the designated area involved in the information providing process in this specification can be obtained by the process of determining the parking location of the vehicle in the aforementioned steps.

[0326] The "execution difficulty" in this specification can be used to characterize the expected severity of the execution of the pending order. The execution difficulty is related to the parking location corresponding to the pending order to a certain extent.

[0327] For example, the parking location corresponding to an order to be sent is far away from the task point of the order to be sent, and the delivery vehicle needs to walk a long distance; or the delivery vehicle needs to take a detour to reach the parking location, then the execution difficulty of the order to be sent is greater, that is, the execution difficulty is positively correlated with the distance the delivery vehicle walks when executing the order to be sent.

[0328] For another example, if there are many obstacles in the environment where an order to be sent is located, and it is inconvenient for the delivery vehicle to park and pick up the vehicle at the parking location, then the execution of the order to be sent will be more difficult, that is, the execution difficulty is positively correlated with the time spent by the delivery vehicle to park and pick up the vehicle when executing the order to be sent.

[0329] S1306: Determine the resources that will be consumed in executing the order to be sent based on the predicted difficulty of executing the order to be sent.

[0330] In an optional embodiment of the present specification, the resources consumed by executing the order to be sent may be as described above. The resources may be positively correlated with the difficulty of executing the order.

[0331] S1308: Provide the determined resources.

[0332] This specification does not limit the method of providing, nor does it limit the object corresponding to the information provided. Specifically, the process of providing can be a process of passing the data of the resource to other devices. Specifically, the other device can be a user's terminal, and the process of providing resources can be: after the server determines the resource, it sends the resource to the user who generates the order to be sent. After the terminal receives the resource, it displays the resource to the user.

[0333] It can be seen that the resources in this manual are combined with the impact of the parking location on the difficulty of executing the order to be sent. If the execution difficulty caused by the parking location is large, then correspondingly, the resources of the order to be sent are also large (for example, the promised delivery time is long, the delivery fee that the user needs to bear is high, etc.). After the user knows the resources of the order to be sent, he can make a decision based on the resources to determine whether to send the order to be sent to the terminal. If the user is unwilling to bear the resource, the user can choose not to send the order to be sent. The information provision process in this manual can adjust the relationship between the "supply" of distribution capacity to order execution capacity and the "demand" of users for order execution capacity during the order execution process according to the situation of the parking location. By suppressing users from sending orders that are difficult to execute, it is possible to avoid excessive occupation of the execution difficulty of distribution capacity by orders that are difficult to execute, thereby avoiding adverse effects on all orders in the overall distribution environment.

[0334] Based on the same idea, the present specification also provides a corresponding embodiment Fig.13 The information providing device of the process shown in the figure is as follows: Fig.14 shown.

[0335] Fig.14 This is a schematic diagram of the structure of an information providing device provided in an embodiment of this specification. The information providing device may include one or more of the following modules:

[0336] The to-be-sent order acquisition module 1400 is configured to acquire, for each user, information of the to-be-sent order generated by the user;

[0337] The designated area selection module 1402 is configured to determine, according to the information of the order to be sent, the designated area to which the task point of the order to be sent belongs in each preset designated area as the designated area corresponding to the order to be sent;

[0338] The execution difficulty prediction module 1404 is configured to predict the execution difficulty of the order to be sent according to the preset parking location of the designated area corresponding to the order to be sent; the parking location of the designated area is obtained according to the matching point pairs in the trajectory generated when the historical execution task point is located in the historical order of the designated area; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point of the matching point pair is located on the trajectory entering the designated area, and the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold;

[0339] A resource determination module 1406, configured to determine the resources that will be consumed in executing the order to be sent according to the predicted execution difficulty of the order to be sent;

[0340] The resource providing module 1408 is configured to provide the determined resources.

[0341] The embodiments of this specification also provide a computer-readable storage medium, which stores a computer program. The computer program can be used to execute any one of the above-mentioned information providing processes.

[0342] The embodiments of this specification also propose Fig.15 The schematic structure diagram of the electronic device shown in FIG. Fig.15 At the hardware level, the electronic device may include a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement any of the above information provision processes.

[0343] Based on the same idea, the embodiment of this specification also provides a vehicle parking process, such as Fig.16 As shown, the vehicle parking process may specifically include one or more of the following steps:

[0344] S1600: Determine the current position of the vehicle.

[0345] This specification does not limit the specific types of vehicles involved. The vehicles may be intelligent vehicles (for example, vehicles with assisted driving functions, unmanned vehicles, vehicles connected to smart terminals), public transportation equipment (for example, shared bicycles, shared electric vehicles), etc.

[0346] One or more steps in the vehicle parking process in this specification can be executed by at least one of the vehicle and a server communicatively connected to the vehicle.

[0347] S1602: According to the current position of the vehicle, in each preset designated area, determine each designated area within a preset distance from the vehicle.

[0348] The preset distance can be set by the user in the vehicle or determined by the vehicle itself. In order to flexibly execute the vehicle parking process in this specification, each designated area within the preset distance from the vehicle can be determined in real time / periodically, so that the user can flexibly select a designated area to park the vehicle in each designated area.

[0349] Specifically, in the scenario of temporary parking of a vehicle, the urgency of parking the vehicle can be determined first according to the user's operation. If the urgency of parking the vehicle is high, a smaller preset distance can be set to facilitate parking nearby; if the urgency of parking the vehicle is low, a larger preset distance can be set to increase the room for selection. That is, the preset distance is negatively correlated with the urgency of parking the vehicle.

[0350] In addition, in a scenario where a travel destination is predetermined, an area around the travel destination that is within a third distance threshold from the destination can be determined based on the travel destination; determine whether the vehicle is currently located in an area within the third distance threshold from the destination; if so, determine each designated area within a preset distance from the vehicle; if not, continue to determine whether the vehicle is currently located in an area within the third distance threshold from the destination.

[0351] S1604: For each designated area within a preset distance of the vehicle, obtain a preset parking location of the designated area; the parking location of the designated area is obtained based on matching point pairs in a trajectory generated when a historical order in which a task point was historically executed was located in the designated area; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, and the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold.

[0352] The preset parking location of the designated area involved in this step can be obtained from the process of determining the parking location of the vehicle in the aforementioned step.

[0353] S1606: Determine parking locations in each designated area within a preset distance of the vehicle as candidate parking locations for the vehicle.

[0354] S1608: Providing candidate parking locations for the vehicle, so that the vehicle parks according to the candidate parking locations.

[0355] This specification does not limit the method of providing, nor does it limit the object corresponding to the provided information. For example, the process of providing can be a process of information transmission. For example, the candidate parking location is sent to a time prediction module (the time prediction module can be a module in the vehicle, server, or user's terminal), and the time prediction module predicts the time it will take to reach the candidate parking location.

[0356] In addition, the step of providing can be displayed through the screen on the vehicle and / or the terminal of the user in the vehicle. After the user learns about the candidate parking points, he can make his own decisions and perform corresponding operations. Then, the information displayed to the user may not be limited to the candidate parking locations of the vehicle, but may also include the time predicted by the time prediction module to reach each candidate parking location, the travel distance, the traffic conditions of the passing road section, the information of the merchants along the way (which can be used to recommend the services of the merchants to the user), etc.

[0357] Optionally, after providing candidate parking locations for the vehicle, the method may further include: obtaining a selection operation for the candidate parking locations, and determining a target parking location among the candidate parking locations. The selection operation may be generated by a user, or may be automatically generated by any one of the vehicle, server, and user's terminal according to preset business rules.

[0358] Afterwards, a path to the target parking location can be generated based on the determined target parking location. The path can be a path from the current position of the vehicle to the target parking location. When generating the path, the path can be generated based on the current traffic conditions and a preset map.

[0359] Based on the same idea, the present specification also provides a corresponding embodiment Fig.16 The vehicle parking device of the process shown in FIG. Fig.17 shown.

[0360] Fig.17 This is a schematic diagram of the structure of a vehicle parking device provided in an embodiment of this specification. The vehicle parking device may include one or more of the following modules:

[0361] A vehicle position determination module 1700 configured to determine a current position of a vehicle;

[0362] The designated area screening module 1702 is configured to determine each designated area within a preset distance from the vehicle according to the current position of the vehicle, among the preset designated areas;

[0363] The parking location acquisition module 1704 is configured to acquire, for each designated area within a preset distance of the vehicle, a preset parking location of the designated area; the parking location of the designated area is obtained based on a matching point pair in a trajectory generated when a historical order in which a task point is located in the designated area; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point of the matching point pair is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold;

[0364] A candidate parking location determination module 1706 is configured to determine parking locations in each designated area within a preset distance of the vehicle as candidate parking locations for the vehicle;

[0365] The parking location providing module 1708 is configured to provide candidate parking locations for the vehicle, so that the vehicle parks the vehicle according to the provided candidate parking locations.

[0366] Optionally, the vehicle parking device in this specification may further include a path generation module, which is configured to receive a selection operation for a candidate parking location, select a target parking location from each candidate parking location, and generate a path to the target parking location based on the determined target parking location.

[0367] The embodiments of this specification also provide a computer-readable storage medium, which stores a computer program. The computer program can be used to execute any one of the above-mentioned information providing processes.

[0368] The embodiments of this specification also propose Fig.18 The schematic structure diagram of the electronic device shown in FIG. Fig.18 At the hardware level, the electronic device may include a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement any of the above-mentioned vehicle parking processes.

[0369] Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as the combination of logic device XOR software and hardware, etc., that is to say, the executor of the following processing flow is not limited to each logic unit, but can also be hardware or logic device.

[0370] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0371] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0372] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0373] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0374] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0375] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0376] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0377] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0378] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0379] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0380] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0381] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0382] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0383] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0384] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0385] The above description is only an embodiment of the present specification and is not intended to limit the present specification. For those skilled in the art, the present specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the scope of the claims of the present specification.

Claims

1. A method for determining a parking location of a vehicle, characterized in that: The method comprises: Determine the historical orders where the mission points are located within the specified area; For each determined historical order, determine a trajectory of the delivery capacity entering the designated area and a trajectory of the delivery capacity leaving the designated area when executing the historical order; Determine a matching point pair on a trajectory entering the designated area and a trajectory leaving the designated area, and use each point in the matching point pair as a candidate point; wherein one point in the matching point pair is located on the trajectory entering the designated area, and the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold; Determine a parking location for the vehicle based on candidate points determined for each historical order; The determination of the trajectory of the delivery capacity entering the designated area and the trajectory of the delivery capacity leaving the designated area when executing the historical order specifically includes: Determine a trajectory of the delivery transport capacity executing the historical order, the trajectory passing through a task point of the historical order located within the designated area, and both a starting point and an end point of the trajectory are located outside the designated area; According to the task point of the historical order located in the designated area, the trajectory is processed, and the trajectory between the starting point and the task point is used as the trajectory entering the designated area; and the trajectory between the task point and the end point is used as the trajectory leaving the designated area; The method of determining a parking location for the vehicle based on the candidate points determined for each historical order includes one of the following three methods: Among the candidate points, the candidate points where the speed of the delivery transport passing through the candidate point is greater than a preset speed threshold are removed; and the parking places available for parking the vehicle are determined according to the remaining candidate points after removing the candidate points where the speed of the delivery transport passing through the candidate point is greater than the preset speed threshold; Among the candidate points, remove the candidate points whose minimum distance from the edge of the designated area is greater than a preset second distance threshold; determine the parking location available for parking the vehicle according to the remaining candidate points after removing the candidate points whose minimum distance from the edge of the designated area is greater than the preset second distance threshold; Among the candidate points, those at which the delivery transport capacity stayed for less than a preset time threshold when executing the historical order are removed; and parking locations available for parking the vehicle are determined based on the remaining candidate points after removing the candidate points at which the delivery transport capacity stayed for less than a preset time threshold when executing the historical order.

2. The method according to claim 1, characterized in that Identify parking locations available for your vehicle, including: Clustering the determined candidate points to obtain at least one point cluster; According to the density of candidate points in each point cluster, the parking places available for parking vehicles are determined.

3. The method according to claim 2, characterized in that Cluster the determined candidate points to obtain at least one point cluster, which specifically includes: Divide the location of the designated area into grids to obtain at least one grid unit; For each grid cell, if the grid cell contains a candidate point and is adjacent to other grid cells containing candidate points, the adjacent grid cells are determined as a point cluster; If the grid cell contains a candidate point and is not adjacent to other grid cells containing candidate points, the grid cell is determined as a point cluster.

4. The method according to claim 3, characterized in that According to the density of candidate points in each point cluster, the parking locations available for parking vehicles are determined, including: In each point cluster, a point cluster whose density of candidate points is greater than a preset density threshold is determined; For each point cluster whose density of candidate points is greater than a preset density threshold, determine a grid cell with the largest density of candidate points in the point cluster; The parking places available for parking vehicles are determined based on the grid cells with the largest density of candidate points.

5. The method according to any one of claims 1 to 4, characterized in that: After determining a parking location available for parking the vehicle, the method further includes: When the current delivery transport capacity executes an unfinished order at a task point within the designated area, a path for the current delivery transport capacity to execute the unfinished order is determined based on the parking location in the designated area, so that the path passes through the parking location in the designated area.

6. A path planning method, characterized in that: The method comprises: For each current unfinished order, determine the task point of the unfinished order; For each determined task point of the uncompleted order, determine the designated area to which the task point belongs as the designated area corresponding to the uncompleted order; Among the delivery transport capacities, the delivery transport capacity that will execute the uncompleted order is determined as the delivery transport capacity corresponding to the uncompleted order; According to the preset parking location in the designated area corresponding to the unfinished order, a path to be adopted when executing the unfinished order is planned for the distribution capacity corresponding to the unfinished order; the parking location in the designated area is obtained according to the method according to claim 1; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, and the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold.

7. An order execution method, characterized in that: The method comprises: Acceptance of outstanding orders; Acquire a path pre-planned for the uncompleted order, the path passing through a preset parking location in a designated area to which the task point of the uncompleted order belongs; the parking location in the designated area is obtained according to the method of claim 1; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold; Provides the information of the obtained path.

8. A device for determining a parking location of a vehicle, characterized in that: The device comprises: A historical order determination module configured to determine each historical order where a task point is located within a specified area; A trajectory determination module is configured to determine, for each determined historical order, a trajectory of the delivery capacity entering the designated area and a trajectory of leaving the designated area when executing the historical order; a candidate point determination module, configured to determine a matching point pair on a trajectory entering the designated area and a trajectory leaving the designated area, and use each point in the matching point pair as a candidate point; wherein one point in the matching point pair is located on the trajectory entering the designated area, and the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold; A parking location determination module, configured to determine a parking location available for parking the vehicle based on each candidate point determined for each historical order; The determination of the trajectory of the delivery capacity entering the designated area and the trajectory of the delivery capacity leaving the designated area when executing the historical order specifically includes: Determine a trajectory of the delivery transport capacity executing the historical order, the trajectory passing through a task point of the historical order located within the designated area, and both a starting point and an end point of the trajectory are located outside the designated area; According to the task point of the historical order located in the designated area, the trajectory is processed, and the trajectory between the starting point and the task point is used as the trajectory entering the designated area; and the trajectory between the task point and the end point is used as the trajectory leaving the designated area; The method of determining a parking location for the vehicle based on the candidate points determined for each historical order includes one of the following three methods: Among the candidate points, the candidate points where the speed of the delivery transport passing through the candidate point is greater than a preset speed threshold are removed; and the parking places available for parking the vehicle are determined according to the remaining candidate points after removing the candidate points where the speed of the delivery transport passing through the candidate point is greater than the preset speed threshold; Among the candidate points, remove the candidate points whose minimum distance from the edge of the designated area is greater than a preset second distance threshold; determine the parking location available for parking the vehicle according to the remaining candidate points after removing the candidate points whose minimum distance from the edge of the designated area is greater than the preset second distance threshold; Among the candidate points, those at which the delivery transport capacity stayed for less than a preset time threshold when executing the historical order are removed; and parking locations available for parking the vehicle are determined based on the remaining candidate points after removing the candidate points at which the delivery transport capacity stayed for less than a preset time threshold when executing the historical order.

9. A path planning device, characterized in that: The device comprises: A task point determination module, configured to determine the task point of each current uncompleted order; A designated area determination module is configured to determine, for each task point of the determined uncompleted order, the designated area to which the task point belongs as the designated area corresponding to the uncompleted order; A delivery capacity determination module, configured to determine, from among various delivery capacities, a delivery capacity that will execute the uncompleted order as the delivery capacity corresponding to the uncompleted order; A planning module, configured to plan a path for executing the unfinished order for the distribution capacity corresponding to the unfinished order according to a preset parking location in a designated area corresponding to the unfinished order; the parking location in the designated area is obtained according to the method described in claim 1; the trajectory includes: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold.

10. An order execution device, characterized in that: The device comprises: an order acceptance module configured to accept outstanding orders; a path acquisition module configured to acquire a path pre-planned for the uncompleted order, the path passing through a preset parking location in a designated area to which the task point of the uncompleted order belongs; the parking location in the designated area is obtained according to the method of claim 1; the trajectory comprises: a trajectory entering the designated area and a trajectory leaving the designated area, one point in the matching point pair is located on the trajectory entering the designated area, the other point is located on the trajectory leaving the designated area, and the distance between the two points is less than a preset first distance threshold; An information providing module is configured to provide the acquired information of the path.

11. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of claims 1 to 7 is implemented.

12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method described in any one of claims 1 to 7 is implemented.

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