A parking lot management method and system for improving vehicle parking efficiency and safety

Abstract

The present invention discloses a parking lot management method and system for improving the parking efficiency and safety of vehicles. According to the positions of the available parking spaces in the parking lot, the optimal parking path of the vehicles entering the parking lot is calculated. When n vehicles enter the parking lot at the same time, the path obtained by the first vehicle is the path of the parking space farthest from the vehicle, and the path obtained by the nth vehicle is the path of the parking space closest to the vehicle, and the motion state information and position information are obtained in real time; whether there are other vehicles about to leave the parking space in the optimal parking path and whether there will be a meeting with other vehicles at the right-angle turn of the path; the time from the current vehicle to the other vehicles is calculated according to the speed, acceleration and position information of the current vehicle, and a corresponding instruction is sent to the current vehicle; and corresponding decision information is sent to the vehicle according to the principle of driving in and giving way to driving out. Unnecessary collisions and conflicts caused by vehicles occupying the road are reduced or avoided, and the efficiency of parking is improved at the same time.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle parking, and relates to a parking lot management method and system for improving vehicle parking efficiency and safety. Background Art

[0002] With the continuous improvement of science and technology, people's demand for vehicles is also increasing. After people experience the pleasure of owning a vehicle, they have to worry about how to park. Currently, in order to accommodate more vehicles, parking lots usually have two to three floors and corresponding areas are divided for convenient management. For drivers, especially those who come to the parking lot for the first time, they will be unfamiliar with these areas, so they keep driving around in the parking lot without finding a parking space, and even get lost while driving around, adding unnecessary troubles. At the same time, during the process of looking for a parking space, it often happens that a vehicle suddenly wants to drive out of a parking space. If the driver fails to react in time, accidents such as collisions and scratches will occur. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above-mentioned disadvantages of the prior art, and provide a parking lot management method and system for improving vehicle parking efficiency and safety, reducing or avoiding unnecessary collisions and conflicts caused by vehicle occupancy problems, and at the same time improving parking efficiency.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] A parking lot management method for improving vehicle parking efficiency and safety includes the following processes:

[0006] S1. According to the positions of the vacant parking spaces in the parking lot, calculate the optimal parking path for the incoming vehicle. When n vehicles enter the parking lot simultaneously, the path obtained by the first vehicle is the path to the parking space farthest from the vehicle, and the path obtained by the nth vehicle is the path to the parking space closest to the vehicle, and the motion state information and position information are obtained in real time;

[0007] S2. Retrieve whether there are other vehicles about to drive out of the parking spaces in the optimal parking path and whether there will be oncoming vehicles with other vehicles at the right-angle turns of the path;

[0008] If it is retrieved that there are other vehicles about to drive out of the parking spaces, calculate the time t from the current vehicle to the other vehicle according to the speed, acceleration and position information of the current vehicle; if t>30s, send a prompt message to the current vehicle; if 10s<t<30s, send an instruction to the current vehicle to decelerate; if t<10s, send an instruction to the current vehicle to perform emergency braking;

[0009] If it is found that there will be another vehicle meeting at the right-angle turn of the path, the corresponding decision information will be sent to the vehicle according to the principle of driving in and giving way to other vehicles.

[0010] Preferably, in S1, the optimal parking path is calculated using a grid path algorithm.

[0011] Furthermore, the process of calculating the optimal parking path using the grid path algorithm is as follows: first, a two-dimensional grid map of the parking lot is constructed, and the occupied parking spaces in the area are marked in black, indicating inaccessible grids, and the lane lines and vacant parking spaces are marked in white, indicating accessible grids; the entrance of the parking lot is determined as the starting node, and the vacant parking spaces are determined as the ending node, and the fatigue index of the adjacent nodes adjacent to the starting node is calculated from the starting node, and the adjacent node with the lowest fatigue index is selected as the next node, and this step is repeated until the ending node is found, and the previously passed nodes are connected to form the path with the lowest fatigue index, that is, the shortest path from the parking lot entrance to the vacant parking spaces.

[0012] Furthermore, the shortest path from the current vehicle to each vacant parking space is recorded as {A1, A2, A3, …, A n}, where A i represents the shortest path from the current vehicle to the i-th parking space, and A i is the shortest path to the parking space closest to the current vehicle i; when n vehicles enter the parking lot at the same time, the paths obtained by the first to the nth vehicles are {A n ,A n-1 ,…,A2,A1}, which is the optimal path.

[0013] Furthermore, a method for constructing a two-dimensional grid map of a parking lot is as follows: the parking lot is divided into a number of regular areas with lane lines as boundaries, the laser radar is placed directly above the center point of each area, and the high-definition camera is placed above the upper left corner of the area; the laser radar and high-definition camera data construct a two-dimensional map of the parking lot, and the entire map is two-dimensionally rasterized according to the distribution of each area and lane lines.

[0014] Preferably, before calculating the optimal parking path for an incoming vehicle, the path of the vehicle with an existing navigation path is first obtained, and the parking space where the vehicle is to be parked is identified according to the end point of the path and marked accordingly. At the same time, information is fused with the parking space occupancy status to obtain a dynamic parking space occupancy status, and then the optimal path to the vacant parking space is planned for the vehicle that is about to enter the parking lot.

[0015] Preferably, if it is retrieved that other vehicles are about to leave the parking space, the path of the vehicle behind the current vehicle to the parking space is updated according to the principle of rear vehicle priority and sent to the rear vehicle, so that the rear vehicle parks in the parking space where the other vehicles are located.

[0016] A parking lot management system for improving vehicle parking efficiency and safety, comprising:

[0017] An optimal parking path calculation module, configured to calculate the optimal parking path of the incoming vehicle according to the positions of the vacant parking spaces in the parking lot. When n vehicles enter the parking lot simultaneously, the path obtained by the first vehicle is the path to the parking space farthest from the vehicle, and the path obtained by the nth vehicle is the path to the parking space closest to the vehicle, and the motion state information and position information are obtained in real time;

[0018] A conflict judgment module, configured to judge whether there are other vehicles about to drive out of the parking space in the optimal parking path and whether there will be a meeting with other vehicles at the right-angle turns of the path;

[0019] If it is retrieved that there are other vehicles about to drive out of the parking space, calculate the time t from the current vehicle to the other vehicle according to the speed, acceleration and position information of the current vehicle; if t>30s, send a prompt message to the current vehicle; if 10s<t<30s, send an instruction to the current vehicle to decelerate; if t<10s, send an instruction to the current vehicle to perform emergency braking;

[0020] If it is retrieved that there will be a meeting with other vehicles at the right-angle turns of the path, send corresponding decision-making information to the vehicle according to the principle of giving way when driving in and driving out.

[0021] A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the parking lot management method for improving vehicle parking efficiency and safety are implemented.

[0022] A computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the parking lot management method for improving vehicle parking efficiency and safety are implemented.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention plans the optimal path from the vehicle to the parking space according to the positions of the vacant parking spaces in the parking lot, that is, when n vehicles enter the parking lot simultaneously, the path obtained by the first vehicle is the path to the parking space farthest from the vehicle, and the path obtained by the nth vehicle is the path to the parking space closest to the vehicle. The advantage of this is to prevent multiple vehicles from waiting, thereby improving the parking efficiency of the vehicle; analyze and calculate whether the current vehicle will collide with other vehicles about to drive out of the parking space during driving, and send corresponding instructions and information to the vehicle, and at the same time, the path of the vehicle can be updated, further improving the safety and efficiency of the vehicle driving in the parking lot and reducing the contradictions between drivers. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the parking lot management system in the present invention.

[0026] Figure 2 It is a two-dimensional grid map effect diagram constructed in the present invention.

[0027] Figure 3 It is a flow chart of parking lot management in the present invention.

[0028] Figure 4 It is a schematic diagram of the road occupation problem caused by two vehicles driving on a lane and a vehicle trying to exit a parking space in an embodiment of the present invention.

[0029] Figure 5 It is a schematic diagram of two vehicles about to meet at a right-angle turn in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to directions in the drawings, and the words "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0033] like Figure 1 As shown, the present invention provides a hardware system required for parking lot management to improve vehicle parking efficiency and safety, including a parking lot management platform and a vehicle-mounted terminal; the parking lot management platform includes surveying equipment, an image processor, an information collector, an operation processor and a decision-making system; the vehicle-mounted terminal includes an information conversion system, a braking control system, a vehicle-mounted navigation system and a voice system.

[0034] Among them, the parking lot management platform is used to monitor and manage the entire parking lot, including generating a map of the parking lot, monitoring the occupancy of parking spaces, planning routes to parking spaces, the movement status information and location information of vehicles in the parking lot, and sending decision information to vehicles; the on-board terminal is used to connect to the parking lot management platform to obtain various information in the parking lot.

[0035] Specifically, the parking lot management platform and the vehicle-mounted terminal communicate with each other through the 5G Internet of Things, so that the vehicle can be connected to the parking lot management platform within 10 meters of entering the parking lot; the vehicle motion status information includes the vehicle's speed, acceleration and driving direction.

[0036] Among them, the parking lot management platform includes surveying equipment, image processors, information collectors, computing processors and decision-making systems; specifically, the surveying equipment includes high-definition cameras and laser radars. The high-definition cameras are used to identify lane lines and detect the movement status and location of vehicles, and the laser radars are used to monitor the occupancy of parking spaces; the image processors are used to process point cloud data and image data; the information collectors are used to collect the movement status information and location information of vehicles in the parking lot, the occupancy status of parking spaces and the navigation paths of vehicles; the computing processors are used to plan the optimal path from vehicles to vacant parking spaces; the decision-making system is used to generate relevant decision instructions to reduce or avoid collisions between vehicles and improve driving safety.

[0037] Since most lanes in a parking lot intersect horizontally and vertically, the parking lot can be divided into several regular areas with lane lines as boundaries. A laser radar is placed directly above the center point of each area, and a high-definition camera is placed above the upper left corner of the area. The image processor uses the data to construct a two-dimensional map of the parking lot, and performs two-dimensional rasterization on the entire map according to the distribution of each area and lane lines to facilitate path planning.

[0038] The computing processor first obtains the path of the vehicle with an existing navigation path, identifies the parking space where the vehicle is to park according to the end point of the path and marks it accordingly, and at the same time fuses the information with the parking space occupancy status monitored by the lidar to obtain the dynamic parking space occupancy status, and then plans the optimal path to the vacant parking space for the vehicle that is about to enter the parking lot.

[0039] The computing processor uses a grid path algorithm to calculate the shortest path from the current vehicle to each vacant parking space, denoted as {A1, A2, A3, …, An}, where Ai represents the shortest path from the current vehicle to the i-th parking space, and Ai is denoted as the shortest path to the i-th parking space closest to the current vehicle; when n vehicles enter the parking lot at the same time, the paths obtained from the first to the n-th vehicles are {An, An-1, …, A2, A1}, respectively, which is the optimal path.

[0040] The beneficial effect of doing so is that when the first vehicle stops, it can prevent the vehicles behind from being blocked, thereby improving efficiency.

[0041] Among them, the principle of the grid path algorithm is as follows: Based on the constructed two-dimensional grid map of the parking lot, the occupied parking spaces in the area are marked black, indicating non-passable grids, and the lane lines and vacant parking spaces are marked white, indicating passable grids. The specific effect is as Figure 2 shown, where the black arrow represents the direction of the lane line; determine the entrance of the parking lot as the start node and the vacant parking space as the end node. Calculate the fatigue index of the adjacent nodes adjacent to the start node from the start node, and select the adjacent node with the lowest fatigue index as the next node. Repeat this step until the end node is searched, and connect the previously passed nodes to obtain the path with the lowest fatigue index, that is, the shortest path from the parking lot entrance to the vacant parking space.

[0042] As Figure 3 shown, a parking lot management method for improving vehicle parking efficiency and safety is as follows:

[0043] Step 1: The decision-making system obtains the optimal path, motion state information, and position information of the vehicle.

[0044] According to the positions of the vacant parking spaces in the parking lot, the grid path algorithm is used to calculate the optimal parking path of the incoming vehicle. When n vehicles enter the parking lot simultaneously, the path obtained by the first vehicle is the path to the parking space farthest from the vehicle, and the path obtained by the nth vehicle is the path to the parking space closest to the vehicle, and the motion state information and position information are obtained in real time.

[0045] Step 2: The decision-making system retrieves whether there are other vehicles about to drive out of the parking space in the optimal path and whether there will be a meeting with other vehicles at the right-angle turn of the path;

[0046] If it is retrieved that there are other vehicles about to drive out of the parking space, the decision-making system calculates the time t from the current vehicle to the other vehicle according to the speed, acceleration, and position information of the current vehicle; if t > 30s, the decision-making system sends decision information to the current vehicle to remind the driver; if 10s < t < 30s, the decision-making system sends an instruction to the current vehicle to decelerate; if t < 10s, the decision-making system sends an instruction to the current vehicle to perform an emergency brake.

[0047] If it is retrieved that there will be a meeting with other vehicles at the right-angle turn of the path, the decision-making system sends corresponding decision information to the vehicle according to the principle of entering yielding to exiting.

[0048] Step 3: The decision system updates the path of the vehicle behind the current vehicle to the parking space according to the principle of priority for the following vehicle and sends it to the following vehicle, so that the following vehicle parks in the parking space where the other vehicle is located;

[0049] Specifically, the vehicle-mounted terminal includes an information conversion system, a braking control system, a vehicle-mounted navigation system and a voice system; the information conversion system is used to receive instructions and information from the decision-making system, and convert the instructions and information into electrical signals and send them to the braking control system, the vehicle-mounted navigation system and the voice system; the braking control system makes a corresponding braking response according to the electrical signal; the vehicle-mounted navigation system is used to display a parking lot map and a navigation route; the voice system is used to identify the decision-making information and convert it into voice to remind the driver.

[0050] The following examples are used to illustrate the principle of priority for following vehicles and the principle of giving way to vehicles entering before exiting.

[0051] Example 1, such as Figure 4 As shown in the figure, the shaded area represents an occupied parking space, and the direction of the arrow indicates the direction of vehicle travel; vehicle A and vehicle B are driving together on the parking lot lane, and vehicle C is preparing to leave the parking space; at this time, the decision system calculates the time t from vehicle A and vehicle B to vehicle C, and sends corresponding braking instructions to vehicles A and B according to the size of time t, so that vehicles A and B slow down. Since vehicle C is about to leave the parking space and vehicle B is behind vehicle A, in order to avoid vehicle A’s lack of reversing technology, which causes vehicle B to stagnate, the decision system will update the path of vehicle B and let vehicle B park in vehicle C’s parking space, while letting vehicle A continue to drive along the path, so as to improve the parking efficiency of the vehicles. This is the principle of rear vehicle priority.

[0052] Example 2, such as Figure 5 As shown, the shaded area represents an occupied parking space, and the direction of the arrow represents the direction of vehicle travel; vehicles D and E are driving at the two ends of the right-angle intersection respectively, vehicle D will enter the parking lot through the right-angle intersection, and vehicle E will exit the parking lot through the right-angle intersection; at this time, the drivers of vehicles D and E will have a certain blind spot. If the drivers are not careful and turn at the same time, the vehicles may be scratched or collided due to improper operation.

[0053] To prevent this from happening, the decision system sends decision information to vehicles D and E based on the enter-and-give-way principle. After the voice system recognizes the decision information, it reminds the driver of vehicle D that there is a vehicle about to exit at the right-angle turn ahead, and asks the driver to wait for the vehicle to exit before making the right-angle turn; it also reminds the driver of vehicle E that there is a vehicle about to enter at the right-angle turn ahead, and asks the driver to exit the right-angle turn as soon as possible to reduce the waiting time for vehicles entering. This improves efficiency and reduces collisions and scratches.

[0054] The following is an apparatus embodiment of the present invention, which can be used to implement the method embodiment of the present invention. For details not disclosed in the apparatus embodiment, please refer to the method embodiment of the present invention.

[0055] In another embodiment of the present invention, a parking lot management system for improving vehicle parking efficiency and safety is provided. The parking lot management system for improving vehicle parking efficiency and safety can be used to implement the above-mentioned parking lot management method for improving vehicle parking efficiency and safety. Specifically, the parking lot management system for improving vehicle parking efficiency and safety includes an optimal parking path calculation module and a conflict judgment module.

[0056] Among them, the optimal parking path calculation module is used to calculate the optimal parking path of the incoming vehicle according to the positions of the vacant parking spaces in the parking lot. When n vehicles enter the parking lot simultaneously, the path obtained by the first vehicle is the path to the parking space farthest from the vehicle, and the path obtained by the nth vehicle is the path to the parking space closest to the vehicle, and the motion state information and position information are obtained in real time.

[0057] The conflict judgment module is used to judge whether there are other vehicles about to drive out of the parking space in the optimal parking path and whether there will be a meeting with other vehicles at the right-angle turn of the path.

[0058] If it is retrieved that there are other vehicles about to drive out of the parking space, calculate the time t from the current vehicle to the other vehicle according to the speed, acceleration and position information of the current vehicle; if t>30s, send a prompt message to the current vehicle; if 10s<t<30s, send an instruction to the current vehicle to decelerate; if t<10s, send an instruction to the current vehicle to perform emergency braking.

[0059] If it is retrieved that there will be a meeting with other vehicles at the right-angle turn of the path, send corresponding decision-making information to the vehicle according to the principle of "driving in gives way to driving out".

[0060] In another embodiment of the present invention, a terminal device is provided. The terminal device includes a processor and a memory. The memory is used to store a computer program. The computer program includes program instructions. The processor is used to execute the program instructions stored in the computer storage medium. The processor may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, and is suitable for implementing one or more instructions. Specifically, it is suitable for loading and executing one or more instructions to implement the corresponding method flow or corresponding function. The processor described in the embodiment of the present invention can be used for the operation of a parking lot management method for improving the parking efficiency and safety of vehicles, including: S1, calculating the optimal parking path of the incoming vehicle according to the position of the vacant parking spaces in the parking lot. When n vehicles enter the parking lot simultaneously, the path obtained by the first vehicle is the path to the parking space farthest from the vehicle, and the path obtained by the nth vehicle is the path to the parking space closest to the vehicle, and the motion state information and position information are obtained in real time; S2, retrieving whether there are other vehicles about to drive out of the parking space in the optimal parking path and whether there will be a meeting with other vehicles at the right-angle turn of the path; if it is retrieved that there are other vehicles about to drive out of the parking space, the decision-making system calculates the time t from the current vehicle to the other vehicle according to the speed, acceleration, and position information of the current vehicle; if t > 30s, a prompt message is sent to the current vehicle; if 10s < t < 30s, an instruction to decelerate is sent to the current vehicle; if t < 10s, an instruction to perform emergency braking is sent to the current vehicle; if it is retrieved that there will be a meeting with other vehicles at the right-angle turn of the path, corresponding decision-making information is sent to the vehicle according to the principle of giving way to the vehicle driving out.

[0061] In another embodiment, the present invention further provides a computer-readable storage medium (Memory). The computer-readable storage medium is a memory device in a terminal device and is used to store programs and data. It can be understood that the computer-readable storage medium here can include both the built-in storage medium in the terminal device and, of course, the extended storage medium supported by the terminal device. The computer-readable storage medium provides a storage space, and this storage space stores the operating system of the terminal. And, in this storage space, one or more instructions suitable for being loaded and executed by a processor are also stored. These instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory.

[0062] One or more instructions stored in the computer-readable storage medium can be loaded and executed by a processor to implement the corresponding steps of the parking lot management method for improving vehicle parking efficiency and safety in the above embodiments; one or more instructions in the computer-readable storage medium are loaded and executed by the processor to perform the following steps: S1, calculate the optimal parking path of the incoming vehicle according to the positions of the vacant parking spaces in the parking lot. When n vehicles enter the parking lot simultaneously, the path obtained by the first vehicle is the path to the parking space farthest from the vehicle, and the path obtained by the nth vehicle is the path to the parking space closest to the vehicle, and the motion state information and position information are obtained in real time; S2, retrieve whether there are other vehicles about to drive out of the parking space in the optimal parking path and whether there will be a meeting with other vehicles at the right-angle turn of the path; if it is retrieved that there are other vehicles about to drive out of the parking space, the decision-making system calculates the time t from the current vehicle to the other vehicle according to the speed, acceleration, and position information of the current vehicle; if t > 30s, a prompt message is sent to the current vehicle; if 10s < t < 30s, an instruction to decelerate is sent to the current vehicle; if t < 10s, an instruction to apply emergency braking is sent to the current vehicle; if it is retrieved that there will be a meeting with other vehicles at the right-angle turn of the path, corresponding decision-making information is sent to the vehicle according to the principle of giving way to the vehicle driving out.

[0063] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0064] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 generate 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.

[0065] 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.

[0066] 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.

[0067] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device.

[0068] It should be understood that the above description is for illustration and not for limitation. Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the foregoing claims and the full scope of equivalents to which such claims are entitled. For the purpose of comprehensiveness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended to be a waiver of such subject matter, nor should it be considered that the applicant has not considered such subject matter to be part of the disclosed inventive subject matter.

Claims

1. A parking lot management method for improving vehicle parking efficiency and safety, characterized in that: It includes the following processes: S1. Calculate the optimal parking path for the incoming vehicle based on the positions of the vacant parking spaces in the parking lot. When n vehicles enter the parking lot simultaneously, the path obtained by the first vehicle is the path to the parking space farthest from the vehicle, and the path obtained by the nth vehicle is the path to the parking space closest to the vehicle. Also, obtain the motion state information and position information in real time; The optimal parking path is calculated using the grid path algorithm; The process of calculating the optimal parking path using the grid path algorithm is as follows: First, construct a two-dimensional grid map of the parking lot. Mark the occupied parking spaces in the area as black, representing non-passable grids, and mark the lane lines and vacant parking spaces as white, representing passable grids. Determine the entrance of the parking lot as the starting node and the vacant parking spaces as the ending nodes. Calculate the fatigue index of the adjacent nodes adjacent to the starting node from the starting node, and select the adjacent node with the lowest fatigue index as the next node. Repeat this step until the ending node is searched. Connect the previously passed nodes, which is the path with the lowest fatigue index, that is, the shortest path from the parking lot entrance to the vacant parking space; The shortest path from the current vehicle to each vacant parking space is denoted as {A1, A2, A3, … ,A i }, where A i represents the shortest path from the current vehicle to the i-th parking space, and A i is the shortest path to the parking space closest to the current vehicle i; when n vehicles enter the parking lot at the same time, the paths obtained by the first to the nth vehicles are {A n , A n-1 , … , A2, A1}, which is the optimal parking path; S2. Retrieve whether there are other vehicles about to drive out of the parking spaces in the optimal parking path and whether there will be oncoming vehicles with other vehicles at the right-angle turns of the path; If it is retrieved that there are other vehicles about to drive out of the parking spaces, calculate the time t from the current vehicle to the other vehicle based on the speed, acceleration, and position information of the current vehicle. If t > 30s, send a prompt message to the current vehicle; if 10s < t < 30s, send an instruction to the current vehicle to decelerate; if t < 10s, send an instruction to the current vehicle to perform emergency braking; If it is retrieved that there will be oncoming vehicles with other vehicles at the right-angle turns of the path, send corresponding decision-making information to the vehicle according to the principle of giving way to the vehicle driving out; 2. The parking lot management method for improving vehicle parking efficiency and safety according to claim 1, characterized in that: The method for constructing the two-dimensional grid map of the parking lot is as follows: Divide the parking lot into several regular areas with the lane lines as the boundaries. Place lidar directly above the center points of each area and place a high-definition camera above the upper left corner of the area. The data of the lidar and the high-definition camera construct the two-dimensional map of the parking lot, and the entire map is processed by two-dimensional gridification according to the distribution of each area and the lane lines; 3. The parking lot management method for improving vehicle parking efficiency and safety according to claim 1, characterized in that: Before calculating the optimal parking path for the incoming vehicle, first obtain the path of the vehicle with the existing navigation path, identify the parking space where the vehicle is about to park according to the end point of the path and make corresponding marks. At the same time, perform information fusion with the occupancy situation of the parking spaces to obtain the dynamic occupancy situation of the parking spaces, and then plan the optimal parking path for the vehicle about to enter the parking lot to the vacant parking space; 4. The parking lot management method for improving vehicle parking efficiency and safety according to claim 1, characterized in that: If it is retrieved that there are other vehicles about to drive out of the parking spaces, update the path from the vehicle behind the current vehicle to the parking space and send it to the vehicle behind according to the principle of giving priority to the vehicle behind, so that the vehicle behind parks in the parking space where the other vehicle is located; 5. A parking lot management system for improving vehicle parking efficiency and safety, characterized in that: It includes: The optimal parking path calculation module is used to calculate the optimal parking path for the entering vehicle based on the positions of the vacant parking spaces in the parking lot. When n vehicles enter the parking lot simultaneously, the path obtained by the first vehicle is the path to the parking space farthest from the vehicle, and the path obtained by the nth vehicle is the path to the parking space closest to the vehicle. Additionally, the motion state information and position information are obtained in real time. The optimal parking path is calculated using the grid path algorithm. The process of calculating the optimal parking path using the grid path algorithm is as follows: First, construct a two-dimensional grid map of the parking lot. Mark the occupied parking spaces in the area as black, representing non-passable grids, and mark the lane lines and vacant parking spaces as white, representing passable grids. Determine the entrance of the parking lot as the starting node and the vacant parking spaces as the ending nodes. Calculate the fatigue index of the adjacent nodes adjacent to the starting node from the starting node, and select the adjacent node with the lowest fatigue index as the next node. Repeat this step until the ending node is searched. Connect the previously passed nodes, which is the path with the lowest fatigue index, that is, the shortest path from the parking lot entrance to the vacant parking space. The shortest path from the current vehicle to each vacant parking space is denoted as {A1, A2, A3, … ,A i }, where A i represents the shortest path from the current vehicle to the i-th parking space, and A i is the shortest path to the parking space closest to the current vehicle i; when n vehicles enter the parking lot at the same time, the paths obtained by the first to the nth vehicles are {A n , A n-1 , … , A2, A1}, which is the optimal parking path; The conflict judgment module is used to judge whether there are other vehicles about to drive out of the parking space in the optimal parking path and whether there will be a meeting with other vehicles at the right-angle turns of the path. If it is retrieved that there is other vehicle about to drive out of the parking space, calculate the time t from the current vehicle to the other vehicle based on the speed, acceleration, and position information of the current vehicle. If t > 30s, send a prompt message to the current vehicle. If 10s < t < 30s, send an instruction to the current vehicle to decelerate. If t < 10s, send an instruction to the current vehicle to perform an emergency brake. If it is retrieved that there will be a meeting with other vehicles at the right-angle turns of the path, send corresponding decision-making information to the vehicle according to the principle of giving way to the vehicle driving out.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the steps of the parking lot management method for improving vehicle parking efficiency and safety as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processor, it implements the steps of the parking lot management method for improving vehicle parking efficiency and safety as described in any one of claims 1 to 4.

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