A method for assisting driving of a vehicle in a parking lot, an intelligent terminal, and a roadside device

Abstract

The application is suitable for the technical field of auxiliary driving, and provides an auxiliary driving method for a vehicle in a parking lot, an intelligent terminal and a roadside device. The method comprises the following steps: the roadside device acquires vehicle information of a vehicle in a parking lot and layout information of the parking lot, determines a parking planning route of the vehicle to be parked according to the vehicle information and the layout information of the parking lot, and sends the parking planning route and the layout information of the parking lot to an intelligent terminal. The intelligent terminal is used for outputting graphical layout information and the parking planning route on an interface. According to the application, the parking planning route can be determined and displayed on the interface, so that the user can park quickly according to the parking planning route.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of auxiliary driving, and particularly relates to an auxiliary driving method for a vehicle in a parking lot, an intelligent terminal and a roadside device. BACKGROUND

[0002] With the rapid development of the automobile industry, auxiliary driving has become a future development direction of automobiles. Auxiliary driving can help drivers to safely and quickly complete driving, and therefore, auxiliary driving is increasingly favored by users.

[0003] For a vehicle that needs to be parked in a parking lot, accurately and quickly reaching a parking space of the vehicle is a main requirement of the driver. At present, when a driver enters a parking lot to park, the driver mainly finds an idle parking space by driving the vehicle and manually searching for the idle parking space. If the idle parking space cannot be found, the vehicle needs to be driven again in the parking lot to search for the idle parking space, resulting in a long parking time. SUMMARY

[0004] The application embodiment provides an auxiliary driving method for a vehicle in a parking lot, an intelligent terminal and a roadside device, and can solve the problem of a long parking time.

[0005] In a first aspect, the application embodiment provides an auxiliary driving method for a vehicle in a parking lot, applied to an intelligent terminal, and including:

[0006] Obtaining layout information of the parking lot, wherein the layout information includes position information of each parking space and lane information;

[0007] Obtaining a position of a target vehicle in the parking lot and a parking planning route of the target vehicle;

[0008] Obtaining a position of a first vehicle in the parking lot and a parking planning route of the first vehicle, wherein the first vehicle is a vehicle with a distance from the target vehicle within a first preset range;

[0009] Outputting the layout information on an interface of the intelligent terminal, and outputting the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle in a graphical manner based on the layout information.

[0010] In a second aspect, the application embodiment provides an auxiliary driving method for a vehicle in a parking lot, applied to a roadside device in the parking lot, and including:

[0011] Obtaining vehicle information of each vehicle in the parking lot, wherein the vehicle information includes a position of the vehicle;

[0012] obtain a parking planning route of a vehicle to be parked in the parking lot based on the vehicle information of each vehicle and preset layout information of the parking lot;

[0013] after receiving the route acquisition instruction of the target vehicle sent by the intelligent terminal, send the layout information, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle to the intelligent terminal, wherein the first vehicle is a vehicle within a first preset range from the target vehicle, and the layout information, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle are used for graphical display on an interface of the intelligent terminal, and the vehicle to be parked includes the target vehicle and the first vehicle.

[0014] In a third aspect, an embodiment of the present application provides an intelligent terminal, comprising:

[0015] a layout acquisition module configured to acquire layout information of a parking lot, wherein the layout information comprises position information of each parking space and lane information;

[0016] a first route acquisition module configured to acquire a position of a target vehicle in the parking lot and a parking planning route of the target vehicle;

[0017] a second route acquisition module configured to acquire a position of a first vehicle in the parking lot and a parking planning route of the first vehicle, wherein the first vehicle is a vehicle within a first preset range from the target vehicle;

[0018] a display module configured to output the layout information, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle on an interface of the intelligent terminal.

[0019] In a fourth aspect, an embodiment of the present application provides a roadside device, comprising:

[0020] a vehicle information acquisition module configured to obtain vehicle information of each vehicle in a parking lot, wherein the vehicle information comprises a position of the vehicle;

[0021] a route planning module configured to obtain a parking planning route of a vehicle to be parked in the parking lot based on the vehicle information of each vehicle and preset layout information of the parking lot;

[0022] The information sending module is configured to send, to the intelligent terminal, the layout information, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle, and the parking planning route of the first vehicle after receiving a route acquisition instruction of the target vehicle sent by the intelligent terminal, wherein the first vehicle is a vehicle within a first preset range from the target vehicle, and the layout information, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle, and the parking planning route of the first vehicle are used for graphical display on an interface of the intelligent terminal, and the vehicle to be parked includes the target vehicle and the first vehicle.

[0023] In a fifth aspect, an embodiment of the present application provides an intelligent terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method for assisting driving of a vehicle in a parking lot according to any one of the first aspect when executing the computer program.

[0024] In a sixth aspect, an embodiment of the present application provides a roadside device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method for assisting driving of a vehicle in a parking lot according to any one of the second aspect when executing the computer program.

[0025] In a seventh aspect, an embodiment of the present application provides a system for assisting driving of a vehicle in a parking lot, including the intelligent terminal according to the fifth aspect and the roadside device according to the sixth aspect.

[0026] In an eighth aspect, an embodiment of the present application provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executable on a processor to implement the method for assisting driving of a vehicle in a parking lot according to any one of the first aspect or implement the method for assisting driving of a vehicle in a parking lot according to any one of the second aspect.

[0027] In a ninth aspect, an embodiment of the present application provides a computer program product, and when the computer program product is executed on a terminal device, the terminal device executes the method for assisting driving of a vehicle in a parking lot according to any one of the first aspect or the method for assisting driving of a vehicle in a parking lot according to any one of the second aspect.

[0028] The beneficial effects of the first aspect of the present application compared with the prior art are that the intelligent terminal of the present application can obtain the layout information of the parking lot and display it in a graphical manner, so that the user can intuitively obtain the layout of the parking lot, which is beneficial for the user to drive in the parking lot; the present application can also obtain the positions of the target vehicle and the first vehicle that may have an image on the target vehicle and a parking planning route, and display them in a graphical manner, so that the user of the target vehicle can intuitively and clearly obtain the parking route, avoid searching for a vacant parking space in the parking lot, and improve the parking efficiency; the present application can also enable the user of the target vehicle to avoid the first vehicle when driving in the parking lot according to the parking planning route of the first vehicle, so as to prevent the target vehicle from colliding with the first vehicle.

[0029] The beneficial effects of the second aspect of the present application compared with the prior art are that the roadside equipment in the parking lot of the present application can obtain the vehicle information of the vehicle in the parking lot and the layout information of the parking lot, obtain the parking planning route of the vehicle to be parked in the parking lot based on the vehicle information of each vehicle and the preset layout information of the parking lot, and obtain the parking planning route of the vehicle to be parked in the parking lot based on the global information in the parking lot, so that the obtained parking planning route is more accurate and the overlap of the parking planning route is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0031] Figure 1 is a structural schematic diagram of the auxiliary driving system of the vehicle in the parking lot provided by an embodiment of the present application;

[0032] Figure 2 is a flowchart of the auxiliary driving method of the vehicle in the parking lot applied to the intelligent terminal according to an embodiment of the present application;

[0033] Figure 3 is a schematic diagram of the interface display of the intelligent terminal according to an embodiment of the present application;

[0034] Figure 4 is a flowchart of the auxiliary driving method of the vehicle in the parking lot applied to the intelligent terminal according to another embodiment of the present application;

[0035] Figure 5 is a flowchart of the auxiliary driving method of the vehicle in the parking lot applied to the roadside equipment according to another embodiment of the present application;

[0036] Figure 6 is a flowchart of a method for obtaining vehicle information of a vehicle in a parking lot according to another embodiment of the present application;

[0037] Figure 7 is a structural diagram of a smart terminal according to an embodiment of the present application;

[0038] Figure 8 is a structural diagram of a roadside device according to an embodiment of the present application;

[0039] Figure 9 is a structural diagram of a smart terminal according to another embodiment of the present application;

[0040] Figure 10 is a structural diagram of a roadside device according to another embodiment of the present application. DETAILED DESCRIPTION

[0041] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular sequences of acts, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0042] It is to be understood that the terminology "includes", "has", "holds", "contains" and / or "comprising", "including", "containing", "having" and / or "comprises" when used in the present specification and in the accompanying claims, specifies the presence of stated features, integers, steps, operations, elements, and / or components but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0043] In addition, the terms "first", "second", "third", and the like, in the description of the present specification and the accompanying claims, are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0044] In the present specification, the expressions "one embodiment" or "some embodiments" or the like mean that a specific feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the expressions "in one embodiment", "in some embodiments", "in other embodiments", "in additional embodiments", etc. appearing in various places in the specification are not necessarily all referring to one and the same embodiment, but can refer to one or more but not all embodiments, unless otherwise specifically stated. The terms "including", "containing", "having" and their variants, mean "including but not limited to", unless otherwise specifically stated.

[0045] Figure 1A schematic diagram of an auxiliary driving system of a vehicle in a parking lot is provided in the embodiments of the present application, and the system includes an intelligent terminal 20 and a roadside device 10.

[0046] The intelligent terminal 20 can be a vehicle terminal device and can also be an intelligent terminal in the parking lot. The roadside device 10 is a roadside device in the parking lot.

[0047] The roadside device 10 is configured to acquire vehicle information of a vehicle in the parking lot and layout information of the parking lot, determine a parking planning route of the vehicle to be parked according to the vehicle information and the layout information of the parking lot, and send the parking planning route and the layout information of the parking lot to the intelligent terminal 20. The intelligent terminal 20 is configured to output the graphical layout information and the parking planning route on an interface.

[0048] The auxiliary driving method of the vehicle in the parking lot is described in detail below. Figure 1 The auxiliary driving method of the vehicle in the parking lot is described in detail below.

[0049] Figure 2 A schematic flowchart of the auxiliary driving method of the vehicle in the parking lot is shown, and the method is applied to an intelligent terminal. Refer to Figure 2 The method is described in detail as follows.

[0050] S101, acquiring layout information of a parking lot.

[0051] In the embodiments, the layout information of the parking lot can include position information of each parking space, lane information of a lane in the parking lot, and optionally, a parking indication arrow on the parking space. The lane information can include a position of the lane, an identification of the lane, and a direction of the lane, etc. The identification of the lane can include left turn, right turn, straight, etc. The parking indication arrow represents a heading of a vehicle when parking.

[0052] In the embodiments, the layout information of the parking lot can be obtained from a roadside device in the parking lot. The roadside device is arranged in the parking lot and is configured to acquire vehicle information of a vehicle in the parking lot, layout information of the parking lot, etc. The vehicle information can include a position of the vehicle, turn signal information of the vehicle, a lane where the vehicle is located, a speed of the vehicle, a heading angle, driving intention information, etc. The roadside device acquires the vehicle information of each vehicle in the parking lot through sensors and / or communication interaction.

[0053] S102, acquiring a position of a target vehicle in the parking lot and a parking planning route of the target vehicle.

[0054] In the embodiments, the target vehicle is any one of the vehicles to be parked in the parking lot. The intelligent terminal can be a vehicle terminal device arranged on the target vehicle.

[0055] In the embodiment, the position of the target vehicle in the parking lot and the parking planning route of the target vehicle can be obtained from the roadside device.

[0056] In the embodiment, the parking planning route is a route from the position of the target vehicle to the parking space to be parked. The parking planning route is used to instruct the target vehicle to quickly park.

[0057] S103, obtain the position of the first vehicle in the parking lot and the parking planning route of the first vehicle.

[0058] In the embodiment, the first vehicle is a vehicle within a first preset range from the target vehicle. The first preset range can be set as needed, for example, the first preset range can be 0-10 meters.

[0059] In the embodiment, the position of the first vehicle and the parking planning route of the first vehicle can be obtained from the roadside device.

[0060] S104, output the layout information on the interface of the intelligent terminal, and output the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle in a graphical manner based on the layout information.

[0061] As an example, as shown in Figure 3 , the layout information of the parking lot, the position of the target vehicle and the parking planning route of the target vehicle are displayed in the figure, and the first vehicle is not shown.

[0062] In the embodiment, the layout information of the parking lot is displayed on the interface, which is convenient for the user to drive in the parking lot. The position of the target vehicle and the parking planning route of the target vehicle are displayed on the interface, which is conducive to the target vehicle to quickly reach the parking space for parking, avoiding the phenomenon that the user searches for a parking space everywhere in the parking lot, and improving the parking speed.

[0063] In the embodiment, there can be many vehicles to be parked in the parking lot, and there can be a phenomenon that the parking planning routes of the vehicles cross during parking. The position where the parking planning routes cross can cause traffic jams or vehicle collisions. Displaying the position of the first vehicle and the parking planning route of the first vehicle on the interface is conducive to the target vehicle to be alert and drive at a low speed when driving to the position where the routes cross, preventing vehicle collisions.

[0064] As shown in Figure 4 , in a possible implementation, the above method can further include:

[0065] S201, obtain the driving intention information of the first vehicle.

[0066] In the embodiment, the driving intention information of the first vehicle can include a lane changing intention and / or a turning intention. The driving intention information of the first vehicle can be obtained from the roadside device.

[0067] Specifically, the driving intention information of the first vehicle can further include:

[0068] S2011, obtaining vehicle information of the first vehicle.

[0069] S2012, when the vehicle information includes a lane in which the first vehicle is located in the parking lot and a heading angle of the first vehicle, determining, by the intelligent terminal, the driving intention information of the first vehicle according to the lane in which the first vehicle is located in the parking lot and the heading angle of the first vehicle.

[0070] In the embodiment, the heading angle represents a side slip angle of the vehicle mass center, that is, an included angle between a direction of the vehicle mass center speed and a direction in which the vehicle head points. According to the heading angle of the vehicle and the lane in which the vehicle is located, it can be determined whether the vehicle has an intention of lane changing or turning.

[0071] For example, if the vehicle is in a left turning lane and the heading angle of the vehicle is 50 degrees, it can be determined that the driving intention information of the vehicle is left turning.

[0072] S2013, when the vehicle information includes turn signal information of the first vehicle, determining, by the intelligent terminal, the driving intention information of the first vehicle according to the turn signal information of the first vehicle.

[0073] In the embodiment, it can be determined according to the turn signal information of the first vehicle whether the first vehicle needs to turn left or right, etc.

[0074] For example, if the turn signal information of the first vehicle is that the left turn signal is on, it can be determined that the first vehicle is likely to turn left.

[0075] Specifically, the driving intention information of the first vehicle can be further determined according to the turn signal information of the first vehicle and the lane in which the first vehicle is located.

[0076] For example, if the left turn signal of the first vehicle is on and the first vehicle is in a U-turn lane, it can be determined that the first vehicle is likely to make a U-turn.

[0077] S202, outputting, by the intelligent terminal, the driving intention information of the first vehicle in a graphical form on an interface of the intelligent terminal.

[0078] In the embodiment, outputting the driving intention information of the first vehicle on the interface can be beneficial for the user of the target vehicle to clearly and intuitively obtain the driving intention of the first vehicle, so that when the target vehicle is close to the first vehicle, the target vehicle can avoid the first vehicle in time to prevent a collision with the first vehicle and ensure the driving safety of the target vehicle.

[0079] Figure 5 A schematic flowchart of a method for assisting driving of vehicles in a parking lot is shown, which is applied to a roadside device in the parking lot. Referring to Figure 5 The method is described in detail as follows:

[0080] S301, vehicle information of each vehicle in the parking lot is obtained, the vehicle information including a position of the vehicle.

[0081] In this embodiment, the roadside device is a device installed on both sides of the road in the parking lot. The roadside device can perceive vehicle information in the surrounding environment. The vehicle information can include vehicle driving information and driving intention information.

[0082] In this embodiment, the position of the vehicle can include a lane occupied by the vehicle, whether the vehicle is driving in a driving area of the road or on a parking space, etc.

[0083] In this embodiment, the vehicle driving information can further include a vehicle speed, a heading angle, etc.

[0084] S302, based on the vehicle information of each vehicle and preset layout information of the parking lot, a parking planning route of a vehicle to be parked in the parking lot is obtained.

[0085] In this embodiment, the layout information of the parking lot can be information pre-stored in the roadside device.

[0086] In this embodiment, the idle parking spaces in the parking lot can be determined according to the layout information of the parking lot and the vehicle information of each vehicle.

[0087] Optionally, a target parking space can be determined according to a position of the idle parking space and a position of the vehicle to be parked, the target parking space being an idle parking space within a first preset distance from the position of the vehicle to be parked. The parking planning route of the vehicle to be parked is determined according to the position of the idle parking space and the position of the vehicle to be parked. The first preset distance can be set as needed.

[0088] Optionally, departure destination information of the vehicle to be parked can be obtained, and a departure exit of the vehicle to be parked is determined according to the departure destination information. A target idle parking space is determined according to distances between the departure exit and each idle parking space. The target idle parking space is an idle parking space within a second preset distance from the departure exit. The parking planning route of the vehicle to be parked is determined according to the position of the target idle parking space and the position of the vehicle to be parked. The second preset distance can be set as needed.

[0089] S303, after receiving the route acquisition instruction of the target vehicle sent by the intelligent terminal, sending the layout information, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle to the intelligent terminal, wherein the first vehicle is a vehicle within a first preset range from the target vehicle, and the layout information, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle are used for graphical display on an interface of the intelligent terminal, and the vehicles to be parked include the target vehicle and the first vehicle.

[0090] The roadside device in the parking lot of the application obtains the vehicle information of the vehicle in the parking lot and the layout information of the parking lot, obtains the parking planning route of the vehicle to be parked in the parking lot based on the vehicle information of each vehicle and the preset layout information of the parking lot, and obtains the parking planning route of the vehicle to be parked in the parking lot through the global information in the parking lot. The parking planning route obtained by the application can be more accurate, and the overlap of the parking planning route can be avoided.

[0091] In a possible implementation, after receiving the route acquisition instruction of the target vehicle sent by the intelligent terminal, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle need to be determined, and the specific process is as follows.

[0092] Optionally, if the communication signal in the parking lot is good, the intelligent terminal on the target vehicle and the roadside device can communicate with each other. The intelligent terminal on the target vehicle can send a route acquisition instruction to the roadside device, and the route acquisition instruction can include the position of the target vehicle.

[0093] After receiving the route acquisition instruction sent by the intelligent terminal on the target vehicle, the roadside device can match the position of the target vehicle in the route acquisition instruction with the positions of all vehicles in the parking lot in the roadside device, take the vehicle corresponding to the position matched with the position in the route acquisition instruction as the target vehicle, and determine the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle.

[0094] As an example, if the position B of the target vehicle is included in the route acquisition instruction received by the roadside device, the roadside device includes the position A of vehicle 1, the position B of vehicle 2 and the position C of vehicle 3. The position B of the target vehicle matches the position of vehicle 2, so vehicle 2 is the target vehicle. The parking planning route of vehicle 2 in the roadside device is taken as the parking planning route of the target vehicle. The position of the first vehicle and the parking planning route of the first vehicle are determined according to the position of vehicle 2.

[0095] Optionally, if the communication signal is not good or the GNSS signal (GPS positioning) and the light is not good in the parking lot, the intelligent terminal on the target vehicle and the roadside device have communication difficulties. At this time, the intelligent terminal installed in the parking lot can be used to display the parking planning route of the vehicle, etc.

[0096] Specifically, before each vehicle enters the parking lot, the real information of each vehicle can be collected by the roadside device at the entrance outside the parking lot. The real information includes vehicle type information and identification information of the target vehicle, and the identification information can include the license plate number, etc. The roadside device at the entrance outside the parking lot sends the real information of each vehicle to the intelligent terminal in the parking lot for storage.

[0097] After the vehicle enters the parking lot, the roadside device in the parking lot collects the vehicle information of the vehicle, which includes the vehicle type information. The intelligent terminal in the parking lot sends a route acquisition instruction of the target vehicle to the roadside device, and the route acquisition instruction includes the vehicle type information of the target vehicle. Since the light is not good in the parking lot, the identification information of the vehicle collected by the roadside device is not accurate or the identification information of the vehicle cannot be collected.

[0098] After the roadside device receives the route acquisition instruction sent by the intelligent terminal in the parking lot, the vehicle type information in the route acquisition instruction of the target vehicle and the vehicle type information of each vehicle in the parking lot collected by the roadside device can be matched. The two vehicles with matched vehicle type information are the same vehicle, and the position of the target vehicle in the roadside device is determined, and the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle are determined. Since the real information includes the identification information of the vehicle, in order to distinguish the parking planning routes corresponding to different vehicles, the identification information can be stored in association with the determined information of the vehicle in the roadside device. The parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle are determined. In order to distinguish different vehicles on the intelligent terminal in the parking lot, the identification information of the target vehicle can be sent to the intelligent terminal in the parking lot together with the layout information, the identification information of the target vehicle, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle, so as to display the identification information of the target vehicle and the layout information, the identification information of the target vehicle, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle on the intelligent terminal.

[0099] As an example, if the vehicle C is collected by the roadside device at the entrance outside the parking lot before entering the parking lot, the vehicle type information is S, and the identification information of the vehicle is D. The roadside device at the entrance outside the parking lot sends the vehicle type information S and the identification information of the vehicle D to the intelligent terminal in the parking lot.

[0100] The route acquisition instruction sent by the intelligent terminal in the parking lot to the roadside device in the parking lot includes vehicle type information S and identification information D of the vehicle. The vehicle type information of the vehicle A collected by the roadside device in the parking lot is Q, and the vehicle type information of the vehicle M is S. After the roadside device receives the route acquisition instruction, the vehicle type information in the route acquisition instruction is matched with the vehicle type information in the roadside device, it is obtained that the vehicle M collected by the roadside device is the vehicle C, and the vehicle M is stored in association with the identification information D. The parking planning route of the vehicle M can be used as the parking planning route of the vehicle C, and the first vehicle's parking planning route and the first vehicle's position are obtained according to the vehicle M.

[0101] It should be noted that if the roadside device in the parking lot can collect clear identification information of the vehicle, the identification information of the target vehicle in the route acquisition instruction sent by the intelligent terminal in the parking lot can be matched with the identification information of each vehicle collected by the roadside device, and the target vehicle's parking planning route of the target vehicle, the first vehicle's position and the first vehicle's parking planning route are obtained.

[0102] The present application sets different target vehicle determination methods for parking lots in different environments, and determines various information of the target vehicle through different methods, which can be applied to various environments.

[0103] In a possible implementation, before step 302, the above method can further include:

[0104] Obtain driving intention information of each vehicle. Based on the vehicle information of each vehicle, the preset layout information of the parking lot and the driving intention information, obtain the parking planning route of the vehicle to be parked in the parking lot.

[0105] Specifically, based on the vehicle information of each vehicle, the preset layout information of the parking lot and the driving intention information, the method for obtaining the parking planning route of the vehicle to be parked in the parking lot can include:

[0106] S3021, based on the vehicle information of each vehicle, the preset layout information of the parking lot and the driving intention information, obtain the trajectory prediction information of each vehicle in the parking lot and the collision warning information between each two vehicles.

[0107] In the embodiment, the vehicle information of each vehicle, the preset layout information of the parking lot and the driving intention information are input into a preset model to obtain the parking planning route of the vehicle to be parked and the collision warning information between each two vehicles. The trajectory prediction information can be used to represent the motion path of the vehicle in the next time. The collision warning information can represent the collision probability between vehicles, and the collision warning information can be represented by letters, numbers or strings representing the collision probability. The preset model can be a convolutional neural network model.

[0108] S3022, generate a parking planning route of the vehicle to be parked in the parking lot based on the trajectory prediction information of each vehicle and the collision warning information.

[0109] In this embodiment, the parking planning route can further include a recommended vehicle speed, a recommended heading angle, etc. when the vehicle is parked.

[0110] In this embodiment, after generating the auxiliary driving information of the vehicle, the roadside device can package the auxiliary driving information and notify each vehicle in the form of a broadcast. When a vehicle needs it, the vehicle can obtain the parking planning route from the roadside device, and obtain the corresponding parking planning route after decoding the obtained parking planning route and other processing.

[0111] The trajectory prediction information of the vehicle obtained by the roadside device using the vehicle information can reduce the probability of vehicle collision and improve traffic efficiency. The trajectory prediction information and the collision warning information obtained in this application add the constraint of the driving intention information of the vehicle, so that the obtained trajectory prediction information and the collision warning information are more accurate.

[0112] As shown in Figure 6 In a possible implementation, the implementation process of step S301 can include:

[0113] S3011, obtain point cloud data and video data of each vehicle in the parking lot.

[0114] In this embodiment, the roadside device can include a video acquisition device and a radar device. The video acquisition device can include a camera, and the video acquisition device can be used to acquire video data of the parking lot. The radar device can be used to acquire point cloud data of the parking lot. Using the video acquisition device and the radar device to acquire data of the parking lot can ensure the diversification of the acquired data.

[0115] Specifically, the radar device can include a laser radar and a millimeter wave radar. The point cloud data can include the point cloud distribution of each vehicle in the parking lot acquired by the laser radar. The point cloud distribution can include the shape of the vehicle, the position of the vehicle, the lane and the direction of the vehicle, etc. The point cloud data can also include the speed of each vehicle in the parking lot acquired by the millimeter wave radar.

[0116] S3012, fuse the point cloud data and the video data to obtain vehicle information of each vehicle in the parking lot, wherein the vehicle information includes the position of the vehicle and the driving intention information of the vehicle.

[0117] In this embodiment, after obtaining the point cloud data and the video data, the two kinds of data can be fused by using a data fusion method to obtain vehicle information of each vehicle. The vehicle information obtained by using the two kinds of data can ensure the richness of the vehicle information. By using the data fusion technology, the obtained vehicle information can be more accurate.

[0118] The driving intention information can be determined according to the lane in which each vehicle is located and the heading angle of each vehicle, or according to the turn signal information of each vehicle in the target region.

[0119] Specifically, the fusion processing of the point cloud data and the video data can include:

[0120] The roadside device obtains the extrinsic parameters of the video acquisition device, wherein the extrinsic parameters are obtained by calibrating the radar device and the video acquisition device. The roadside device performs coordinate transformation on the point cloud data based on the extrinsic parameters to obtain transformed point cloud data, wherein the coordinate system of the transformed point cloud data is the same as the coordinate system of the image data. The roadside device fuses the transformed point cloud data and the image data to obtain a fused image. The roadside device obtains vehicle information of each vehicle based on the fused image.

[0121] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0122] The auxiliary driving method for the vehicle in the parking lot described in the above embodiments, Figure 7 A structure block diagram of the intelligent terminal provided by the embodiments of the present application is shown, and only the parts related to the embodiments of the present application are shown for ease of illustration.

[0123] Referring to Figure 7 The intelligent terminal 400 can include a layout obtaining module 410, a first route obtaining module 420, a second route obtaining module 430, and a display module 440.

[0124] The layout obtaining module 410 is configured to obtain layout information of the parking lot, wherein the layout information includes position information and lane information of each parking space.

[0125] The first route obtaining module 420 is configured to obtain a position of a target vehicle in the parking lot and a parking planning route of the target vehicle.

[0126] The second route obtaining module 430 is configured to obtain a position of a first vehicle in the parking lot and a parking planning route of the first vehicle, wherein the first vehicle is a vehicle within a first preset range from the target vehicle.

[0127] a display module 440, configured to output the layout information on an interface of the intelligent terminal, and output the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle in a graphical manner based on the layout information.

[0128] In a possible implementation, the intelligent terminal 400 further includes:

[0129] a driving intention obtaining module, configured to obtain driving intention information of the first vehicle;

[0130] an output module, configured to output the graphical driving intention information of the first vehicle on an interface of the intelligent terminal.

[0131] In a possible implementation, the layout information, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle, the parking planning route of the first vehicle and the driving intention information of the first vehicle are obtained from a roadside device in the parking lot.

[0132] In a possible implementation, the driving intention obtaining module can be specifically configured to:

[0133] obtain vehicle information of the first vehicle, wherein the vehicle information is obtained from the roadside device;

[0134] when the vehicle information includes a lane in which the first vehicle is located in the parking lot and a heading angle of the first vehicle, the intelligent terminal determines the driving intention information of the first vehicle according to the lane in which the first vehicle is located in the parking lot and the heading angle of the first vehicle;

[0135] when the vehicle information includes turn signal information of the first vehicle, the intelligent terminal determines the driving intention information of the first vehicle according to the turn signal information of the first vehicle.

[0136] In a possible implementation, the driving intention information includes a lane changing intention and / or a turning intention.

[0137] In a possible implementation, the layout information includes a parking indication arrow, and the parking indication arrow represents a vehicle head direction when parking.

[0138] a method for assisting driving of a vehicle in a parking lot, Figure 8 FIG. 1 shows a structural block diagram of a roadside device provided by an embodiment of the present application, for ease of illustration, only parts related to the embodiments of the present application are shown.

[0139] Reference is made to Figure 8The roadside device 500 can include a vehicle information acquisition module 510, a route planning module 520, and an information sending module 530.

[0140] The vehicle information acquisition module 510 is configured to obtain vehicle information of each vehicle in the parking lot, wherein the vehicle information includes a position of the vehicle.

[0141] The route planning module 520 is configured to obtain a parking planning route of a vehicle to be parked in the parking lot based on the vehicle information of each vehicle and preset layout information of the parking lot.

[0142] The information sending module 530 is configured to send, to the intelligent terminal, the layout information, a position of a target vehicle, a parking planning route of the target vehicle, a position of a first vehicle, and a parking planning route of the first vehicle after receiving a route acquisition instruction of the target vehicle sent by the intelligent terminal, wherein the first vehicle is a vehicle within a first preset range from the target vehicle, and the layout information, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle, and the parking planning route of the first vehicle are used for graphical display on an interface of the intelligent terminal, and the vehicle to be parked includes the target vehicle and the first vehicle.

[0143] In a possible implementation, the vehicle information acquisition module 510 is further connected to:

[0144] The first intention acquisition module is configured to obtain driving intention information of each vehicle, wherein the driving intention information includes a lane changing intention and / or a turning intention.

[0145] Correspondingly, the route planning module 520 can be specifically configured to:

[0146] obtain a parking planning route of a vehicle to be parked in the parking lot based on the vehicle information of each vehicle, the preset layout information of the parking lot, and the driving intention information.

[0147] In a possible implementation, the route planning module 520 can be specifically further configured to:

[0148] obtain trajectory prediction information of each vehicle in the parking lot and collision warning information between each two vehicles in the parking lot based on the vehicle information of each vehicle, the preset layout information of the parking lot, and the driving intention information.

[0149] generate a parking planning route of a vehicle to be parked in the parking lot based on the trajectory prediction information of each vehicle and the collision warning information.

[0150] In a possible implementation, the vehicle information acquisition module 510 can be specifically further configured to:

[0151] acquire point cloud data and video data of each vehicle in the parking lot;

[0152] fuse the point cloud data and the video data to obtain vehicle information of each vehicle in the parking lot, wherein the vehicle information comprises a position of the vehicle and vehicle driving intention information.

[0153] In a possible implementation, the intelligent terminal is an intelligent terminal on the target vehicle, and the position of the target vehicle in the route acquisition instruction comprises a position of the target vehicle;

[0154] The information sending module 530 can be specifically configured to:

[0155] match the position of the target vehicle in the route acquisition instruction and the positions of the vehicles in the parking lot in the roadside device, and determine a parking planning route of the target vehicle, the position of the first vehicle, and a parking planning route of the first vehicle.

[0156] In a possible implementation, the vehicle information comprises vehicle model information, the intelligent terminal is an intelligent terminal in the parking lot, the route acquisition instruction of the target vehicle comprises real information of the target vehicle, the real information of the target vehicle comprises vehicle model information and identification information of the target vehicle, and the real information of the target vehicle is obtained by the intelligent terminal from the roadside device outside the parking lot.

[0157] The information sending module 530 can be specifically configured to:

[0158] match the vehicle model information in the route acquisition instruction of the target vehicle and the vehicle model information of the vehicles in the parking lot in the roadside device, and determine a parking planning route of the target vehicle, the position of the first vehicle, and a parking planning route of the first vehicle.

[0159] store the parking planning route of the target vehicle in correspondence with the identification information of the target vehicle;

[0160] send the layout information, the identification information of the target vehicle, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle, and the parking planning route of the first vehicle to the intelligent terminal.

[0161] It should be noted that the information interaction, execution process and the like between the above-described apparatuses / units are based on the same concept as the method embodiments of the present application, and the specific functions and the technical effects brought by the same can be referred to the method embodiments part, which will not be described here in detail.

[0162] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the above described functions. The functional units and modules in the embodiments can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or software. In addition, the specific names of the functional units and modules are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0163] The embodiments of the present application also provide an intelligent terminal, referring to Figure 9 The intelligent terminal 600 can include at least one processor 610, a memory 620, and a computer program stored in the memory 620 and executable on the at least one processor 610, wherein the processor 610 implements the steps in any of the above method embodiments when executing the computer program, for example Figure 2 Steps S101 to S104 in the illustrated embodiment. Alternatively, the processor 610 implements the functions of the modules / units in the above apparatus embodiments when executing the computer program, for example Figure 7 The functions of the modules 410 to 440 illustrated.

[0164] For example, the computer program can be divided into one or more modules / units, one or more modules / units are stored in the memory 620 and executed by the processor 610 to complete the present application. The one or more modules / units can be a series of computer program segments capable of completing a specific function, which are used to describe the execution process of the computer program in the intelligent terminal 600.

[0165] Those skilled in the art can understand that Figure 9 It is only an example of an intelligent terminal and does not constitute a limitation on terminal devices, and can include more or fewer components than illustrated, or combine certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0166] The processor 610 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0167] The memory 620 can be an internal storage unit of the terminal device, and can also be an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. The memory 620 is used to store the computer program and other programs and data required by the terminal device. The memory 620 can also be used to temporarily store data that has been output or will be output.

[0168] The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0169] The embodiments of the present application also provide a roadside device, which is shown in Figure 10 The roadside device 700 can include at least one processor 710, a memory 720, and a computer program stored in the memory 720 and executable on the at least one processor 710, wherein the processor 710 implements the steps in any of the above method embodiments when executing the computer program, for example Figure 5 Steps S301 to S303 in the embodiments shown. Alternatively, the processor 710 implements the functions of each module / unit in the above device embodiments when executing the computer program, for example Figure 8 The functions of the modules 510 to 530 shown.

[0170] For example, the computer program can be segmented into one or more modules / units, one or more modules / units are stored in the memory 720 and executed by the processor 710 to complete the present application. The one or more modules / units can be a series of computer program segments capable of completing a specific function, which are used to describe the execution process of the computer program in the roadside device 700.

[0171] Those skilled in the art can understand that, Figure 10 Only an example of the roadside device is not limited to the terminal device, and can include more or fewer components than the illustration, or combine certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0172] The processor 710 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0173] The memory 720 can be an internal storage unit of the terminal device, and can also be an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. The memory 720 is used to store the computer program and other programs and data required by the terminal device. The memory 720 can also be used to temporarily store data that has been output or will be output.

[0174] The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0175] The method for assisting driving of a vehicle in a parking lot provided by the embodiments of the present application can be applied to a terminal device such as a computer, a tablet computer, a notebook computer, a netbook, a personal digital assistant (PDA), and the like. The embodiments of the present application do not limit the specific type of the terminal device.

[0176] The embodiments of the present application further provide a computer readable storage medium storing a computer program. The computer program, when executed by a processor, implements the steps in any of the above-described methods for assisting driving of a vehicle in a parking lot.

[0177] The embodiments of the present application provide a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal executes the steps in any of the above-described methods for assisting driving of a vehicle in a parking lot.

[0178] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the embodiments of the present application implement all or part of the above-described processes, which can be completed by a computer program instructing related hardware. The computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. For example, a U disk, a mobile hard disk, a magnetic disk or an optical disk, and the like. In some jurisdictions, according to legislation and patent practice, the computer readable medium cannot be an electrical carrier signal and a telecommunications signal.

[0179] In the above-described embodiments, the description of each embodiment has its own focus. The parts not described in detail or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0180] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0181] In the embodiments provided by the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely schematic. The division of the modules or units is merely a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0182] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0183] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method of assisting driving of a vehicle in a parking lot, characterized by, A roadside device applied to a parking lot, comprising: obtaining vehicle information of each vehicle in the parking lot, the vehicle information comprising a position of the vehicle; obtaining a parking planning route of a vehicle to be parked in the parking lot based on the vehicle information of each vehicle and preset layout information of the parking lot; after receiving a route acquisition instruction of a target vehicle sent by a smart terminal, sending the layout information, the position of the target vehicle, the parking planning route of the target vehicle, the position of a first vehicle and the parking planning route of the first vehicle to the smart terminal, wherein the first vehicle is a vehicle within a first preset range from the target vehicle, and the layout information, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle and the parking planning route of the first vehicle are used for graphical display on an interface of the smart terminal, and the vehicle to be parked comprises the target vehicle and the first vehicle; before obtaining the parking planning route of the vehicle to be parked in the parking lot based on the vehicle information of each vehicle and the preset layout information of the parking lot, comprising: obtaining driving intention information of each vehicle, wherein the driving intention information comprises a lane changing intention and / or a turning intention; and the driving intention information is generated in the following manner: when the vehicle information comprises a lane in which the vehicle is located in the parking lot and a heading angle of the vehicle, the smart terminal determines the driving intention information of the vehicle based on the lane in which the vehicle is located in the parking lot and the heading angle of the vehicle; and when the vehicle information comprises turn signal information of the vehicle, the smart terminal determines the driving intention information of the vehicle based on the turn signal information of the vehicle; correspondingly, obtaining the parking planning route of the vehicle to be parked in the parking lot based on the vehicle information of each vehicle and the preset layout information of the parking lot, comprising: obtaining trajectory prediction information of each vehicle in the parking lot and collision warning information between each two vehicles based on the vehicle information of each vehicle, the preset layout information of the parking lot and the driving intention information; generating the parking planning route of the vehicle to be parked in the parking lot based on the trajectory prediction information of each vehicle and the collision warning information; the obtaining of the vehicle information of each vehicle in the parking lot comprises: obtaining point cloud data and video data of each vehicle in the parking lot; obtaining an external parameter of a video acquisition device, performing coordinate conversion on the point cloud data based on the external parameter to obtain transformed point cloud data, fusing the transformed point cloud data and the video data to obtain a fused image, and obtaining the vehicle information of each vehicle in the parking lot based on the fused image, wherein the vehicle information comprises a position of the vehicle and vehicle driving intention information; the smart terminal is a smart terminal on the target vehicle, and the route acquisition instruction of the target vehicle comprises the position of the target vehicle; after receiving the route acquisition instruction of the target vehicle sent by the smart terminal, further comprising: The position of the target vehicle in the route acquisition instruction of the target vehicle is matched with the positions of the vehicles in the parking lot in the roadside device, to determine the parking planning route of the target vehicle, the position of the first vehicle, and the parking planning route of the first vehicle.

2. The method of Claim 1, wherein The vehicle information includes vehicle model information, the intelligent terminal is an intelligent terminal in the parking lot, the route acquisition instruction of the target vehicle includes real information of the target vehicle, the real information of the target vehicle includes vehicle model information and identification information of the target vehicle, and the real information of the target vehicle is obtained by the intelligent terminal from the roadside device outside the parking lot. After receiving the route acquisition instruction of the target vehicle sent by the intelligent terminal, the roadside device further includes: The vehicle model information in the route acquisition instruction of the target vehicle is matched with the vehicle model information of the vehicles in the parking lot in the roadside device, to determine the parking planning route of the target vehicle, the position of the first vehicle, and the parking planning route of the first vehicle. The parking planning route of the target vehicle is stored in correspondence with the identification information of the target vehicle. Correspondingly, the layout information, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle, and the parking planning route of the first vehicle are sent to the intelligent terminal, including: The layout information, the identification information of the target vehicle, the position of the target vehicle, the parking planning route of the target vehicle, the position of the first vehicle, and the parking planning route of the first vehicle are sent to the intelligent terminal.

3. A roadside device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the auxiliary driving method of the vehicle in the parking lot as claimed in claim 1 or 2.

4. An assisted driving system for a vehicle in a parking lot, characterized by, It includes: The roadside device as claimed in claim 3.

5. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 4. The computer program is executed by the processor to implement the auxiliary driving method of the vehicle in the parking lot as claimed in claim 1 or 2.

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