A parking assistance method, device and cloud device

Abstract

The present invention provides an assisted parking method, apparatus, and cloud device. The assisted parking method comprises: obtaining parking space data information transmitted by parking space monitoring equipment and data information of vehicles to be parked transmitted by road monitoring equipment; allocating parking spaces to each vehicle to be parked based on the parking space data and the data information of the vehicles to be parked, while minimizing the total travel distance of all vehicles to be parked; and transmitting the travel path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked. This solution can achieve coordinated scheduling of multiple vehicles in a parking lot, addressing issues such as road congestion and low parking space utilization within the parking lot, guiding vehicles safely and efficiently into parking spaces, and improving the user's parking experience.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to an assisted parking method, apparatus, and cloud device. Background Art

[0002] With the rapid increase in China's car ownership, parking difficulties are becoming a growing social issue. Considering that a single vehicle's route and parking space usage within a parking lot can influence the routes and space utilization of other vehicles, this suggests that parking space allocation and routes among vehicles within a parking lot are coupled. Furthermore, whether a vehicle is parked properly in a parking space can affect the use of adjacent spaces, further impacting overall parking space utilization.

[0003] Existing car navigation products cannot cover route navigation within parking lots. Car owners often face the problem of not knowing where the best target parking space is, making it difficult to quickly find an available parking space. In addition, there are often multiple cars searching for parking spaces at the same time, resulting in traffic congestion inside the parking lot. At the same time, some vehicles park improperly in parking spaces, resulting in adjacent parking spaces being too narrow and the vacant parking spaces being unable to be optimally utilized.

[0004] Therefore, there is a need for an assisted parking method to improve the parking space utilization rate in the parking lot and the traffic efficiency of the road network in the parking lot. Summary of the Invention

[0005] Embodiments of the present invention provide an assisted parking method, apparatus, and cloud device to address the problems of low parking space utilization and low traffic efficiency of the road network in parking lots in the prior art.

[0006] In order to solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0007] An embodiment of the present invention provides an assisted parking method, applied to a cloud device, comprising:

[0008] Obtain parking space data information sent by parking space monitoring equipment and data information of vehicles waiting to be parked sent by road monitoring equipment;

[0009] Allocating a parking space to each vehicle to be parked based on the parking space data information and the vehicle to be parked data information, with the total travel distance of all vehicles to be parked being the shortest;

[0010] The driving path between the vehicle to be parked and the corresponding parking space is sent to the vehicle to be parked.

[0011] Optionally, the method further includes:

[0012] After the vehicle to be parked enters the parking space, receiving parking information sent by the parking space monitoring device;

[0013] When it is confirmed according to the parking information that the vehicle to be parked has failed to park, a first parking instruction is sent to the vehicle to be parked, instructing the vehicle to be parked to park again until the parking information indicates that the vehicle to be parked has successfully parked.

[0014] Optionally, the parking information includes vehicle edges and parking space edges;

[0015] The method further comprises:

[0016] When the edge of the vehicle is located within the edge of the parking space and the distance between the edge of the vehicle and the edge of the parking space is greater than or equal to a first preset distance, it is determined that the vehicle to be parked is parked successfully.

[0017] Optionally, after obtaining the parking space data information sent by the parking space monitoring device, the method further includes:

[0018] Based on the parking space data information, if no vehicle is parked in the first parking space and no vehicle is parked in the second parking space and the third parking space adjacent to the first parking space, determining the first parking space as the parking space;

[0019] or,

[0020] Based on the parking space data information, if there is no vehicle parked in the first parking space, there are vehicles parked in the second parking space and / or the third parking space adjacent to the first parking space, and the distance between the vehicle edge in the second parking space and / or the third parking space and the vehicle edge in the first parking space is greater than or equal to a second preset distance, the first parking space is determined to be the parking space.

[0021] Optionally, the method further includes:

[0022] According to the parking lot map, the parking space location and parking space size of the parking space are obtained.

[0023] Optionally, the method further includes:

[0024] The parking space is updated every first preset time period.

[0025] Optionally, after obtaining the data information of the vehicle to be parked sent by the road monitoring device, the method further includes:

[0026] The vehicle position, vehicle size and vehicle speed of the vehicle to be parked are determined based on the data information of the vehicle to be parked.

[0027] Optionally, the method further includes:

[0028] The vehicle position, vehicle size and vehicle speed of the vehicle to be parked are updated every second preset time period.

[0029] Optionally, the method further includes:

[0030] The traffic volume and traffic speed of each road section in the parking lot are obtained according to the parking lot map, the vehicle position and the vehicle speed.

[0031] Optionally, the method further includes:

[0032] The traffic volume and traffic speed of each road section in the parking lot are updated every third preset time period.

[0033] Optionally, allocating a parking space to each vehicle to be parked based on the parking space data information and the vehicle to be parked data information, when the total travel distance of all vehicles to be parked is the shortest, includes:

[0034] determining a matching combination between the vehicle to be parked and the parking space according to the parking space position and parking space size of the parking space and the vehicle position and vehicle size of the vehicle to be parked;

[0035] Under each matching combination, determining the total travel distance of the vehicle to be parked;

[0036] When the total driving distance is the shortest, the parking space corresponding to each of the vehicles to be parked is determined.

[0037] Optionally, determining a matching combination between the vehicle to be parked and the parking space based on the parking space position and parking space size of the parking space and the vehicle position and vehicle size of the vehicle to be parked includes:

[0038] determining whether the vehicle to be parked matches the parking space based on the parking space size and the vehicle size;

[0039] In a case where the vehicle to be parked matches the parking space, a matching combination of the vehicle to be parked and the parking space is determined according to the parking space position and the vehicle position.

[0040] Optionally, determining the total travel distance between the vehicle to be parked and the parking space under each matching combination includes:

[0041] Determine the congestion coefficient of each road section based on the traffic volume of each road section in the parking lot;

[0042] Performing a length penalty on each road section according to the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section, and the traffic flow speed of each road section to obtain a penalty length for each road section;

[0043] The total travel distance of the vehicle to be parked under each matching combination is determined according to the penalty length of each road segment.

[0044] An embodiment of the present invention further provides an auxiliary parking device, which is applied to a cloud device. The device includes:

[0045] A first acquisition module is used to acquire parking space data information sent by the parking space monitoring device and data information of vehicles to be parked sent by the road monitoring device;

[0046] an allocating module, configured to allocate a parking space to each vehicle to be parked based on the parking space data information and the vehicle to be parked data information, with the total travel distance of all vehicles to be parked being the shortest;

[0047] The first sending module is configured to send the driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.

[0048] Optionally, the device further comprises:

[0049] a receiving module, configured to receive parking information sent by the parking space monitoring device after the vehicle to be parked enters the parking space;

[0050] The second sending module is used to send a first parking instruction to the vehicle to be parked, instructing the vehicle to be parked to park again when it is confirmed according to the parking information that the vehicle to be parked has failed to park, until the parking information indicates that the vehicle to be parked has successfully parked.

[0051] Optionally, the parking information includes vehicle edges and parking space edges;

[0052] The device further comprises:

[0053] The first determining module is configured to determine that the vehicle to be parked is successfully parked if the edge of the vehicle is located within the edge of the parking space and the distance between the edge of the vehicle and the edge of the parking space is greater than or equal to a first preset distance.

[0054] Optionally, the device further comprises:

[0055] a second determining module configured to determine, based on the parking space data information, that the first parking space is the parking space if no vehicle is parked in the first parking space and no vehicles are parked in a second parking space and a third parking space adjacent to the first parking space;

[0056] or,

[0057] Based on the parking space data information, if there is no vehicle parked in the first parking space, there are vehicles parked in the second parking space and / or the third parking space adjacent to the first parking space, and the distance between the vehicle edge in the second parking space and / or the third parking space and the vehicle edge in the first parking space is greater than or equal to a second preset distance, the first parking space is determined to be the parking space.

[0058] Optionally, the device further comprises:

[0059] The second acquisition module is used to obtain the parking space position and parking space size of the parking space according to the parking lot map.

[0060] Optionally, the device further comprises:

[0061] The first updating module is configured to update the parking space at a first preset time interval.

[0062] Optionally, the device further comprises:

[0063] The third determining module is configured to determine the vehicle position, vehicle size, and vehicle speed of the vehicle to be parked based on the data information of the vehicle to be parked.

[0064] Optionally, the device further comprises:

[0065] The second updating module is used to update the vehicle position, vehicle size and vehicle speed of the vehicle to be parked every second preset time period.

[0066] Optionally, the device further comprises:

[0067] The third acquisition module is used to obtain the traffic volume and traffic speed of each road section in the parking lot according to the parking lot map, the vehicle position and the vehicle speed.

[0068] Optionally, the device further comprises:

[0069] The third updating module is used to update the traffic volume and traffic speed of each road section in the parking lot every third preset time period.

[0070] Optionally, the allocation module includes:

[0071] a first determining unit, configured to determine a matching combination between the vehicle to be parked and the parking space according to the parking space position and size of the parking space and the vehicle position and size of the vehicle to be parked;

[0072] a second determining unit, configured to determine a total travel distance of the vehicle to be parked under each matching combination;

[0073] The third determining unit is configured to determine the parking space corresponding to each of the vehicles to be parked when the total driving distance is the shortest.

[0074] Optionally, the first determining unit is specifically configured to:

[0075] determining whether the vehicle to be parked matches the parking space based on the parking space size and the vehicle size;

[0076] In a case where the vehicle to be parked matches the parking space, a matching combination of the vehicle to be parked and the parking space is determined according to the parking space position and the vehicle position.

[0077] Optionally, the second determining unit is specifically configured to:

[0078] Determine the congestion coefficient of each road section based on the traffic volume of each road section in the parking lot;

[0079] Performing a length penalty on each road section according to the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section, and the traffic flow speed of each road section to obtain a penalty length for each road section;

[0080] The total travel distance of the vehicle to be parked under each matching combination is determined according to the penalty length of each road segment.

[0081] An embodiment of the present invention further provides a cloud device comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the assisted parking method as described in any one of the above items is implemented.

[0082] An embodiment of the present invention further provides a readable storage medium having a program stored thereon. When the program is executed by a processor, the assisted parking method as described in any one of the above items is implemented.

[0083] The beneficial effects of the present invention are:

[0084] The solution of the present invention obtains parking space data information sent by parking space monitoring equipment and data information of vehicles to be parked sent by road monitoring equipment. According to the parking space data information and the data information of vehicles to be parked, parking spaces are allocated to each vehicle to be parked when the total driving distance of all vehicles to be parked is minimized. The driving path between the vehicle to be parked and the corresponding parking space is sent to the vehicle to be parked. This can realize the coordinated scheduling of multiple vehicles in the parking lot, solve the problems of road congestion and low parking space utilization in the parking lot, guide vehicles to enter the parking spaces safely and efficiently, and improve the parking experience of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] Figure 1 A flowchart of a parking assistance method according to an embodiment of the present invention is shown;

[0086] Figure 2 A flowchart of collaborative optimization allocation of parking spaces provided by an embodiment of the present invention is shown;

[0087] Figure 3 A second flowchart of the assisted parking method provided by an embodiment of the present invention;

[0088] Figure 4 A schematic diagram showing the structure of an auxiliary parking device provided by an embodiment of the present invention;

[0089] Figure 5 A schematic diagram showing the structure of a cloud device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0090] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0091] The present invention addresses the problems of low parking space utilization in parking lots and low traffic efficiency of road networks in parking lots in the prior art, and provides an assisted parking method, device and cloud device.

[0092] An embodiment of the present invention provides an assisted parking method, applied to a cloud device, comprising:

[0093] Step 101: Acquire parking space data information sent by a parking space monitoring device and data information of vehicles to be parked sent by a road monitoring device.

[0094] It should be noted that the assisted parking method provided in an embodiment of the present invention is applied to a cloud device, and the cloud device is respectively connected to a parking space monitoring device installed on a parking space in a parking lot and a road monitoring device installed on a road in the parking lot. Optionally, the parking space monitoring device is a field-side perception camera, and the road monitoring device is a road perception camera.

[0095] The parking space monitoring equipment is used to capture parking space data information on the parking space, including whether there is a vehicle parked in the parking space and information about the vehicle parked in the parking space. The road monitoring equipment is used to capture information about all vehicles on the road in the parking lot.

[0096] It should be noted that parking space monitoring equipment and road monitoring equipment are only used to upload the captured original video stream data to cloud devices, and cloud devices perform identification and calculations based on the video stream. Parking space monitoring equipment and road monitoring equipment do not have algorithms and computing capabilities. Therefore, the cost of parking space monitoring equipment and road monitoring equipment is relatively low.

[0097] Step 102: Allocate a parking space to each vehicle to be parked based on the parking space data information and the vehicle to be parked data information, with the total travel distance of all vehicles to be parked being the shortest.

[0098] In an embodiment of the present invention, after the cloud device receives the parking space data information and the data information of the vehicles to be parked, it starts the internal algorithm, allocates parking spaces to each vehicle to be parked based on the optimization goal of minimizing the total driving distance of all vehicles to be parked, and plans the driving routes, so as to maximize the utilization rate of parking spaces in the entire parking lot, allocate parking spaces to all vehicles entering the parking lot, plan the driving routes, improve the utilization rate of parking spaces, and solve the problem of road congestion in the parking lot.

[0099] Step 103: Sending the driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.

[0100] In an embodiment of the present invention, a cloud device is connected to a vehicle to be parked. When the cloud device determines that the total driving distance of all vehicles to be parked is the shortest, the cloud device sends the driving path and speed information to the vehicle to be parked. The vehicle to be parked drives to the front of the parking space according to the received driving path, and the vehicle to be parked uses the automatic parking function to park.

[0101] It should be noted that since the planned driving path and vehicle speed information need to serve the vehicle's assisted or automatic parking, there are high requirements for latency. Therefore, the embodiment of the present invention uses 5G to achieve millisecond-level latency information transmission to assist vehicle parking.

[0102] In an embodiment of the present invention, by acquiring parking space data information sent by a parking space monitoring device and data information of vehicles to be parked sent by a road monitoring device, a parking space is allocated to each vehicle to be parked based on the parking space data information and the data information of the vehicles to be parked, with the total driving distance of all vehicles to be parked being the shortest, and the driving path between the vehicle to be parked and the corresponding parking space is sent to the vehicle to be parked. This can achieve coordinated scheduling of multiple vehicles in a parking lot, solve the problems of road congestion and low parking space utilization in the parking lot, guide vehicles to enter parking spaces safely and efficiently, and improve users' parking experience.

[0103] Optionally, the method further includes:

[0104] After the vehicle to be parked enters the parking space, receiving parking information sent by the parking space monitoring device;

[0105] When it is confirmed according to the parking information that the vehicle to be parked has failed to park, a first parking instruction is sent to the vehicle to be parked, instructing the vehicle to be parked to park again until the parking information indicates that the vehicle to be parked has successfully parked.

[0106] In an embodiment of the present invention, after the vehicle to be parked has parked in the designated space, the cloud device uses the parking information captured by the parking space monitoring device to determine whether the vehicle to be parked has been parked accurately. If it is considered that the parking has failed, a first parking instruction instructing the vehicle to park again is sent to the vehicle to park. The vehicle parks again according to the first parking instruction until the parking requirement is met.

[0107] Optionally, the parking information includes vehicle edges and parking space edges;

[0108] The method further comprises:

[0109] When the edge of the vehicle is located within the edge of the parking space and the distance between the edge of the vehicle and the edge of the parking space is greater than or equal to a first preset distance, it is determined that the vehicle to be parked is parked successfully.

[0110] Correspondingly, when the edge of the vehicle exceeds the edge of the parking space, or when the edge of the vehicle is within the edge of the parking space and the distance between the edge of the vehicle and the edge of the parking space is less than a first preset distance, it is determined that the vehicle to be parked has failed to park.

[0111] In an embodiment of the present invention, a cloud device identifies whether a vehicle is accurately parked based on parking information captured by a parking space monitoring device. After the vehicle is parked, the relative position and distance between the vehicle's edge and the parking space's edge are calculated based on the perception results of the parking space monitoring device. If the vehicle exceeds the edge line of the parking space, or if the vehicle is within the edge line of the parking space but the shortest distance between the vehicle's edge line and the edge line of the parking space is less than a first preset distance, the vehicle's parking status is considered to have failed. The cloud device needs to issue a first parking instruction to the autonomous vehicle or manned vehicle, requesting it to park again until the requirements for a successful parking status are met, that is, the vehicle is within the edge line of the parking space and the distance between the vehicle's edge line and the edge line of the parking space is greater than or equal to the first preset distance.

[0112] Optionally, after obtaining the parking space data information sent by the parking space monitoring device, the method further includes:

[0113] Based on the parking space data information, if no vehicle is parked in the first parking space and no vehicle is parked in the second parking space and the third parking space adjacent to the first parking space, determining the first parking space as the parking space;

[0114] or,

[0115] Based on the parking space data information, if there is no vehicle parked in the first parking space, there are vehicles parked in the second parking space and / or the third parking space adjacent to the first parking space, and the distance between the vehicle edge in the second parking space and / or the third parking space and the vehicle edge in the first parking space is greater than or equal to a second preset distance, the first parking space is determined to be the parking space.

[0116] In an embodiment of the present invention, after the parking space monitoring device uploads the captured raw video data to the cloud device, the cloud device runs the deployed algorithm to detect whether there is a vehicle parked in the parking space. If there is no vehicle within the parking space line of the first parking space (parking space A) and no vehicles are in the second parking space (parking space B) and the third parking space (parking space C) adjacent to the first parking space (parking space A); or if there is no vehicle within the parking space line of the first parking space (parking space A) and there are vehicles in the second parking space (parking space B) and the third parking space (parking space C) adjacent to the first parking space (parking space A), but the minimum distance between the existing vehicles and the parking space line of parking space A is greater than or equal to a second preset distance, then parking space A is determined to be a parking space, and the identity document (ID) of the parking space is uploaded.

[0117] Optionally, the method further includes:

[0118] According to the parking lot map, the parking space location and parking space size of the parking space are obtained.

[0119] In an embodiment of the present invention, based on the parking space ID obtained by the parking space monitoring device and combined with the high-precision map of the parking lot, the parking space position and the length and width size information of the parking space can be obtained by searching the parking space ID.

[0120] Optionally, the method further includes:

[0121] The parking space is updated every first preset time period.

[0122] In an embodiment of the present invention, the obtained parking spaces, including parking space ID, parking space location and parking space size, are updated at a certain frequency to establish a dynamic parking space database, providing a basis for parking space allocation for vehicles entering the parking lot.

[0123] Optionally, after obtaining the data information of the vehicle to be parked sent by the road monitoring device, the method further includes:

[0124] The vehicle position, vehicle size and vehicle speed of the vehicle to be parked are determined based on the data information of the vehicle to be parked.

[0125] In this embodiment of the present invention, road monitoring equipment deployed on the roads within the parking lot monitors vehicles entering the parking lot in real time and performs positioning and tracking. The positioning and tracking technology employed is based on the sensing information from the road monitoring equipment, employing a perception algorithm to identify vehicles, determine their location, speed, size, and other information, and then track them.

[0126] When identifying vehicles to be parked on the road in the parking lot, the road monitoring equipment uploads the original video stream data to the cloud device, and the perception algorithm of the cloud device identifies the vehicles to be parked.

[0127] The process for locating and detecting the status of a vehicle waiting to be parked in a parking lot is as follows: The road monitoring device (road perception camera) has a fixed position in the geodetic coordinate system. The depth information of the vehicle image obtained by the road monitoring device can be used to determine the location of the vehicle in the camera coordinate system. Then, by converting the camera coordinate system to the geodetic coordinate system, the absolute position of the vehicle in the geodetic coordinate system is obtained. Based on the obtained positioning data of the vehicle to be parked, the speed of the vehicle to be parked can be further calculated based on the sampling time. The dimensional parameters of the vehicle to be parked (length and width) can be calculated by extracting the position of the vehicle's feature points.

[0128] Continuous vehicle tracking technology in parking lots requires addressing the issue of inconsistent vehicle ID recognition across different cameras. In an embodiment of the present invention, a vehicle's ID is not determined by a single camera. Instead, vehicle features are extracted from vehicle image data captured by various cameras. By matching the vehicle's characteristic parameters captured by each camera, a unified ID is determined for each vehicle within the parking lot, enabling vehicle tracking.

[0129] Optionally, the method further includes:

[0130] The vehicle position, vehicle size and vehicle speed of the vehicle to be parked are updated every second preset time period.

[0131] In an embodiment of the present invention, by monitoring, locating, and tracking vehicles in a parking lot, vehicle information of vehicles entering the parking lot to be parked, including vehicle location, vehicle size, and vehicle speed, is obtained. The location of the vehicle to be parked is recorded, and the data of the vehicle to be parked is stored in a vehicle dynamic database, which is updated at a certain frequency.

[0132] Optionally, the method further includes:

[0133] The traffic volume and traffic speed of each road section in the parking lot are obtained according to the parking lot map, the vehicle position and the vehicle speed.

[0134] In this embodiment of the present invention, by monitoring, locating, and tracking vehicles within a parking lot, combined with a high-precision map of the parking lot roads, the traffic volume (number of vehicles per unit distance) and speed for each section of the parking lot road network are calculated. The specific method is to describe the map structure of the parking lot's high-precision map in sections, and describe the traffic volume and speed for each road section using the following formula.

[0135]

[0136]

[0137] Where p is the number of the road section in the parking lot; N p is the traffic volume of the p-th road; m is the total number of vehicles on the p-th road; L p is the length of the p-th road section; V p is the traffic flow speed of the p-th section of road; v i is the speed of the i-th vehicle on the p-th section of road.

[0138] Optionally, the method further includes:

[0139] The traffic volume and traffic speed of each road section in the parking lot are updated every third preset time period.

[0140] In an embodiment of the present invention, the traffic volume and speed of each road section in the parking lot are updated at a certain frequency. The real-time monitoring statistics of the traffic volume and speed of the parking lot road network provide a basis for the allocation of vehicle parking spaces and the planning of driving routes and speeds.

[0141] Optionally, allocating a parking space to each vehicle to be parked based on the parking space data information and the vehicle to be parked data information, when the total travel distance of all vehicles to be parked is the shortest, includes:

[0142] determining a matching combination between the vehicle to be parked and the parking space according to the parking space position and parking space size of the parking space and the vehicle position and vehicle size of the vehicle to be parked;

[0143] Under each matching combination, determining the total travel distance of the vehicle to be parked;

[0144] When the total driving distance is the shortest, the parking space corresponding to each of the vehicles to be parked is determined.

[0145] In an embodiment of the present invention, parking spaces are allocated to each vehicle to be parked based on a dynamic database of parking spaces, a dynamic database of vehicles in the parking lot, and real-time monitoring statistics of the traffic volume and vehicle speed of the road network in the parking lot, and based on the optimization goal of minimizing the total travel distance of all vehicles to be parked.

[0146] The collaborative optimization allocation process of parking spaces provided by the embodiment of the present invention is as follows: Figure 2 As shown, the parking space allocation optimization model refers to the mapping relationship between parking vehicles and parking spaces established based on the parking space dynamic database and the vehicle dynamic database. Based on the matching of parking vehicles and parking space sizes, an exhaustive method is used to determine that there are X matching combinations of parking vehicles and parking spaces.

[0147] For any matching combination, the total travel distance of each vehicle to be parked from its current position to the parking space is determined, and the allocation relationship between the vehicle to be parked and the parking space with the shortest total travel distance is determined, thereby allocating a parking space to each vehicle to be parked.

[0148] Optionally, determining a matching combination between the vehicle to be parked and the parking space based on the parking space position and parking space size of the parking space and the vehicle position and vehicle size of the vehicle to be parked includes:

[0149] determining whether the vehicle to be parked matches the parking space based on the parking space size and the vehicle size;

[0150] In a case where the vehicle to be parked matches the parking space, a matching combination of the vehicle to be parked and the parking space is determined according to the parking space position and the vehicle position.

[0151] In the embodiment of the present invention, please continue to refer to Figure 2 By matching the parking space dimensions with the vehicle dimensions, i.e., the length and width of the parking space must both be greater than the vehicle's by a certain threshold, ensuring that the vehicle can successfully enter the space. Furthermore, through exhaustive enumeration, a total of X matching combinations of the vehicle and the parking space can be obtained.

[0152] Optionally, determining the total travel distance between the vehicle to be parked and the parking space under each matching combination includes:

[0153] Determine the congestion coefficient of each road section based on the traffic volume of each road section in the parking lot;

[0154] Performing a length penalty on each road section according to the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section, and the traffic flow speed of each road section to obtain a penalty length for each road section;

[0155] The total travel distance of the vehicle to be parked under each matching combination is determined according to the penalty length of each road segment.

[0156] In the embodiment of the present invention, please continue to refer to Figure 2According to the traffic volume and speed of each road section, the distance of the road section is penalized (the vehicle driving distance penalty increases for sections with large traffic volume and congestion). The specific penalty method is based on the traffic volume N p Divide the congestion level, each congestion level corresponds to a different congestion coefficient α1, α2, α3, α4, which are 1, 1.1, 1.2, and 1.3 respectively. Then according to the traffic flow speed V p Determine the vehicle flow rate coefficient as shown below.

[0157]

[0158] Among them, β p is the traffic flow coefficient of the p-th road; v lim,p is the speed limit of the p-th road; D p is the length of the pth road after penalty; D act,p is the actual length of the p-th road section.

[0159] Correspondingly, the length of each road section after penalty based on traffic volume and speed is shown in the following formula.

[0160] D p =D act,p ×α 1,2,3,4 ×β p

[0161] Among them, β p is the traffic flow coefficient of the p-th road section, D p is the length of the pth road after penalty; D act,p is the actual length of the p-th road section, and α1, α2, α3, and α4 are congestion coefficients.

[0162] This can achieve the goal of punishing driving distance longer the more congested the road is.

[0163] Afterwards, for any of the X matching combinations above, the total travel distance of each vehicle to be parked from its current position to the parking space is the path with the shortest penalty distance among all travel routes of the vehicle to be parked from its current position to the parking space, as shown in the following formula.

[0164] d i =min∑D p

[0165] Among them, d i The path with the shortest penalty distance among all the driving routes of the vehicle to be parked from the current position to the parking space, D p is the length of the p-th road segment after penalty.

[0166] The shortest distance calculation scheme adopts the classic A* algorithm. Correspondingly, the total driving distance of all vehicles to be parked is shown in the following formula.

[0167]

[0168] Among them, d all is the total distance traveled by all vehicles waiting to park, d i The path with the shortest penalty distance among all driving routes from the current position of the vehicle to be parked to the parking space is selected.

[0169] The above formula can be used to calculate the total driving distance for any combination of a vehicle to be parked and a parking space. A genetic algorithm can be used to find the optimal allocation relationship between the vehicle to be parked and the parking space with the shortest total driving distance from X combinations of vehicle to be parked and parking spaces, thereby determining the parking space allocation for all vehicles to be parked.

[0170] In this embodiment of the present invention, a collaborative optimization method for allocating parking spaces is used to determine the allocation relationship between vehicles to be parked and parking spaces. Based on the penalty distance for each road segment, an A* algorithm is used to calculate the shortest distance between the vehicle's current position and the parking space. Accordingly, the driving path between the vehicle and the allocated parking space can be determined. The speed of the vehicle on each road segment is planned based on the traffic flow rate of that segment.

[0171] Afterwards, the parking space assigned to each vehicle to be parked, as well as the planned driving path and speed information, are transmitted from the cloud device to the vehicle terminal. Since the planned path and speed information need to serve the assisted or automatic parking of the vehicle to be parked, there are high requirements for latency, so the embodiment of the present invention uses 5G to achieve information transmission with millisecond latency to assist vehicle parking. The assisted parking method in the parking lot proposed in the embodiment of the present invention is based on cloud deployment, and can be connected with the navigation application software to achieve the expansion of the navigation application from public roads to parking lots, and can push navigation information in the parking lot to the driver, prompting the driver the location of the target parking space and the path and speed to the target parking space. Therefore, the embodiment of the present invention can be packaged as an indoor navigation application software in the parking lot, and provided to the driver to assist his driving.

[0172] Afterwards, the vehicle drives to the front of the parking space according to the planned driving route and parks using the automatic parking or manual parking function.

[0173] The following combination Figure 3 , specifically describes the assisted parking method provided by an embodiment of the present invention.

[0174] Parking space surveillance cameras upload raw video stream data to cloud devices, where perception algorithms are deployed and run to detect whether a parking space is available and upload the parking space ID. The parking space ID obtained by the parking space surveillance camera, combined with a high-definition map of the parking lot, is searched for the parking space ID to obtain the location and dimensions of the parking space. This information is updated in real time at a regular interval to establish a dynamic parking space database, providing a basis for allocating parking spaces to vehicles entering the parking lot. Roadside surveillance cameras within the parking lot monitor, locate, and track vehicles entering the parking lot in real time. Information about vehicles entering the parking lot, including their ID, location, and speed, is obtained and recorded. This data is stored in a dynamic vehicle database and updated regularly. Through vehicle monitoring, positioning, and tracking within the parking lot, combined with a high-definition map of the parking lot roads, traffic volume and speed statistics are compiled for each section of the road network. Based on the goal of minimizing the total parking distance for all vehicles to be parked, parking spaces are allocated through collaborative optimization, the driving paths and speeds of the vehicles to be parked are planned, the parking path and speed information are transmitted to the vehicle terminal, the vehicle is parked in the space, and the parking status of the vehicle is detected based on the perception of the parking space monitoring equipment.

[0175] The method provided by the embodiment of the present invention includes: parking space monitoring based on field-side perception cameras, dynamic database management of parking spaces, monitoring, positioning and tracking of vehicles waiting to be parked in the parking lot, dynamic database management of vehicles waiting to be parked, real-time monitoring and statistics of parking lot road network traffic flow, collaborative optimization and allocation of parking spaces, vehicle driving path and speed planning, information transmission, and vehicle parking. Parking space monitoring equipment is installed in the parking lot. It monitors whether the parking space is vacant based on the perception data of the parking space monitoring equipment, and then establishes a dynamic database of parking spaces. In addition, the parking lot is equipped with road perception cameras that can identify all vehicles on the roads in the parking lot and monitor, locate and track the vehicles throughout the entire process. A dynamic database is established for vehicles waiting to be parked, recording the real-time position, speed and size of each vehicle. At the same time, the real-time traffic flow and flow rate of the roads in the parking lot can be analyzed based on the perception information of the road perception equipment. Based on parking space data, data on vehicles waiting to park, and traffic flow information on the road network, the system collaboratively optimizes parking space allocation for all vehicles entering the parking lot. It also plans each vehicle's parking path and speed. The target parking space, planned path, and speed information are transmitted to the vehicle via 5G or other communication methods, guiding the vehicle to the target space. Finally, the vehicle parks in the space and a check is performed to confirm successful parking, completing the entire parking process. This multi-vehicle collaborative optimization maximizes parking space utilization throughout the parking lot, alleviates road congestion, and improves the user parking experience.

[0176] When calculating the optimal parking path for all vehicles waiting to be parked, the embodiment of the present invention also calculates the available size of the vacant parking spaces, and checks the parking status of the vehicle after parking and requires re-regular parking. By collaboratively planning and scheduling multiple vehicles in the parking lot, the core pain points of road traffic congestion in the parking lot, low parking space utilization in the parking lot, and irregular parking of some vehicles in the parking lot are solved. The embodiment of the present invention can alleviate road network congestion in the parking lot and intelligently guide vehicles to drive safely and efficiently to the target parking space, which can bring a better parking experience to car owners, thereby attracting more customers for parking lot owners and creating greater potential commercial value.

[0177] The embodiment of the present invention sets the goal of minimizing the total driving distance and provides a collaborative optimization method for parking space allocation and driving route planning for all vehicles entering the parking lot. Based on the established dynamic parking space database, the database of vehicles to be parked, and the high-precision map of the parking lot, the driving distance from each vehicle to each parking space is calculated. The driving distance of each road section is penalized based on the road network traffic volume and traffic speed obtained by the roadside camera perception. An optimization algorithm is used to find the vehicle-parking space matching relationship with the shortest total driving distance. Parking spaces are allocated to all vehicles to be parked entering the parking lot, and the corresponding driving routes and speeds are planned. At the same time, the embodiment of the present invention also provides a vehicle parking status detection method to prevent vehicles from affecting the utilization of adjacent parking spaces due to irregular parking. Therefore, the embodiment of the present invention provides a collaborative optimization method for parking space allocation, route planning, and vehicle speed planning for all vehicles entering the parking lot, comprehensively improving the parking space utilization rate of the parking lot, alleviating traffic congestion in the parking lot road network, and improving the user's parking experience.

[0178] The assisted parking method proposed in the present invention is deployed based on the cloud. It can be connected with the navigation application software and transmitted to the vehicle through 5G to realize the indoor navigation application of the parking lot. It has strong practicality and commercial value.

[0179] like Figure 4 As shown, an embodiment of the present invention further provides an auxiliary parking device, which is applied to a cloud device, and the device includes:

[0180] The first acquisition module 401 is configured to acquire parking space data information sent by a parking space monitoring device and data information of vehicles to be parked sent by a road monitoring device;

[0181] an allocating module 402 for allocating parking spaces to the vehicles to be parked based on the parking space data information and the vehicle to be parked data information, with the total travel distance of all vehicles to be parked being the shortest;

[0182] The first sending module 403 is configured to send the driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.

[0183] The assisted parking device provided in an embodiment of the present invention obtains parking space data information sent by a parking space monitoring device and data information of vehicles to be parked sent by a road monitoring device. Based on the parking space data information and the data information of vehicles to be parked, the device allocates a parking space to each vehicle to be parked when the total driving distance of all vehicles to be parked is minimized, and transmits the driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked. This device can realize the coordinated scheduling of multiple vehicles in the parking lot, solve the problems of road congestion and low parking space utilization in the parking lot, guide vehicles to enter the parking spaces safely and efficiently, and improve the parking experience of users.

[0184] Optionally, the device further comprises:

[0185] a receiving module, configured to receive parking information sent by the parking space monitoring device after the vehicle to be parked enters the parking space;

[0186] The second sending module is used to send a first parking instruction to the vehicle to be parked, instructing the vehicle to be parked to park again when it is confirmed according to the parking information that the vehicle to be parked has failed to park, until the parking information indicates that the vehicle to be parked has successfully parked.

[0187] Optionally, the parking information includes vehicle edges and parking space edges;

[0188] The device further comprises:

[0189] The first determining module is configured to determine that the vehicle to be parked is successfully parked if the edge of the vehicle is located within the edge of the parking space and the distance between the edge of the vehicle and the edge of the parking space is greater than or equal to a first preset distance.

[0190] Optionally, the device further comprises:

[0191] a second determining module configured to determine, based on the parking space data information, that the first parking space is the parking space if no vehicle is parked in the first parking space and no vehicles are parked in a second parking space and a third parking space adjacent to the first parking space;

[0192] or,

[0193] Based on the parking space data information, if there is no vehicle parked in the first parking space, there are vehicles parked in the second parking space and / or the third parking space adjacent to the first parking space, and the distance between the vehicle edge in the second parking space and / or the third parking space and the vehicle edge in the first parking space is greater than or equal to a second preset distance, the first parking space is determined to be the parking space.

[0194] Optionally, the device further comprises:

[0195] The second acquisition module is used to obtain the parking space position and parking space size of the parking space according to the parking lot map.

[0196] Optionally, the device further comprises:

[0197] The first updating module is configured to update the parking space at a first preset time interval.

[0198] Optionally, the device further comprises:

[0199] The third determining module is configured to determine the vehicle position, vehicle size, and vehicle speed of the vehicle to be parked based on the data information of the vehicle to be parked.

[0200] Optionally, the device further comprises:

[0201] The second updating module is used to update the vehicle position, vehicle size and vehicle speed of the vehicle to be parked every second preset time period.

[0202] Optionally, the device further comprises:

[0203] The third acquisition module is used to obtain the traffic volume and traffic speed of each road section in the parking lot according to the parking lot map, the vehicle position and the vehicle speed.

[0204] Optionally, the device further comprises:

[0205] The third updating module is used to update the traffic volume and traffic speed of each road section in the parking lot every third preset time period.

[0206] Optionally, the allocation module 402 includes:

[0207] a first determining unit, configured to determine a matching combination between the vehicle to be parked and the parking space according to the parking space position and size of the parking space and the vehicle position and size of the vehicle to be parked;

[0208] a second determining unit, configured to determine a total travel distance of the vehicle to be parked under each matching combination;

[0209] The third determining unit is configured to determine the parking space corresponding to each of the vehicles to be parked when the total driving distance is the shortest.

[0210] Optionally, the first determining unit is specifically configured to:

[0211] determining whether the vehicle to be parked matches the parking space based on the parking space size and the vehicle size;

[0212] In a case where the vehicle to be parked matches the parking space, a matching combination of the vehicle to be parked and the parking space is determined according to the parking space position and the vehicle position.

[0213] Optionally, the second determining unit is specifically configured to:

[0214] Determine the congestion coefficient of each road section based on the traffic volume of each road section in the parking lot;

[0215] Performing a length penalty on each road section according to the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section, and the traffic flow speed of each road section to obtain a penalty length for each road section;

[0216] The total travel distance of the vehicle to be parked under each matching combination is determined according to the penalty length of each road segment.

[0217] The assisted parking device provided in the embodiment of the present invention is a device capable of executing the above-mentioned assisted parking method. Therefore, all embodiments of the above-mentioned assisted parking method are applicable to the device and can achieve the same or similar technical effects.

[0218] like Figure 5 As shown, an embodiment of the present invention also provides a cloud device, including: a processor 500; and a memory 510 connected to the processor 500 through a bus interface, the memory 510 is used to store programs and data used by the processor 500 when performing operations, and the processor 500 calls and executes the programs and data stored in the memory 510.

[0219] The Internet of Things access management system further includes a transceiver 520 , which is connected to the bus interface and is used to receive and send data under the control of the processor 500 ; the processor 500 is used to read the program in the memory 510 .

[0220] The cloud device further includes a transceiver 520 , which is connected to the bus interface and is used to receive and send data under the control of the processor 500 ; the processor 500 is used to read the program in the memory 510 .

[0221] Specifically, the transceiver 520 is used to obtain parking space data information sent by the parking space monitoring device and data information of vehicles to be parked sent by the road monitoring device.

[0222] The processor 500 is configured to allocate a parking space to each vehicle to be parked based on the parking space data information and the vehicle to be parked data information, when the total travel distance of all vehicles to be parked is the shortest.

[0223] The transceiver 520 is further configured to send the driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.

[0224] Optionally, the transceiver 520 is also used to receive parking information sent by the parking space monitoring device after the vehicle to be parked parks in the parking space; and, when it is confirmed according to the parking information that the vehicle to be parked has failed to park, send a first parking instruction to the vehicle to be parked, instructing the vehicle to be parked to park again, until the parking information indicates that the vehicle to be parked has successfully parked.

[0225] Optionally, the parking information includes vehicle edges and parking space edges;

[0226] The processor 500 is further configured to determine that the vehicle to be parked is successfully parked when the edge of the vehicle is located within the edge of the parking space and the distance between the edge of the vehicle and the edge of the parking space is greater than or equal to a first preset distance.

[0227] Optionally, the processor 500 is further configured to, based on the parking space data information, determine that the first parking space is the parking space when no vehicle is parked in the first parking space and no vehicle is parked in a second parking space and a third parking space adjacent to the first parking space;

[0228] or,

[0229] Based on the parking space data information, if there is no vehicle parked in the first parking space, there are vehicles parked in the second parking space and / or the third parking space adjacent to the first parking space, and the distance between the vehicle edge in the second parking space and / or the third parking space and the vehicle edge in the first parking space is greater than or equal to a second preset distance, the first parking space is determined to be the parking space.

[0230] Optionally, the processor 500 is further configured to obtain the parking space location and parking space size of the parking space according to a parking lot map.

[0231] Optionally, the processor 500 is further configured to update the parking space every first preset time period.

[0232] Optionally, the processor 500 is further configured to determine the vehicle position, vehicle size, and vehicle speed of the vehicle to be parked based on the data information of the vehicle to be parked.

[0233] Optionally, the processor 500 is further configured to update the vehicle position, vehicle size, and vehicle speed of the vehicle to be parked every second preset time period.

[0234] Optionally, the processor 500 is further configured to obtain the traffic volume and traffic speed of each road section in the parking lot according to the parking lot map, the vehicle position and the vehicle speed.

[0235] Optionally, the processor 500 is further configured to update the traffic volume and traffic speed of each road section in the parking lot every third preset time period.

[0236] Optionally, the processor 500 is specifically used to determine a matching combination between the vehicle to be parked and the parking space based on the parking space position and size of the parking space and the vehicle position and size of the vehicle to be parked; and, under each matching combination, determine the total driving distance of the vehicle to be parked; and, when the total driving distance is the shortest, determine the parking space corresponding to each vehicle to be parked.

[0237] Optionally, the processor 500 is specifically used to determine whether the vehicle to be parked matches the parking space based on the parking space size and the vehicle size; and, when the vehicle to be parked matches the parking space, determine a matching combination of the vehicle to be parked and the parking space based on the parking space position and the vehicle position.

[0238] Optionally, the processor 500 is specifically used to determine the congestion coefficient of each road section based on the traffic flow of each road section in the parking lot; and, based on the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section and the traffic flow speed of each road section, perform a length penalty on each road section to obtain the penalty length of each road section; and, based on the penalty length of each road section, determine the total travel distance of the vehicle to be parked under each matching combination.

[0239] Among them, Figure 5 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 500 and memory represented by memory 510. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 520 may be a plurality of components, i.e., a transmitter and a transceiver, providing a unit for communicating with various other devices on a transmission medium. For different terminals, the user interface 530 may also be an interface capable of connecting external or internal devices as required, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 500 is responsible for managing the bus architecture and general processing, and the memory 510 may store data used by the processor 500 when performing operations.

[0240] An embodiment of the present invention further provides a readable storage medium having a program stored thereon. When the program is executed by a processor, the assisted parking method as described in any one of the above items is implemented.

[0241] In addition, it should be noted that, in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it will be understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0242] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general-purpose device. Therefore, the purpose of the present invention can also be achieved simply by providing a program product containing program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but do not necessarily need to be performed in chronological order. Certain steps can be performed in parallel or independently of each other.

[0243] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary personnel in this technical field, several improvements and modifications can be made without departing from the principles described in the present invention. These improvements and modifications are also within the scope of protection of the present invention.

Claims

1. A parking assistance method, characterized in that: Applied to a cloud device, the method includes: Obtain parking space data information sent by parking space monitoring equipment and data information of vehicles waiting to be parked sent by road monitoring equipment; Allocating a parking space to each vehicle to be parked based on the parking space data information and the vehicle to be parked data information, with the total travel distance of all vehicles to be parked being the shortest; sending the driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked; The allocating a parking space to each vehicle to be parked based on the parking space data information and the vehicle to be parked data information, when the total travel distance of all vehicles to be parked is the shortest, includes: determining a matching combination between the vehicle to be parked and the parking space according to the parking space position and parking space size of the parking space and the vehicle position and vehicle size of the vehicle to be parked; Under each matching combination, determining the total travel distance of the vehicle to be parked; When the total driving distance is the shortest, determining the parking space corresponding to each of the vehicles to be parked; Wherein, determining the total travel distance between the vehicle to be parked and the parking space under each matching combination includes: Determine the congestion coefficient of each road section based on the traffic volume of each road section in the parking lot; Performing a length penalty on each road section according to the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section, and the traffic flow speed of each road section to obtain a penalty length for each road section; determining, according to the penalty length of each road segment, a total travel distance of the vehicle to be parked under each matching combination; After obtaining the parking space data information sent by the parking space monitoring device, the method further includes: Based on the parking space data information, if there is no vehicle parked in the first parking space, there are vehicles parked in the second parking space and / or the third parking space adjacent to the first parking space, and the distance between the vehicle edge in the second parking space and / or the third parking space and the vehicle edge in the first parking space is greater than or equal to a second preset distance, the first parking space is determined to be the parking space.

2. The assisted parking method according to claim 1, characterized in that: The method further comprises: After the vehicle to be parked enters the parking space, receiving parking information sent by the parking space monitoring device; When it is confirmed according to the parking information that the vehicle to be parked has failed to park, a first parking instruction is sent to the vehicle to be parked, instructing the vehicle to be parked to park again until the parking information indicates that the vehicle to be parked has successfully parked.

3. The assisted parking method according to claim 2, characterized in that: The parking information includes vehicle edges and parking space edges; The method further comprises: When the edge of the vehicle is located within the edge of the parking space and the distance between the edge of the vehicle and the edge of the parking space is greater than or equal to a first preset distance, it is determined that the vehicle to be parked is parked successfully.

4. The assisted parking method according to claim 1, characterized in that: The method further comprises: According to the parking lot map, the parking space location and parking space size of the parking space are obtained.

5. The assisted parking method according to claim 1, characterized in that: The method further comprises: The parking space is updated every first preset time period.

6. The assisted parking method according to claim 1, characterized in that: After acquiring the data information of the vehicle to be parked sent by the road monitoring device, the method further includes: The vehicle position, vehicle size and vehicle speed of the vehicle to be parked are determined based on the data information of the vehicle to be parked.

7. The assisted parking method according to claim 6, characterized in that: The method further comprises: The vehicle position, vehicle size and vehicle speed of the vehicle to be parked are updated every second preset time period.

8. The assisted parking method according to claim 6, characterized in that: The method further comprises: The traffic volume and traffic speed of each road section in the parking lot are obtained according to the parking lot map, the vehicle position and the vehicle speed.

9. The assisted parking method according to claim 8, characterized in that: The method further comprises: The traffic volume and traffic speed of each road section in the parking lot are updated every third preset time period.

10. The assisted parking method according to claim 1, characterized in that: The determining a matching combination between the vehicle to be parked and the parking space based on the parking space position and parking space size of the parking space and the vehicle position and vehicle size of the vehicle to be parked includes: determining whether the vehicle to be parked matches the parking space based on the parking space size and the vehicle size; In a case where the vehicle to be parked matches the parking space, a matching combination of the vehicle to be parked and the parking space is determined according to the parking space position and the vehicle position.

11. A parking assistance device, characterized in that: Applied to cloud devices, the device includes: A first acquisition module is used to acquire parking space data information sent by the parking space monitoring device and data information of vehicles to be parked sent by the road monitoring device; an allocating module, configured to allocate a parking space to each vehicle to be parked based on the parking space data information and the vehicle to be parked data information, with the total travel distance of all vehicles to be parked being the shortest; a first sending module, configured to send the driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked; Wherein, the allocation module includes: a first determining unit, configured to determine a matching combination between the vehicle to be parked and the parking space according to the parking space position and size of the parking space and the vehicle position and size of the vehicle to be parked; a second determining unit, configured to determine a total travel distance of the vehicle to be parked under each matching combination; a third determining unit, configured to determine the parking space corresponding to each of the vehicles to be parked when the total driving distance is the shortest; The second determining unit is specifically configured to: Determine the congestion coefficient of each road section based on the traffic volume of each road section in the parking lot; Performing a length penalty on each road section according to the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section, and the traffic flow speed of each road section to obtain a penalty length for each road section; determining, according to the penalty length of each road segment, a total travel distance of the vehicle to be parked under each matching combination; Wherein, the device further comprises: The second determination module is configured to determine, based on the parking space data information, that the first parking space is the parking space if no vehicle is parked in the first parking space, a vehicle is parked in a second parking space and / or a third parking space adjacent to the first parking space, and a distance between an edge of a vehicle in the second parking space and / or the third parking space and an edge of a vehicle in the first parking space is greater than or equal to a second preset distance.

12. A cloud device, characterized in that: include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the assisted parking method according to any one of claims 1 to 10 is implemented.

13. A readable storage medium, characterized in that: The readable storage medium stores a program, and when the program is executed by a processor, the assisted parking method according to any one of claims 1 to 10 is implemented.

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