An automatic parking method, device and equipment

Abstract

The embodiment of the specification discloses an automatic parking method, device and equipment, which can include: a parking lot management platform acquires a parking request of a user; in response to the parking request, generating available parking space information according to real-time state data of each target object reported by an Internet of Things sensing device arranged at a parking lot; acquiring high-precision map data of the parking lot; sending the high-precision map data and the available parking space information to a target vehicle of the user, so that the target vehicle utilizes the high-precision map data and the available parking space information to automatically park. Based on the scheme of the application, when an automatic driving vehicle parks in a parking lot, manual operation by a driver is not required, the convenience of user parking is improved, and the accuracy and safety of automatic parking of the automatic driving vehicle are also improved.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of automatic parking, and in particular to an automatic parking method, device and equipment. BACKGROUND

[0002] Parking is an important part of driving behavior and has a certain degree of difficulty. With the improvement of automatic driving function of vehicles, the parking function is becoming more and more powerful, and can replace the driver to perform most of the operations.

[0003] However, based on the prior art, when the automatic driving vehicle is parking in the parking lot, it still relies on the manual operation of the driver. For example, for an L2 level automatic driving vehicle equipped with a memory parking function, the user can park the vehicle in a fixed parking space, let the vehicle learn, and then the vehicle can park automatically, but it can only be applied to a certain fixed parking space, and when the parking space is occupied, it cannot realize automatic parking, and after entering the parking lot, the driver needs to find the position of the fixed parking space himself; for an L4 level automatic driving vehicle, after obtaining the destination position, due to the inability to effectively obtain the information of the destination parking lot, the automatic driving vehicle still needs the driver to intervene when it reaches the vicinity of the destination parking lot. SUMMARY

[0004] Therefore, the embodiments of the present specification provide an automatic parking method, device and equipment to reduce the dependence of the automatic driving vehicle on the driver when parking in the parking lot, improve the convenience of user parking, and improve the accuracy and safety of automatic parking of the automatic driving vehicle.

[0005] To solve the above technical problems, the embodiments of the present specification are implemented as follows:

[0006] The embodiments of the present specification provide an automatic parking method, comprising:

[0007] The parking lot management platform obtains a parking request of a user;

[0008] In response to the parking request, generating available parking space information according to real-time state data of each target object reported by an Internet of Things sensing device arranged at the parking lot;

[0009] Obtaining high-precision map data of the parking lot;

[0010] Sending the high-precision map data and the available parking space information to a target vehicle of the user, so that the target vehicle utilizes the high-precision map data and the available parking space information to perform automatic parking.

[0011] The embodiments of the present specification provide an automatic parking device, comprising:

[0012] request obtaining module, configured to obtain a parking request of a user;

[0013] available parking space information generating module, configured to generate available parking space information according to real-time state data of each target object reported by an Internet of Things sensing device arranged at the parking lot in response to the parking request;

[0014] map data obtaining module, configured to obtain high-precision map data of the parking lot;

[0015] data sending module, configured to send the high-precision map data and the available parking space information to a target vehicle of the user, so that the target vehicle performs automatic parking by using the high-precision map data and the available parking space information.

[0016] The embodiment of the present specification provides an automatic parking device, comprising:

[0017] at least one processor; and

[0018] a memory in communication connection with the at least one processor; wherein

[0019] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0020] obtain a parking request of a user;

[0021] generate available parking space information according to real-time state data of each target object reported by an Internet of Things sensing device arranged at the parking lot in response to the parking request;

[0022] obtain high-precision map data of the parking lot;

[0023] send the high-precision map data and the available parking space information to a target vehicle of the user, so that the target vehicle performs automatic parking by using the high-precision map data and the available parking space information.

[0024] The at least one embodiment provided in the present specification can achieve the following beneficial effects:

[0025] The parking lot management platform generates available parking space information according to real-time state data of each target object reported by an Internet of Things sensing device arranged at the parking lot, and then sends the available parking space information and high-precision map data of the parking lot to a target vehicle, so that the target vehicle can perform automatic parking by using the high-precision map data of the parking lot and the available parking space information without the intervention of the driver, thereby improving the convenience of user parking and the accuracy and safety of automatic parking of the automatic driving vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0026] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram illustrating an application scenario of an automatic parking method provided in the embodiments of this specification;

[0028] Figure 2 A flowchart illustrating an automatic parking method provided in an embodiment of this specification;

[0029] Figure 3 The embodiments provided in this specification correspond to Figure 2 A schematic diagram of an automatic parking device;

[0030] Figure 4 The embodiments provided in this specification correspond to Figure 2 A schematic diagram of the structure of an automatic parking device. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of one or more embodiments of this specification.

[0032] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0033] In existing technologies, when an autonomous vehicle arrives at a parking lot, it cannot automatically park itself because it lacks high-precision map data and information on available parking spaces. The driver still needs to manually search for a space. Furthermore, for autonomous vehicles equipped only with memory parking functionality, if the available space found by the driver is not one of the spaces pre-recorded by the vehicle, the memory parking function cannot be used, and the driver must manually park the vehicle.

[0034] To address the shortcomings of existing technologies, this solution provides the following embodiments:

[0035] Figure 1 An application scenario of an automatic parking method provided by an embodiment of the present specification is shown in the figure.

[0036] As shown in the figure, Figure 1 In the embodiment of the present specification, the parking lot management platform 102 can be a platform for managing parking lots. If a user needs to control the target vehicle 103 he / she rides to automatically park in a certain parking lot, the user can send a parking request to the parking lot management platform 102 using the client on the terminal device 101 or the intelligent operating system of the target vehicle 103. After the parking lot management platform 102 receives the parking request sent by the terminal device 101 or the target vehicle 103, it can determine and send the high-precision map data of the parking lot and the available parking space information in the parking lot to the target vehicle 103. After the intelligent operating system of the target vehicle 103 receives the high-precision map data of the parking lot and the available parking space information in the parking lot sent by the parking lot management platform 102, it can use these data to plan a local path in the parking lot and realize automatic parking operation.

[0037] Figure 1 In the scheme of the present specification, the parking lot management platform sends the available parking space information in the parking lot and the high-precision map data of the parking lot to the target vehicle, so that the target vehicle can automatically find an available parking space and park automatically without the intervention of the driver, which not only improves the convenience of the user's parking, but also improves the accuracy and safety of the automatic parking of the autonomous vehicle.

[0038] Further, Figure 1 In the scheme of the present specification, when the target vehicle has not arrived near the parking lot, the user can reserve an available parking space in the parking lot, thereby avoiding the situation that the target vehicle arrives at the parking lot but there is no available parking space for parking.

[0039] Next, an automatic parking method provided by an embodiment of the present specification will be described in detail in combination with the accompanying drawings:

[0040] Figure 2 A flowchart of an automatic parking method provided by an embodiment of the present specification is shown in the figure. Figure 2 The execution subject of the scheme in the present specification can be a parking lot management platform, or an application program loaded at the parking lot management platform. As shown in the figure, Figure 2 The flowchart can include the following steps:

[0041] Step 202: The parking lot management platform obtains a parking request of a user.

[0042] In the embodiments of the present specification, the parking lot management platform can be loaded on a server and process data by using the server. A user can register an account in advance on the parking lot management platform. After the user completes the registration, the parking lot management platform can send relevant information of a parking lot managed by the parking lot management platform to the user, so that the user can identify and select the parking lot when using the automatic parking service provided by the parking lot management platform. The relevant information of the parking lot can be parking lot location information or name information of a building to which the parking lot belongs, which is not limited in particular.

[0043] In the embodiments of the present specification, when the user arrives at a place near a parking lot managed by the parking lot management platform by riding a target vehicle, or when the target vehicle does not arrive near the parking lot, a terminal device or the target vehicle can be used to send a parking request to the parking lot management platform, so that the parking lot management platform can determine an available parking space for the target vehicle according to information contained in the parking request.

[0044] That is, step 202: the parking lot management platform acquires a parking request of a user, which can specifically include:

[0045] The parking lot management platform acquires a parking request sent by a user by using a terminal device or a target vehicle. The parking request carries at least one of user account information registered by the user at the parking lot management platform and vehicle information of the target vehicle.

[0046] In the embodiments of the present specification, the parking request sent by the target vehicle can be automatically generated by the vehicle or generated in response to a user operation. For example, when the intelligent operating system of the vehicle determines that the distance between the vehicle and the entrance of the parking lot is within a preset range according to the vehicle positioning information, the intelligent operating system of the vehicle can automatically generate a parking request and send the parking request to the parking lot management platform, wherein the preset range can be set according to actual needs, for example, the straight-line distance is less than 5 meters, which is not limited in particular. Alternatively, when the user uses the in-vehicle map for navigation and performs an operation of setting the parking lot as the end position, the intelligent operating system of the vehicle can generate a parking request in response to the user operation, which is not limited in particular.

[0047] In the embodiments of the present specification, the parking request can carry at least one of the user account information registered by the user at the parking lot management platform and the vehicle information of the target vehicle. The user account information registered by the user at the parking lot management platform can include the account name of the user, the real name after real-name authentication of the user, the ID card number of the user, and the telephone number of the user, and the like. When the user registers at the parking lot management platform, the account of the user can be bound to at least one vehicle, and the license plate number of the vehicle can be input during the binding. When the user issues a parking request, the vehicle bound in advance during registration can be selected (when there is only one bound vehicle in the user account, no selection is required). When the target vehicle ridden by the user is not bound to the account of the user, the user can also input the vehicle information of the target vehicle on the terminal device, so that the parking request carries the vehicle information of the target vehicle input by the user. The vehicle information of the target vehicle can include the license plate number of the target vehicle, the vehicle model of the target vehicle, and the like, which are not limited herein.

[0048] Step 204: In response to the parking request, generating available parking space information according to real-time state data of each target object reported by the Internet of Things sensing device arranged at the parking lot.

[0049] In the embodiments of the present specification, after the parking lot management platform obtains the parking request issued by the user using the terminal device or the target vehicle, it can first determine whether the parking lot to be used by the target vehicle is managed by the parking lot management platform. If yes, the parking lot management platform can provide a service of assisting the target vehicle to automatically park, and send the available parking space information in the parking lot and the high-precision map data of the parking lot to the target vehicle. If no, the parking lot management platform can refuse to provide the service of assisting the target vehicle to automatically park.

[0050] In the embodiments of the present specification, the Internet of Things sensing device arranged at the parking lot can include a laser radar, a millimeter wave radar, an ultrasonic radar, a camera, an infrared sensing device, and the like. The target objects sensed by the Internet of Things sensing device arranged at the parking lot can include the target vehicle, the parking space in the parking lot, and other vehicles in the parking lot.

[0051] In the embodiments of the present specification, the available parking space information generated by the parking lot management platform according to the data reported by the Internet of Things sensing device arranged at the parking lot is generated for the target vehicle. Therefore, the parking lot management platform needs to determine the target vehicle before generating the available parking space information.

[0052] That is, before step 204: In response to the parking request, generating available parking space information according to real-time state data of each target object reported by the Internet of Things sensing device arranged at the parking lot, the method can further include:

[0053] determine the target vehicle from a specified vehicle having a binding relationship with the user account information. And / or,

[0054] determine the target vehicle according to the vehicle information of the target vehicle carried in the parking request.

[0055] In the embodiments of the present specification, according to the foregoing content, the parking request can carry at least one of the user account information registered by the user at the parking lot management platform and the vehicle information of the target vehicle. Moreover, when the user issues the parking request, the user can select one vehicle from the multiple vehicles bound in advance during registration as the target vehicle. After the parking lot management platform receives the parking request, the parking lot management platform can determine the unique vehicle selected by the user as the target vehicle. If there is only one bound vehicle in the user account, the user does not need to perform the selection operation on the vehicle, and after the parking lot management platform receives the parking request, the parking lot management platform can automatically determine the unique vehicle bound with the user account as the target vehicle. When the target vehicle ridden by the user is not bound with the user's account, the user can also input the vehicle information of the target vehicle (for example, the license plate number of the target vehicle, the vehicle model of the target vehicle, and the like) on the terminal device, so that after the parking lot management platform obtains the parking request, the parking lot management platform can determine the target vehicle according to the vehicle information of the target vehicle carried in the parking request.

[0056] Based on this, step 204: in response to the parking request, generating available parking space information according to the real-time state data of each target object reported by the Internet of Things sensing device arranged at the parking lot, and specifically can include:

[0057] In response to the parking request, generating the available parking space information of the target vehicle according to the real-time state data of each target object reported by the Internet of Things sensing device arranged at the parking lot.

[0058] Step 206: obtaining high-precision map data of the parking lot.

[0059] In the embodiments of the present specification, the high-precision map data of the parking lot can be generated by the parking lot management platform based on measurement data itself, or can be obtained from a map supplier, which is not limited specifically. If it is necessary for the parking lot management platform to generate the high-precision map data of the parking lot based on measurement data itself, the parking lot management platform can measure the parking lot managed by the parking lot management platform by using a drone or a measuring vehicle carrying a measuring device to obtain point cloud data, and then generate the high-precision map data of the parking lot based on the measured point cloud data. The measuring device can include a laser radar, a three-dimensional laser scanner, and the like.

[0060] In the embodiments of the present specification, the high-precision map data of the parking lot can be updated regularly, or the parking lot can be re-measured and the high-precision map data can be regenerated when the original high-precision map data of the parking lot is no longer applicable to the parking lot. In actual application, the parking lot management platform can first store the acquired high-precision map data of the parking lot within the management range, and then call out and send the high-precision map data to the target vehicle when needed.

[0061] Step 208: sending the high-precision map data and the available parking space information to the target vehicle of the user, so that the target vehicle uses the high-precision map data and the available parking space information to perform automatic parking.

[0062] In the embodiments of the present specification, according to the foregoing content, the parking lot management platform can determine the target vehicle and the parking lot where the target vehicle needs to be parked according to the parking request, and generate the available parking space information of the target vehicle according to the data reported by the Internet of Things sensing device arranged at the parking lot. The parking lot management platform can call the pre-stored high-precision map data of the parking lot, and send the high-precision map data of the parking lot and the available parking space information of the target vehicle to the target vehicle of the user. The target vehicle can perform local path planning or global path planning according to the high-precision map data of the parking lot and the available parking space information, and then realize automatic parking in the target parking lot.

[0063] In the embodiments of the present specification, for the automatic driving vehicle with poor automatic driving function, the sensing ability of the sensor configured by itself is weak, and it is difficult for itself to react to the surrounding obstacles in time. For such a vehicle, the parking lot management platform can send the obstacle information around the target vehicle collected by the Internet of Things sensing device arranged at the parking lot to the target vehicle in real time, so that the target vehicle can avoid the obstacles in time.

[0064] That is, after step 208: sending the high-precision map data and the available parking space information to the target vehicle of the user, the following can also be included:

[0065] In the process of automatic parking of the target vehicle, the target vehicle is sent the obstacle information around the target vehicle collected by the Internet of Things sensing device arranged at the parking lot; and the target vehicle is configured to perform automatic parking according to the obstacle information.

[0066] In the embodiments of the present specification, the obstacle information can include: position information of the obstacle, size information of the obstacle, moving direction information of the obstacle, moving speed information of the obstacle, etc. The obstacles around the target vehicle can include: other vehicles around the target vehicle, pedestrians around the target vehicle, columns around the target vehicle, and sundries around the target vehicle that can affect the parking of the target vehicle, etc.

[0067] In the embodiments described in this specification, during the automatic parking process of the target vehicle, the parking management platform can send obstacle information around the target vehicle in real time, so that the target vehicle can optimize its local path planning based on the obstacle information sent by the parking management platform, avoid obstacles in time, and complete the parking operation safely and accurately.

[0068] based on Figure 2 In addition to the method described in the embodiments of this specification, some specific implementation schemes of the method are also provided, which will be described below.

[0069] In the embodiments described in this specification, since the dimensions of different target vehicles are not exactly the same, parking lots can set up parking spaces of different sizes to meet the parking needs of vehicles of different sizes. For example, large vehicles need to be set up with large parking spaces, while setting up parking spaces that are too large for small vehicles would result in a waste of parking lot space.

[0070] Based on this, the parking management platform can obtain the vehicle size information of the target vehicle, and then determine the available parking space that meets the parking space requirements of the target vehicle according to the vehicle size information.

[0071] Correspondingly, Figure 2 In the method described above, before step 204: in response to the parking request, before generating available parking space information based on the real-time status data of each target object reported by the IoT sensing devices installed in the parking lot, the method may further include:

[0072] From the target vehicle information that is linked to the user account information, determine the vehicle size information of the target vehicle; and / or,

[0073] The vehicle size information of the target vehicle is determined from the vehicle information of the target vehicle carried in the parking request.

[0074] Correspondingly, in response to the parking request, the available parking space information for the target vehicle is generated based on the real-time status data of each target object reported by the IoT sensing devices installed in the parking lot. Specifically, this may include:

[0075] In response to the parking request, based on the real-time status data of each target object reported by the IoT sensing device set up in the parking lot and the vehicle size information of the target vehicle, available parking space information that meets the parking space requirements of the target vehicle is generated.

[0076] In the embodiments of this specification, the vehicle size information of the target vehicle may include: wheelbase information, track width information, width information, length information, and height information of the target vehicle.

[0077] In actual application, after a user registers a user account on the parking lot management platform, the user can bind the account with a vehicle, and the bound vehicle can be one or multiple. When the user binds the user account with the vehicle, the user can input the size information of the vehicle in the vehicle information, or can not directly input the size information of the vehicle, but only input the license plate number and the like information of the vehicle. After the parking lot management platform determines the target vehicle, the parking lot management platform can directly obtain the vehicle size information of the target vehicle from the vehicle information of the target vehicle, or query the vehicle size information of the target vehicle according to the license plate number and the like information of the target vehicle. After the parking lot management platform obtains the vehicle size information of the target vehicle, the parking lot management platform can determine the available parking space of the target vehicle according to the vehicle size information of the target vehicle.

[0078] In actual application, some users need to park the vehicle for a long time, for example, for several weeks or several months. For these vehicles that need to be parked for a long time, the parking lot management platform can allocate the available parking spaces of low use frequency to these vehicles.

[0079] Therefore, the parking request can further carry the expected parking duration.

[0080] Correspondingly, the method can further include:

[0081] In response to the parking request, the parking lot management platform can determine the idle parking spaces in the parking lot according to the real-time state data of each target object reported by the Internet of Things sensing device arranged in the parking lot.

[0082] The method can further include:

[0083] If the expected parking duration is greater than the first threshold value, the parking lot management platform can determine the available parking space of the target vehicle from the parking spaces with a use frequency less than the second threshold value in the idle parking spaces, and obtain the available parking space information of the target vehicle.

[0084] In the embodiments of the specification, the expected parking duration carried in the parking request can be input by the user on the terminal device, or can be input by the user on the intelligent operating system of the target vehicle. The first threshold and the second threshold can be set according to actual needs, or can be changed at any time. The use frequency of the parking space can be the number of times the parking space is used per week. For example, if the first threshold is set to 72 hours and the second threshold is set to 10 times / week, when the expected parking duration is greater than 72 hours, one of the parking spaces with a use frequency less than 10 times / week in the idle parking spaces is determined as the available parking space of the target vehicle.

[0085] In actual application, the target vehicle can be reserved in advance before it arrives at the parking lot, so as to avoid the situation that the target vehicle arrives at the parking lot but there is no available parking space for parking. Based on this, the parking request can also carry the expected parking time.

[0086] Correspondingly, the available parking space information of the target vehicle is generated according to the real-time state data of each target object reported by the Internet of Things sensing device arranged at the parking lot in response to the parking request, and specifically can include:

[0087] In response to the parking request, the idle parking spaces at the parking lot are determined according to the real-time state data of each target object reported by the Internet of Things sensing device arranged at the parking lot.

[0088] From the idle parking spaces, the available parking space with use authority of the target vehicle is determined, and the available parking space is a parking space that other vehicles do not have use authority before the expected parking time arrives.

[0089] Correspondingly, after the available parking space with use authority of the target vehicle is determined from the idle parking spaces, the method can further include:

[0090] If the target vehicle does not use the available parking space when the expected parking time arrives, the use authority of the available parking space for the other vehicle is allowed to be granted.

[0091] In the embodiments of the present specification, after the parking lot management platform obtains the parking request, the target vehicle and the size information of the target vehicle can be determined, and at the same time, the parking lot management platform can determine all idle parking spaces in the parking lot according to the data reported by the Internet of Things sensing device. The parking lot management platform can determine an idle parking space that meets the parking space requirement of the target vehicle as an available parking space from all idle parking spaces in the parking lot, and assign the target vehicle the use right of the parking space, so that the target vehicle has the use right of the available parking space before the expected parking time. Other vehicles do not have the use right of the available parking space before the expected parking time, and cannot use the parking space. The expected parking time carried in the parking request can be input by the user on the terminal device, or can be input by the user on the intelligent operating system of the target vehicle. No specific limitation is made in comparison.

[0092] In actual application, congestion may occur in a certain road segment in the target parking lot. In this case, the parking lot management system needs to avoid the congested road segment when selecting the available parking space for the target vehicle and planning the driving path.

[0093] Therefore, the real-time state data of each target object reported by the Internet of Things sensing device arranged in the parking lot can include real-time parking space occupation, positioning data of the target vehicle, positioning data and driving speed data of other vehicles.

[0094] Correspondingly, step 204: in response to the parking request, generating available parking space information according to the real-time state data of each target object reported by the Internet of Things sensing device arranged in the parking lot, which can specifically include:

[0095] In response to the parking request, determining the idle parking space information in the parking lot according to the real-time parking space occupation reported by the Internet of Things sensing device arranged in the parking lot.

[0096] According to the first positioning data and driving speed data of other vehicles reported by the Internet of Things sensing device, determining the road traffic condition data in the parking lot.

[0097] According to the second positioning data of the target vehicle, the road traffic condition data and the idle parking space information, generating the available parking space information of the target vehicle; the available parking space information includes at least one of the position information of the available parking space with the shortest estimated passing time and the driving path information guiding the target vehicle to drive to the available parking space.

[0098] In the embodiments of the present specification, the parking lot management platform can first determine all idle parking spaces in the parking lot according to the real-time parking space occupancy reported by the Internet of Things sensing device arranged at the parking lot, and then determine the road traffic condition in the target parking lot according to the first positioning data and the driving speed data of other vehicles reported by the Internet of Things sensing device (for example, if it is monitored that the number of vehicles on a road section in the parking lot exceeds a first predetermined threshold, and the driving speed of the vehicles is lower than a second predetermined threshold, it can be determined that this road section is a congested road section). Finally, the parking lot management platform determines the parking space with the shortest estimated travel time for the target vehicle from all idle parking spaces as the available parking space of the target vehicle according to the second positioning data of the target vehicle, the road traffic condition data and the idle parking space information. The driving path information guiding the target vehicle to drive to the available parking space can be a driving reference line, or a local path planning generated by the parking lot management platform for the target vehicle, which is not limited here.

[0099] Figure 2 In the method in the present specification, the parking lot management platform generates available parking space information according to the real-time state data of each target object reported by the Internet of Things sensing device arranged at the parking lot, and then sends the available parking space information and the high-precision map data of the parking lot to the target vehicle, so that the target vehicle can automatically park using the high-precision map data of the parking lot and the available parking space information without the intervention of the driver, thereby improving the convenience of user parking.

[0100] In addition, the automatic parking method provided by the embodiments of the present specification can provide the surrounding obstacle information for the target vehicle in real time during the parking process of the target vehicle, so that the target vehicle can optimize the local path planning according to the obstacle information sent by the parking lot management platform, avoid obstacles in time, and safely and accurately complete the parking operation, thereby improving the accuracy and safety of automatic parking of the automatic driving vehicle.

[0101] In addition, the automatic parking method provided by the embodiments of the present specification can provide the surrounding obstacle information for the target vehicle in real time during the parking process of the target vehicle, so that the target vehicle can optimize the local path planning according to the obstacle information sent by the parking lot management platform, avoid obstacles in time, and safely and accurately complete the parking operation, thereby improving the accuracy and safety of automatic parking of the automatic driving vehicle.

[0102] In addition, the automatic parking method provided by the embodiments of the present specification can provide the surrounding obstacle information for the target vehicle in real time during the parking process of the target vehicle, so that the target vehicle can optimize the local path planning according to the obstacle information sent by the parking lot management platform, avoid obstacles in time, and safely and accurately complete the parking operation, thereby improving the accuracy and safety of automatic parking of the automatic driving vehicle.

[0103] Based on the same idea, the present specification also provides a device corresponding to the above method.Figure 3 A structural schematic diagram of an automatic parking device corresponding to Figure 2 provided by an embodiment of the present specification. As shown in the figure, the device can include: Figure 3

[0104] A request acquisition module for acquiring a user's parking request.

[0105] An available parking space information generation module for generating available parking space information according to real-time state data of each target object reported by an Internet of Things sensing device arranged at a parking lot in response to the parking request.

[0106] A map data acquisition module for acquiring high-precision map data of the parking lot.

[0107] A data sending module for sending the high-precision map data and the available parking space information to a target vehicle of the user so that the target vehicle performs automatic parking by using the high-precision map data and the available parking space information.

[0108] based on the device, the present specification also provides some specific embodiments of the device, which are described below. Figure 3

[0109] Optionally, the request acquisition module can specifically include:

[0110] A request acquisition unit for acquiring a parking request issued by a user by using a terminal device or the target vehicle; the parking request carrying at least one of user account information registered by the user at a parking lot management platform and vehicle information of the target vehicle.

[0111] Optionally, the device can further include:

[0112] A target vehicle determination module for determining the target vehicle from a specified vehicle having a binding relationship with the user account information; and / or,

[0113] determining the target vehicle according to the vehicle information of the target vehicle carried in the parking request.

[0114] Optionally, the available parking space information generation module can specifically include:

[0115] An available parking space information generation unit for generating available parking space information of the target vehicle according to real-time state data of each target object reported by an Internet of Things sensing device arranged at a parking lot in response to the parking request.

[0116] Optionally, the device can further include:

[0117] ​​a vehicle size information determination module, configured to determine vehicle size information of the target vehicle from target vehicle information having a binding relationship with the user account information; and / or,

[0118] vehicle size information of the target vehicle is determined from vehicle information of the target vehicle carried in the parking request.

[0119] The available parking space information generation module can specifically include:

[0120] An available parking space information generation unit is configured to, in response to the parking request, generate available parking space information meeting parking space requirements of the target vehicle according to real-time state data of each target object reported by an Internet of Things sensing device arranged at the parking lot and the vehicle size information of the target vehicle.

[0121] Optionally, the parking request obtained by the request obtaining module can also carry an estimated parking duration.

[0122] Correspondingly, the available parking space information generation module can specifically include:

[0123] An idle parking space determination unit is configured to, in response to the parking request, determine idle parking spaces at the parking lot according to real-time state data of each target object reported by an Internet of Things sensing device arranged at the parking lot.

[0124] A first judgment unit is configured to judge whether the estimated parking duration is greater than a first threshold value, to obtain a judgment result.

[0125] An available parking space information generation unit is configured to, if the judgment result indicates that the estimated parking duration is greater than the first threshold value, determine available parking spaces of the target vehicle from parking spaces having a use frequency less than a second threshold value in the idle parking spaces, to obtain available parking space information of the target vehicle.

[0126] Optionally, the parking request obtained by the request obtaining module can also carry an estimated parking time.

[0127] Correspondingly, the available parking space information generation module can specifically include:

[0128] An idle parking space determination unit is configured to, in response to the parking request, determine idle parking spaces at the parking lot according to real-time state data of each target object reported by an Internet of Things sensing device arranged at the parking lot.

[0129] A parking space use permission management unit is configured to determine, from the idle parking spaces, available parking spaces of the target vehicle having use permission, the available parking spaces being parking spaces that do not have use permission for other vehicles before the estimated parking time is reached.

[0130] The parking space usage permission management unit can also be configured to:

[0131] If the target vehicle does not use the available parking space when reaching the predicted parking time, the usage permission of the available parking space for the other vehicle is allowed to be granted.

[0132] Optionally, the available parking space information generation module can specifically include:

[0133] An idle parking space determination unit is configured to determine idle parking space information of the parking lot according to real-time parking space occupation information reported by an Internet of Things sensing device arranged at the parking lot in response to the parking request.

[0134] A road traffic condition determination unit is configured to determine road traffic condition data in the parking lot according to first positioning data and driving speed data of the other vehicle reported by the Internet of Things sensing device.

[0135] An available parking space information generation unit is configured to generate available parking space information of the target vehicle according to the second positioning data of the target vehicle, the road traffic condition data, and the idle parking space information; the available parking space information includes at least one of position information of an available parking space with the shortest estimated traffic duration and driving path information for guiding the target vehicle to drive to the available parking space.

[0136] Optionally, the apparatus can further include:

[0137] An obstacle information sending module is configured to send, to the target vehicle, obstacle information around the target vehicle collected by the Internet of Things sensing device arranged at the parking lot in a process of automatic parking of the target vehicle; the target vehicle is configured to perform automatic parking according to the obstacle information.

[0138] Based on the same idea, the present specification also provides an apparatus corresponding to the above method.

[0139] Figure 4 A structural schematic diagram of an automatic parking apparatus corresponding to Figure 2 provided by an embodiment of the present specification is shown in FIG. 4. As shown in FIG. 4, the apparatus 400 can include: Figure 4

[0140] at least one processor 410; and

[0141] a memory 430 in communication connection with the at least one processor; wherein

[0142] the memory 430 stores instructions 420 executable by the at least one processor 410, and the instructions are executed by the at least one processor 410 to enable the at least one processor 410 to:​

[0143] obtain a parking request of a user.

[0144] In response to the parking request, generate available parking space information according to real-time state data of each target object reported by an Internet of Things sensing device arranged at the parking lot.

[0145] obtain high-precision map data of the parking lot.

[0146] send the high-precision map data and the available parking space information to a target vehicle of the user, so that the target vehicle performs automatic parking by using the high-precision map data and the available parking space information.

[0147] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the device shown in the specification, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment. Figure 4 The device shown in the specification is basically similar to the method embodiment, and the description is relatively simple. The relevant parts can be referred to the part of the method embodiment.

[0148] In the 1990s, it was relatively easy to distinguish whether an improvement in a technology was a hardware improvement (e.g., an improvement in the circuit structure of a diode, transistor, switch, etc.) or a software improvement (an improvement in a method flow). However, as technology has advanced, many improvements in method flows today can be considered as direct improvements in hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into a hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (e.g., a field programmable gate array (FPGA)) is an integrated circuit whose logic function is determined by user programming of the device. A digital system is "integrated" on a PLD by the designer programming the PLD, rather than by ordering a custom integrated circuit chip from a chip fabricator. Moreover, instead of manually fabricating an integrated circuit chip, today this programming is most often implemented using "logic compiler" software, which is similar to software compilers used in program development, and the original code to be compiled is written in a specific programming language, which is called a hardware description language (HDL), and there are many such languages, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., and the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should be aware that, as long as the method flow is logically programmed in one of the above-mentioned hardware description languages and programmed into an integrated circuit, a hardware circuit implementing the logical method flow can be easily obtained.

[0149] The controller can be implemented in any suitable way, e.g. the controller can take the form of a microprocessor or processor and a computer readable medium storing computer readable program code, e.g. software or firmware, executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller and an embedded microcontroller, examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91 SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to being implemented in pure computer readable program code form, the controller can perfectly well be implemented by means of logic programmed into logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers, etc. to perform the same functions. The controller can thus be considered as a hardware component, and the means comprised therein for performing various functions can be considered as structures within the hardware component. Alternatively, or even additionally, the means for performing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0150] The systems, apparatuses, modules or units illustrated by the above embodiments can be implemented by computer chips or entities, or products with certain functions. A typical implementation device is a computer. Specifically, the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0151] For the sake of description, the above apparatuses are described in functional division and are described respectively. Of course, the functions of the units can be implemented in the same or multiple software and / or hardware when implementing the present specification.

[0152] Those skilled in the art will 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 magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0153] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0154] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0155] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0156] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0157] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) about which the processor can execute instructions. The memory can also include non-volatile memory, such as read only memory (ROM) or flash RAM. The memory is an example of computer readable media.

[0158] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0159] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0160] The specification can be described in the general context of computer-executable instructions, such as program modules, executed by computers. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in both local and remote computer storage media, including storage devices.

[0161] The above only describes the embodiments of the specification and is not intended to limit the specification. The specification can have various changes and variations for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the specification shall be included in the scope of claims of the specification.

Claims

1. An automatic parking method, characterized in that, The method includes: The parking management platform obtains users' parking requests; In response to the parking request, available parking space information is generated based on the real-time status data of each target object reported by the IoT sensing devices set up in the parking lot; Obtain high-precision map data of the parking lot; The high-precision map data and the available parking space information are sent to the user's target vehicle so that the target vehicle can automatically park using the high-precision map data and the available parking space information; The parking management platform obtains users' parking requests, specifically including: The parking management platform obtains a parking request issued by a user using a terminal device or the target vehicle; the parking request carries at least one of the user account information registered by the user on the parking management platform and the vehicle information of the target vehicle; Before generating available parking space information based on the real-time status data of each target object reported by the IoT sensing devices installed in the parking lot in response to the parking request, the method further includes: The target vehicle is determined from the specified vehicles that are linked to the user account information; and / or, The target vehicle is determined based on the vehicle information of the target vehicle carried in the parking request; In response to the parking request, the system generates available parking space information based on the real-time status data of each target object reported by the IoT sensing devices installed in the parking lot. Specifically, this includes: In response to the parking request, the available parking space information for the target vehicle is generated based on the real-time status data of each target object reported by the IoT sensing devices set up in the parking lot. The parking request also includes the estimated parking duration, which is the estimated parking time of the vehicle in the parking space; In response to the parking request, the system generates available parking space information for the target vehicle based on real-time status data of each target object reported by IoT sensing devices installed in the parking lot. Specifically, this includes: In response to the parking request, the available parking spaces in the parking lot are determined based on the real-time status data of each target object reported by the IoT sensing devices installed in the parking lot. Determine whether the estimated parking time is greater than a first threshold, and obtain the determination result; If the determination result indicates that the expected parking time is greater than the first threshold, then the available parking space for the target vehicle is determined from the parking spaces in the vacant parking spaces whose usage frequency is less than the second threshold, and the available parking space information for the target vehicle is obtained.

2. The method according to claim 1, characterized in that, Before generating available parking space information for the target vehicle based on the real-time status data of each target object reported by the IoT sensing devices installed in the parking lot in response to the parking request, the method further includes: From the target vehicle information that is linked to the user account information, determine the vehicle size information of the target vehicle; and / or, The vehicle size information of the target vehicle is determined from the vehicle information of the target vehicle carried in the parking request; In response to the parking request, the system generates available parking space information for the target vehicle based on real-time status data of each target object reported by IoT sensing devices installed in the parking lot. Specifically, this includes: In response to the parking request, based on the real-time status data of each target object reported by the IoT sensing device set up in the parking lot and the vehicle size information of the target vehicle, available parking space information that meets the parking space requirements of the target vehicle is generated.

3. The method according to claim 1, characterized in that, The parking request also includes the estimated parking time; In response to the parking request, the system generates available parking space information for the target vehicle based on real-time status data of each target object reported by IoT sensing devices installed in the parking lot. Specifically, this includes: In response to the parking request, the available parking spaces in the parking lot are determined based on the real-time status data of each target object reported by the IoT sensing devices installed in the parking lot. From the vacant parking spaces, determine the available parking spaces that the target vehicle has the right to use, wherein the available parking spaces are those that other vehicles do not have the right to use before the expected parking time; After determining from the vacant parking spaces an available parking space for which the target vehicle has usage rights, the process further includes: If the target vehicle does not use the available parking space when it arrives at the expected parking time, then other vehicles are allowed to use the available parking space.

4. The method according to claim 1, characterized in that, In response to the parking request, the system generates available parking space information based on the real-time status data of each target object reported by the IoT sensing devices installed in the parking lot. Specifically, this includes: In response to the parking request, the available parking space information in the parking lot is determined based on the real-time parking space occupancy status reported by the IoT sensing devices installed in the parking lot. Based on the first location data and driving speed data of other vehicles reported by the IoT sensing device, the road traffic conditions data in the parking lot are determined; Based on the second positioning data of the target vehicle, the road traffic data, and the vacant parking space information, the available parking space information of the target vehicle is generated; the available parking space information includes at least one of the following: the location information of the available parking space with the shortest estimated travel time and the driving path information guiding the target vehicle to the available parking space.

5. The method according to claim 1, characterized in that, After sending the high-precision map data and the available parking space information to the user's target vehicle, the method further includes: During the automatic parking process of the target vehicle, obstacle information around the target vehicle, collected by IoT sensing devices installed at the parking lot, is sent to the target vehicle; the target vehicle is then used to automatically park based on the obstacle information.

6. An automatic parking device, characterized in that, The device includes: The request retrieval module is used to retrieve users' parking requests; The available parking space information generation module is used to generate available parking space information in response to the parking request, based on the real-time status data of each target object reported by the IoT sensing device set up in the parking lot. The map data acquisition module is used to acquire high-precision map data of the parking lot; The data transmission module is used to send the high-precision map data and the available parking space information to the user's target vehicle, so that the target vehicle can use the high-precision map data and the available parking space information to automatically park; The request acquisition module specifically includes: The request acquisition unit is used to acquire a parking request issued by a user using a terminal device or the target vehicle; the parking request carries at least one of the user account information registered by the user on the parking lot management platform and the vehicle information of the target vehicle. The device further includes: The target vehicle determination module is used to determine the target vehicle from a list of designated vehicles that are linked to the user account information; and / or, The target vehicle is determined based on the vehicle information of the target vehicle carried in the parking request; The available parking space information generation module includes: The available parking space information generation unit, in response to the parking request, generates available parking space information for the target vehicle based on the real-time status data of each target object reported by the IoT sensing device set up in the parking lot. The parking request obtained by the request acquisition module also carries the estimated parking duration, which is the estimated parking duration of the vehicle in the parking space; The available parking space information generation module includes: The vacant parking space determination unit, in response to the parking request, determines the vacant parking spaces in the parking lot based on the real-time status data of each target object reported by the IoT sensing devices set up in the parking lot. The first judgment unit is used to determine whether the expected parking time is greater than a first threshold and obtain a judgment result. If the judgment result indicates that the expected parking duration is greater than the first threshold, the available parking space generation unit determines the available parking space for the target vehicle from the parking spaces with a usage frequency less than the second threshold among the vacant parking spaces, and obtains the available parking space information for the target vehicle.

7. The apparatus according to claim 6, characterized in that, The available parking space information generation module specifically includes: A parking space vacancy determination unit is used to respond to the parking request and determine the vacancy information of the parking lot based on the real-time parking space occupancy status reported by the IoT sensing device installed at the parking lot. The road traffic condition determination unit is used to determine the road traffic condition data in the parking lot based on the first positioning data and driving speed data of other vehicles reported by the IoT sensing device. The available parking space information generation unit is used to generate available parking space information for the target vehicle based on the second positioning data of the target vehicle, the road traffic data, and the vacant parking space information; the available parking space information includes at least one of the following: the location information of the available parking space with the shortest estimated travel time and the driving path information guiding the target vehicle to the available parking space.

8. An automatic parking device, comprising: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: Get the user's parking request; In response to the parking request, available parking space information is generated based on the real-time status data of each target object reported by the IoT sensing devices set up in the parking lot; Obtain high-precision map data of the parking lot; The high-precision map data and the available parking space information are sent to the user's target vehicle so that the target vehicle can automatically park using the high-precision map data and the available parking space information; The parking management platform obtains users' parking requests, specifically including: The parking management platform obtains a parking request issued by a user using a terminal device or the target vehicle; the parking request carries at least one of the user account information registered by the user on the parking management platform and the vehicle information of the target vehicle; Before generating available parking space information based on the real-time status data of each target object reported by the IoT sensing devices installed in the parking lot in response to the parking request, the method further includes: The target vehicle is determined from the specified vehicles that are linked to the user account information; and / or, The target vehicle is determined based on the vehicle information of the target vehicle carried in the parking request; In response to the parking request, the system generates available parking space information based on the real-time status data of each target object reported by the IoT sensing devices installed in the parking lot. Specifically, this includes: In response to the parking request, the available parking space information for the target vehicle is generated based on the real-time status data of each target object reported by the IoT sensing devices set up in the parking lot. The parking request also includes the estimated parking duration; In response to the parking request, the system generates available parking space information for the target vehicle based on real-time status data of each target object reported by IoT sensing devices installed in the parking lot. Specifically, this includes: In response to the parking request, the available parking spaces in the parking lot are determined based on the real-time status data of each target object reported by the IoT sensing devices installed in the parking lot. Determine whether the estimated parking time is greater than a first threshold, and obtain the determination result; If the determination result indicates that the expected parking time is greater than the first threshold, then the available parking space for the target vehicle is determined from the parking spaces in the vacant parking spaces whose usage frequency is less than the second threshold, and the available parking space information for the target vehicle is obtained.

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