Parking method and device

Abstract

The application discloses a parking method and device, and belongs to the technical field of vehicles. The parking device determines a first parking space in a plurality of parking spaces in a target parking lot according to position information of a vehicle, category identifiers of the plurality of parking spaces, and position information of the plurality of parking spaces, wherein the first parking space is an idle public parking space in the plurality of parking spaces. The parking device generates a first parking path according to the position information of the vehicle and the position information of the first parking space, and controls the vehicle to park into the first parking space according to the first parking path. Since the first parking space determined by the parking device is an idle public parking space, instead of a private parking space, the availability of the first parking space determined by the parking device is relatively high.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a parking method and apparatus. Background Technology

[0002] With societal development, vehicles have gradually become an essential means of transportation. After arriving at a parking lot, drivers need to find an available parking space and park their vehicle there. To improve parking convenience, some vehicles now feature automated valet parking (AVP) functionality, which allows the vehicle to autonomously park itself in an available parking space.

[0003] In related technologies, the vehicle terminal determines the available parking spaces in the parking lot based on the vehicle's location information and the status information of multiple parking spaces in the parking lot, and controls the vehicle to park in the available parking space.

[0004] However, in related technologies, the vacant parking spaces identified by the vehicle-mounted terminal may be private parking spaces, thus the availability of the vacant parking spaces identified by the vehicle-mounted terminal is low. Summary of the Invention

[0005] This application provides a parking method and apparatus. The availability of vacant parking spaces determined by this application is relatively high. The technical solution is as follows.

[0006] Firstly, a parking method is provided, the method comprising:

[0007] The system acquires the vehicle's location information, the category identifiers of multiple parking spaces in the target parking lot, and the location information of the multiple parking spaces. The category identifier of each parking space is used to indicate whether the parking space is an vacant public parking space.

[0008] Based on the vehicle's location information, the category identifiers of the multiple parking spaces, and the location information of the multiple parking spaces, a first parking space is determined among the multiple parking spaces, and the first parking space is an vacant public parking space among the multiple parking spaces;

[0009] A first parking path is generated based on the vehicle's location information and the location information of the first parking space;

[0010] Control the vehicle to park in the first parking space according to the first parking path.

[0011] Optionally, determining the first parking space from the plurality of parking spaces based on the vehicle's location information, the category identifiers of the plurality of parking spaces, and the location information of the plurality of parking spaces includes:

[0012] Based on the category identifiers of the plurality of parking spaces, at least one alternative parking space is determined from the plurality of parking spaces, wherein the at least one alternative parking space is an vacant public parking space among the plurality of parking spaces;

[0013] Based on the location information of the vehicle and the location information of the at least one alternative parking space, the first parking space is determined from the at least one alternative parking space.

[0014] Optionally, determining the first parking space from the at least one alternative parking space based on the vehicle's location information and the location information of the at least one alternative parking space includes:

[0015] The location information of the vehicle and the location information of the at least one alternative parking space are sent to the user terminal. The user terminal is used to determine the first parking space from the at least one alternative parking space based on the selection command triggered by the user and send parking space indication information to indicate the first parking space.

[0016] Receive the parking space indication information sent by the user terminal;

[0017] The first parking space is determined based on the parking space indication information.

[0018] Optionally, determining the first parking space from the at least one alternative parking space based on the vehicle's location information and the location information of the at least one alternative parking space includes:

[0019] Based on the location information of the vehicle and the location information of the at least one alternative parking space, the alternative parking space closest to the vehicle among the at least one alternative parking spaces is determined as the first parking space.

[0020] Optionally, the parking method further includes:

[0021] During the process of controlling the vehicle to park in the first parking space according to the first parking path, if it is determined that the category identifier of the first parking space is updated to a category identifier used to indicate that the first parking space is occupied, a second parking space is determined among the multiple parking spaces based on the current location information of the vehicle, the category identifiers of the multiple parking spaces, and the location information of the multiple parking spaces. The second parking space is an vacant public parking space among the multiple parking spaces.

[0022] A second parking path is generated based on the current location information of the vehicle and the location information of the second parking space.

[0023] Control the vehicle to park in the second parking space according to the second parking path.

[0024] Secondly, a parking device is provided, the device comprising:

[0025] The acquisition module is used to acquire the vehicle's location information, the category identifiers of multiple parking spaces in the target parking lot, and the location information of the multiple parking spaces. The category identifier of each parking space is used to indicate whether the parking space is an empty public parking space.

[0026] The determining module is used to determine a first parking space among the multiple parking spaces based on the location information of the vehicle, the category identifier of the multiple parking spaces, and the location information of the multiple parking spaces. The first parking space is an empty public parking space among the multiple parking spaces.

[0027] The generation module is used to generate a first parking path based on the location information of the vehicle and the location information of the first parking space;

[0028] The control module is used to control the vehicle to park in the first parking space according to the first parking path.

[0029] Optionally, the determining module is used to:

[0030] Based on the category identifiers of the plurality of parking spaces, at least one alternative parking space is determined from the plurality of parking spaces, wherein the at least one alternative parking space is an vacant public parking space among the plurality of parking spaces;

[0031] Based on the location information of the vehicle and the location information of the at least one alternative parking space, the first parking space is determined from the at least one alternative parking space.

[0032] Optionally, the determining module is used to:

[0033] The location information of the vehicle and the location information of the at least one alternative parking space are sent to the user terminal. The user terminal is used to determine the first parking space from the at least one alternative parking space based on the selection command triggered by the user and send parking space indication information to indicate the first parking space.

[0034] Receive the parking space indication information sent by the user terminal;

[0035] The first parking space is determined based on the parking space indication information.

[0036] Optionally, the determining module is used to:

[0037] Based on the location information of the vehicle and the location information of the at least one alternative parking space, the alternative parking space closest to the vehicle among the at least one alternative parking spaces is determined as the first parking space.

[0038] Optionally, the determining module is further configured to, during the process of the control module controlling the vehicle to park in the first parking space according to the first parking path, if it is determined that the category identifier of the first parking space is updated to a category identifier used to indicate that the first parking space is occupied, determine a second parking space among the multiple parking spaces based on the current location information of the vehicle, the category identifiers of the multiple parking spaces, and the location information of the multiple parking spaces, wherein the second parking space is an vacant public parking space among the multiple parking spaces;

[0039] The generation module is also used to generate a second parking path based on the current location information of the vehicle and the location information of the second parking space;

[0040] The control module is also used to control the vehicle to park in the second parking space according to the second parking path.

[0041] Thirdly, a parking system is provided, the parking system including a parking device;

[0042] The parking device is configured to: acquire vehicle location information, category identifiers of multiple parking spaces in a target parking lot, and location information of the multiple parking spaces, wherein the category identifier of each parking space is used to indicate whether the parking space is an empty public parking space; determine a first parking space among the multiple parking spaces based on the vehicle location information, the category identifiers of the multiple parking spaces, and the location information of the multiple parking spaces, wherein the first parking space is an empty public parking space among the multiple parking spaces; generate a first parking path based on the vehicle location information and the location information of the first parking space; and control the vehicle to park in the first parking space according to the first parking path.

[0043] Optionally, the parking device is configured to: determine at least one alternative parking space from the plurality of parking spaces based on the category identifiers of the plurality of parking spaces, wherein the at least one alternative parking space is an vacant public parking space from the plurality of parking spaces; and determine the first parking space from the at least one alternative parking space based on the location information of the vehicle and the location information of the at least one alternative parking space.

[0044] Optionally, the parking device is configured to determine the first parking space as the nearest parking space to the vehicle among the at least one alternative parking spaces, based on the vehicle's location information and the location information of the at least one alternative parking space.

[0045] Optionally, the parking system may also include a user terminal;

[0046] The parking device is used to send the location information of the vehicle and the location information of the at least one alternative parking space to the user terminal;

[0047] The user terminal is used to determine the first parking space from the at least one alternative parking space based on a selection command triggered by the user and to send parking space indication information to the parking device to indicate the first parking space.

[0048] The parking device is also used to determine the first parking space based on the parking space indication information.

[0049] Optionally, the parking system may also include a server;

[0050] The server is used to store the category identifiers of the multiple parking spaces in the target parking lot and the location information of the multiple parking spaces;

[0051] The parking device is used to obtain the category identifiers and location information of the plurality of parking spaces from the server, and then determine the first parking space among the plurality of parking spaces based on the vehicle's location information, the category identifiers and location information of the plurality of parking spaces.

[0052] Optionally, the parking system may also include a monitoring subsystem;

[0053] The monitoring subsystem is configured to: collect monitoring data of the target parking lot; determine the category identifiers and location information of the multiple parking spaces based on the monitoring data of the parking lot; and send the category identifiers and location information of the multiple parking spaces to the server.

[0054] The server is configured to receive the category identifiers and location information of the multiple parking spaces, and store the category identifiers and location information of the multiple parking spaces.

[0055] Optionally, the parking device is further configured to: during the process of controlling the vehicle to park in the first parking space according to the first parking path, if it is determined that the category identifier of the first parking space is updated to a category identifier indicating that the first parking space is occupied, determine a second parking space among the multiple parking spaces based on the current location information of the vehicle, the category identifiers of the multiple parking spaces, and the location information of the multiple parking spaces, wherein the second parking space is an vacant public parking space among the multiple parking spaces; generate a second parking path based on the current location information of the vehicle and the location information of the second parking space; and control the vehicle to park in the second parking space according to the second parking path.

[0056] Fourthly, a parking device is provided, including a memory and a processor, the memory storing a computer program that, when executed by the processor, implements the method provided by the first aspect or any optional implementation thereof.

[0057] Fifthly, a computer-readable storage medium is provided that stores a computer program, which, when executed (e.g., by a processor, parking device, etc.), implements the method provided by the first aspect or any optional implementation thereof.

[0058] In a sixth aspect, a computer program product is provided, including a computer program / instruction that, when executed (e.g., by a processor, parking device, etc.), implements the method provided by the first aspect or any optional implementation thereof.

[0059] The parking method and apparatus provided in this application are executed by a parking device. The parking device determines a first parking space from among the multiple parking spaces based on the vehicle's location information, the category identifiers of multiple parking spaces in the target parking lot, and the location information of those multiple parking spaces. The first parking space is an vacant public parking space among the multiple parking spaces. The parking device generates a first parking path based on the vehicle's location information and the location information of the first parking space, and controls the vehicle to park in the first parking space according to the first parking path. Because the first parking space is an vacant public parking space, that is, a public parking space not occupied by others, rather than a private parking space, the availability of the first parking space determined by the parking device is high. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 This is a schematic diagram of a parking system provided in an embodiment of this application;

[0062] Figure 2 This is a flowchart of a parking method provided in an embodiment of this application;

[0063] Figure 3 This is a flowchart of another parking method provided in the embodiments of this application;

[0064] Figure 4 This is a schematic diagram of a parking device provided in an embodiment of this application;

[0065] Figure 5 This is a schematic diagram of a vehicle provided in an embodiment of this application.

[0066] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0068] With the continuous development of intelligent driving technology, vehicles have acquired automated valet parking (AVP) functionality. This AVP function enables vehicles to autonomously park in vacant parking spaces (i.e., park in vacant parking spaces without driver intervention). In related technologies, for vehicles with AVP functionality, the onboard terminal determines vacant parking spaces in the parking lot based on the vehicle's location information and the status information of multiple parking spaces within the parking lot, and then controls the vehicle to park in those vacant spaces. The status information of each parking space indicates whether it is vacant (i.e., unoccupied). However, parking lots often include private parking spaces, and the vacant parking spaces identified in related technologies may be private parking spaces; therefore, the availability of vacant parking spaces identified in related technologies is relatively low.

[0069] This application provides a parking method and apparatus. The parking method is executed by a parking device, which is a vehicle or a functional component deployed in the vehicle. The parking device can be an in-vehicle terminal, a main control unit (MCU), or a functional module integrated on the vehicle's system motherboard. The parking method is applicable to determining available parking spaces and controlling a vehicle to park in those spaces. For example, the parking device determines a first parking space from among the multiple parking spaces based on the vehicle's location information, the category identifiers of multiple parking spaces in the target parking lot, and the location information of those multiple parking spaces. It then generates a first parking path based on the vehicle's location information and the location information of the first parking space, and controls the vehicle to park in the first parking space according to the first parking path. The first parking space is an vacant public parking space among the multiple parking spaces. Because the first parking space is an vacant public parking space, that is, a public parking space not occupied by others, rather than a private parking space, the availability of the first parking space determined by the parking device is high.

[0070] The technical solution of this application is described below. First, the system embodiment of this application is introduced.

[0071] Please refer to Figure 1 This illustration shows a schematic diagram of a parking system provided in an embodiment of this application. The parking system includes a parking device 10. The parking device 10 is used to: acquire vehicle location information, category identifiers of multiple parking spaces in a target parking lot, and location information of the multiple parking spaces; determine a first parking space among the multiple parking spaces based on the vehicle location information, the category identifiers of the multiple parking spaces, and the location information of the multiple parking spaces; generate a first parking path based on the vehicle location information and the location information of the first parking space; and control the vehicle to park in the first parking space according to the first parking path. The category identifier of each parking space in the multiple parking spaces is used to indicate whether the parking space is an vacant public parking space, and the first parking space is an vacant public parking space among the multiple parking spaces. The target parking lot is the parking lot where the vehicle is located, or a parking lot where the distance between the vehicle and the target parking lot is less than a preset distance. For example, if the vehicle has already entered the parking lot, the target parking lot is the parking lot where the vehicle is located; if the vehicle has not yet entered the parking lot, the target parking lot is a parking lot where the distance between the vehicle and the target parking lot is less than a preset distance.

[0072] In an optional embodiment, the parking device 10 is configured to: determine at least one alternative parking space among the plurality of parking spaces based on the category identifier of the plurality of parking spaces, wherein the at least one alternative parking space is an vacant public parking space among the plurality of parking spaces; and determine a first parking space among the at least one alternative parking space based on the location information of the vehicle and the location information of the at least one alternative parking space.

[0073] In one embodiment, the parking device 10 is configured to: determine the first parking space as the nearest parking space to the vehicle among the at least one alternative parking spaces, based on the vehicle's location information and the location information of the at least one alternative parking space.

[0074] In another embodiment, please continue to refer to Figure 1The parking system also includes a user terminal 20. The parking device 10 is communicatively connected to the user terminal 20. For example, the parking device 10 and the user terminal 20 are connected via a wireless network. This wireless network includes, but is not limited to: the World Wide Web, metropolitan area network, intranet, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area network, or Bluetooth. The parking device 10 is used to send the vehicle's location information and the location information of the at least one alternative parking space to the user terminal 20. The user terminal 20 is used to determine a first parking space among the at least one alternative parking space based on a user-triggered selection command and send parking space indication information to the parking device 10 to indicate the first parking space. The parking device 10 is also used to receive the parking space indication information sent by the user terminal 20 and determine the first parking space based on the parking space indication information.

[0075] In optional embodiments, please continue to refer to Figure 1 The parking system also includes a server 30. The parking device 10 is also communicatively connected to the server 30. For example, the parking device 10 and the server 30 are connected via a wireless network. This wireless network includes, but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G, and 5G), or a wireless local area network. The server 30 is used to store the category identifiers and location information of the multiple parking spaces in the target parking lot. The parking device 10 is used to obtain the category identifiers and location information of the multiple parking spaces from the server 30, and then determine the first parking space among the multiple parking spaces based on the vehicle's location information, the category identifiers and location information of the multiple parking spaces.

[0076] In optional embodiments, please continue to refer to Figure 1 The parking system includes a monitoring subsystem 40. The monitoring subsystem 40 is communicatively connected to a server 30. For example, the monitoring subsystem 40 and the server 30 are connected via a wired network or a wireless network. This wireless network includes, but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G, and 5G), or a wireless local area network. The monitoring subsystem 40 collects monitoring data from the parking lot, determines the category identifiers and location information of multiple parking spaces based on the monitoring data, and sends these identifiers and location information to the server 30. The server 30 stores the category identifiers and location information of the multiple parking spaces sent by the monitoring subsystem 40.

[0077] In an optional embodiment, the parking device 10 is further configured to: during the process of controlling the vehicle to park in the first parking space according to the first parking path, if it is determined that the category identifier of the first parking space is updated to a category identifier indicating that the first parking space is occupied, determine a second parking space among the multiple parking spaces based on the current location information of the vehicle, the category identifiers of the multiple parking spaces, and the location information of the multiple parking spaces; generate a second parking path based on the current location information of the vehicle, the location information of the second parking space, and a high-precision map of the parking lot; and control the vehicle to park in the second parking space according to the second parking path. The second parking space is an vacant public parking space among the multiple parking spaces, and the second parking path is the shortest path from the current location of the vehicle to the second parking space.

[0078] The parking device 10 can be an in-vehicle terminal, an MCU, or a functional module integrated on the vehicle's system motherboard. The user terminal 20 can be a computer with wireless communication capabilities, a personal computer with wireless communication capabilities, a laptop computer with wireless communication capabilities, a mobile phone, a smartphone, a tablet computer, a cloud server, a portable mobile terminal, a multimedia player, an e-book reader with wireless communication capabilities, a wearable device with wireless communication capabilities, a smart home appliance, an artificial intelligence device, or a smart wearable device. The monitoring subsystem 40 can include a computing device and at least one acquisition device, which can be connected via a wired or wireless network. The computing device can be a computer, a personal computer, a tablet computer, a cloud server, etc. The acquisition device can be radar, a camera, etc. The monitoring data collected by the acquisition device can be radar data collected by radar or image data collected by a camera. Taking a camera as an example, the at least one acquisition device collects image data of the target parking lot and transmits the image data to the computing device. The computing device analyzes the image data collected by the at least one acquisition device to determine the category identifiers and location information of the multiple parking spaces in the target parking lot, and sends the category identifiers and location information of the multiple parking spaces to the server 30. Server 30 can be a single server or a server cluster consisting of multiple servers.

[0079] Furthermore, the above embodiments are a simplified description of a parking method applied to a parking system. For a detailed description of the parking method, please refer to the parking method embodiments below.

[0080] The above is a description of the system embodiments of this application. The method embodiments of this application are described below.

[0081] Please refer to Figure 2 The diagram illustrates a flowchart of a parking method provided in an embodiment of this application. This parking method comprises... Figure 1The parking device 10 in the parking system shown is activated. This parking device can be deployed in a vehicle. See also... Figure 2 The method process includes the following steps S201 to S204.

[0082] S201. The parking device acquires the vehicle's location information, the category identifiers of multiple parking spaces in the target parking lot, and the location information of the multiple parking spaces, wherein the category identifier of each parking space is used to indicate whether the parking space is an vacant public parking space.

[0083] The vehicle's location information can be determined via a Global Positioning System (GPS) and is used to indicate the vehicle's position. The vehicle can be located within or outside the target parking lot. If the vehicle is outside the target parking lot, the distance between the target parking lot and the vehicle is less than a preset distance. The target parking lot can be the nearest parking lot to the vehicle or a parking lot selected by the user. The parking space category identifier can be a text identifier or a graphic identifier. The parking space category identifier indicates whether the parking space is a vacant public parking space and can be dynamically updated based on the usage status of the parking space (e.g., whether the parking space is occupied). For example, the parking space category identifier can be a text identifier, such as "01", "02", and "03". Category identifier "01" indicates that the parking space is a vacant public parking space, category identifier "02" indicates that the parking space is a vacant private parking space, and category identifier "03" indicates that the parking space is occupied (i.e., the parking space has been used). The location information of the parking space is determined by the monitoring subsystem based on monitoring data, and is used to indicate the location of the parking space. The category identifiers and location information of multiple parking spaces in the target parking lot can be stored on a server, and the parking device can retrieve these information from the server.

[0084] In one embodiment, a user triggers an information retrieval command based on the display interface of a vehicle-mounted standard definition map (SDMap) application installed in the vehicle. The parking device in the vehicle retrieves the vehicle's location information according to the information retrieval command. Furthermore, the parking device sends a parking space retrieval command to a server based on the information retrieval command. The server retrieves the category identifiers and location information of multiple parking spaces in the target parking lot based on the parking space retrieval command, and sends these categories and location information to the parking device. The parking device receives the category identifiers and location information of the multiple parking spaces. The user can trigger the information retrieval command based on the display interface of the vehicle-mounted map application via voice triggering or button triggering, etc.

[0085] In an optional embodiment, after obtaining the vehicle's location information, the parking device sends a parking lot acquisition command to the server, the command carrying the vehicle's location information. Upon receiving the parking lot acquisition command, the server retrieves the location information of multiple parking lots stored on the server, and determines at least one candidate parking lot based on the location information of the multiple parking lots and the vehicle's location information carried in the parking lot acquisition command. The server sends the location information of the at least one candidate parking lot and the number of available parking spaces in each candidate parking lot to the parking device. After receiving the location information and the number of available parking spaces of the at least one candidate parking lot, the parking device displays the location information and the number of available parking spaces of the at least one candidate parking lot through the display interface of the vehicle-mounted map application. The user selects a parking lot as a target parking lot based on the display interface of the vehicle-mounted map application and triggers a parking lot determination command, which the parking device then uses to determine the target parking lot. The parking device generates a parking space acquisition command based on the target parking lot and sends the command to the server. This command includes the identifier of the target parking lot (e.g., its number). Upon receiving the command, the server retrieves the category identifiers and location information of multiple parking spaces in the target parking lot stored on the server, and sends these identifiers and location information back to the parking device. The user can trigger the parking space acquisition command via voice or button input through the vehicle's map application interface. The server determines that the distance between the at least one alternative parking lot and the vehicle is less than a preset distance. If the vehicle has already entered a parking lot, the at least one alternative parking lot includes the parking lot where the vehicle is located. For example, the at least one alternative parking lot is located within a circular area centered on the vehicle's location and with a radius equal to the preset distance.

[0086] S202. The parking device determines a first parking space among the multiple parking spaces based on the vehicle's location information, the category identifier of the multiple parking spaces, and the location information of the multiple parking spaces. The first parking space is an vacant public parking space among the multiple parking spaces.

[0087] In an optional embodiment, the parking device determines at least one alternative parking space from the plurality of parking spaces based on the category identifiers of the parking spaces, and determines a first parking space from the at least one alternative parking space based on the vehicle's location information and the location information of the at least one alternative parking space. The at least one alternative parking space is an vacant public parking space from the plurality of parking spaces. The first parking space is an vacant public parking space from the at least one alternative parking space.

[0088] For example, the multiple parking spaces include parking space 1, parking space 2, parking space 3, and parking space 4. Parking space 1 is categorized as "01", parking space 2 as "02", parking space 3 as "03", and parking space 4 as "01". Category "01" indicates a vacant public parking space, category "02" indicates a vacant private parking space, and category "03" indicates an occupied parking space (i.e., the parking space is already occupied). Based on the category labels of parking spaces 1 through 4, the parking system determines that parking spaces 1 and 4 are vacant public parking spaces, and therefore designates parking spaces 1 and 4 as candidate parking spaces.

[0089] In this embodiment, the parking device can autonomously determine the first parking space from the at least one alternative parking space based on the vehicle's location information and the location information of the at least one alternative parking space, or it can determine the first parking space from the at least one alternative parking space through interaction with a user terminal. Therefore, the parking device determining the first parking space from the at least one alternative parking space based on the vehicle's location information and the location information of the at least one alternative parking space includes any one of the following two implementation methods.

[0090] The first implementation involves the parking device interacting with a user terminal to determine a first parking space from at least one alternative parking space. In a specific embodiment, the parking device sends the vehicle's location information and the location information of the at least one alternative parking space to the user terminal. Upon receiving the vehicle's location information and the location information of the at least one alternative parking space, the user terminal displays the vehicle's location and the location of the at least one alternative parking space. The user can select the first parking space from the at least one alternative parking space based on the displayed location of the vehicle and the location of the at least one alternative parking space, and trigger a selection command for selecting the first parking space. Based on the user-triggered selection command, the user terminal determines the first parking space from the at least one alternative parking space and sends parking space indication information to the parking device. The parking device receives the parking space indication information sent by the user terminal and determines the first parking space based on the parking space indication information. The parking space indication information includes at least one of the identifier of the first parking space or the location information of the first parking space. The identifier of the first parking space can be a number of the first parking space. The first parking space selected by the user may be the closest alternative parking space to the vehicle among the at least one alternative parking spaces, or it may not be the closest alternative parking space to the vehicle among the at least one alternative parking spaces. This application embodiment does not limit this.

[0091] For example, the parking device sends the vehicle's location information, the location information of alternative parking space 1 (e.g., parking space 1), and the location information of alternative parking space 2 (e.g., parking space 4) to the user terminal. The user terminal displays the vehicle's location, the location of alternative parking space 1, and the location of alternative parking space 2 on the display interface of the vehicle-mounted map application, based on the vehicle's location information, the location information of alternative parking space 1, and the location information of alternative parking space 2. The user selects alternative parking space 1 as the first parking space based on the display interface of the vehicle-mounted map application and triggers a selection command for selecting alternative parking space 1. Based on the selection command, the user terminal confirms alternative parking space 1 as the first parking space, generates parking space indication information to indicate alternative parking space 1, and sends the parking space indication information to the parking device. The parking device then uses the parking space indication information to select alternative parking space 1 as the first parking space.

[0092] The second implementation method: The parking device autonomously determines the first parking space from among the at least one alternative parking spaces based on the vehicle's location information and the location information of the at least one alternative parking space. In an optional embodiment, the parking device determines the alternative parking space closest to the vehicle from among the at least one alternative parking spaces as the first parking space, based on the vehicle's location information and the location information of the at least one alternative parking space.

[0093] In one embodiment, the parking device calculates the distance between the vehicle and the at least one alternative parking space based on the vehicle's location information and the location information of each alternative parking space in the at least one alternative parking space; the parking device determines the minimum distance among the distances between the vehicle and the at least one alternative parking space; the parking device determines the alternative parking space corresponding to the minimum distance as the first parking space. For example, the parking device calculates distance 1 between the vehicle and alternative parking space 1 based on the vehicle's location information and the location information of alternative parking space 1 (e.g., parking space 1); and the parking device calculates distance 2 between the vehicle and alternative parking space 2 (e.g., parking space 4) based on the vehicle's location information and the location information of alternative parking space 2; the parking device determines the minimum distance between distance 1 and distance 2; the parking device determines the alternative parking space corresponding to the minimum distance as the first parking space. For example, distance 1 is less than distance 2, therefore the parking device determines alternative parking space 1 as the first parking space.

[0094] In another embodiment, the parking device calculates a path between the vehicle and a parking space based on the vehicle's location information and the location information of each of the at least one alternative parking spaces; the parking device determines the shortest path among the paths between the vehicle and the at least one alternative parking space; and the parking device designates the alternative parking space corresponding to the shortest path as the first parking space. For example, the parking device calculates path 1 between the vehicle and alternative parking space 1 (e.g., parking space 1) based on the vehicle's location information and the location information of alternative parking space 2 (e.g., parking space 4); and the parking device calculates path 2 between the vehicle and alternative parking space 2 based on the vehicle's location information and the location information of alternative parking space 2 (e.g., parking space 4); the parking device determines the shortest path between path 1 and path 2; and the parking device designates the alternative parking space corresponding to the shortest path as the first parking space. For example, path 1 is the shortest path, therefore the parking device designates alternative parking space 1 as the first parking space.

[0095] S203. The parking device generates a first parking path based on the vehicle's location information and the location information of the first parking space.

[0096] In this embodiment, the vehicle can be located either inside or outside the target parking lot. When the vehicle is inside the target parking lot, the first parking path is the shortest path between the vehicle and the first parking space. When the vehicle is outside the target parking lot, the first parking path is the shortest path between the target entrance of the target parking lot and the first parking space. The target entrance can be the entrance closest to the vehicle among at least one entrance of the target parking lot. Because the first parking path is either the shortest path between the vehicle and the first parking space or the shortest path between the target entrance of the target parking lot and the first parking space, the time required for the vehicle to park in the first parking space is shorter, resulting in higher parking efficiency.

[0097] In an optional embodiment, the parking device generates a first parking path based on the vehicle's location information, the location information of the first parking space, and a high-precision map of the target parking lot. The high-precision map of the target parking lot includes lane information, parking space location information, elevator location information, exit location information, and entrance location information, etc., within the target parking lot. This high-precision map can be stored in the parking device or on a server. Optionally, after determining the first parking space, the parking device searches for the high-precision map of the target parking lot within itself. If the parking device does not find the high-precision map of the target parking lot, it sends a map retrieval command to the server, which includes the identifier of the target parking lot. The server determines the high-precision map of the target parking lot based on the identifier included in the map retrieval command and sends the high-precision map of the target parking lot to the parking device. The parking device receives the high-precision map of the target parking lot sent by the server.

[0098] In one embodiment, the vehicle is located in a target parking lot. The parking device generates a first parking path based on the vehicle's location information, the location information of a first parking space, and a high-precision map of the target parking lot. This includes: the parking device determining the vehicle's position in the high-precision map of the target parking lot based on the vehicle's location information; the parking device determining the position of the first parking space in the high-precision map of the target parking lot based on the location information of the first parking space; and the parking device generating the first parking path based on the vehicle's position in the high-precision map of the target parking lot, the first parking space's position in the high-precision map of the target parking lot, and lane information in the high-precision map of the target parking lot.

[0099] In another embodiment, the vehicle is located outside the target parking lot. The parking device generates a first parking path based on the vehicle's location information, the location information of the first parking space, and a high-precision map of the target parking lot. This includes: the parking device determining the location of the target entrance in the high-precision map of the target parking lot based on the location information of the target entrance; the parking device determining the location of the first parking space in the high-precision map of the target parking lot based on the location information of the first parking space; and the parking device generating the first parking path based on the location of the target entrance in the high-precision map of the target parking lot, the location of the first parking space in the high-precision map of the target parking lot, and lane information in the high-precision map of the target parking lot.

[0100] S204. The parking device controls the vehicle to park in the first parking space according to the first parking path.

[0101] In one embodiment, the parking device controls the vehicle to travel along a first parking path to park the vehicle in a first parking space. Optionally, during the process of controlling the vehicle to park in the first parking space along the first parking path, the parking device collects the rotational speed of the vehicle's wheels using wheel speed sensors and the angular velocity of the vehicle's steering wheel using a gyroscope sensor. The parking device calculates the distance traveled by the vehicle within the first sampling time based on the wheel speed and a first sampling time, where the first sampling time is the duration for which the wheel speed sensors collect the wheel speed data. For example, the distance traveled by the vehicle within the first sampling time = wheel speed * first sampling time, where the symbol "*" represents a multiplication sign. The parking device determines the steering wheel rotation angle based on the steering wheel's angular velocity and a second sampling time, where the second sampling time is the sampling time between the first sampling time and the previous sampling time when the gyroscope sensor collects the steering wheel's angular velocity at the first sampling time. For example, the steering wheel rotation angle = steering wheel rotation angular velocity / second sampling duration, where the symbol " / " represents division. The parking device uses a trajectory estimation algorithm to determine the vehicle's position information during its journey based on the distance traveled and the steering wheel rotation angle. The parking device compares the vehicle's position information during its journey with a first parking path to determine the vehicle's position within that path. The parking device sends the vehicle's position within the first parking path to the user terminal, allowing the user terminal to display the vehicle's position within the first parking path on the vehicle's in-vehicle map application's display interface. Optionally, during the process of controlling the vehicle to park in the first parking space according to the first parking path, the parking device controls the vehicle's camera components to capture environmental images around the vehicle and sends these images to the user terminal, allowing the user to view the environmental images of the vehicle during the parking process on the user terminal.

[0102] During the process of the parking device controlling the vehicle to park in the first parking space according to the first parking path, the category identifier of the first parking space may change. For example, if the first parking space is occupied, the category identifier of the first parking space will be updated from the category identifier indicating that the first parking space is an empty public parking space to the category identifier indicating that the first parking space is occupied. In an optional embodiment, during the process of the parking device controlling the vehicle to park in the first parking space according to the first parking path, if the parking device determines that the category identifier of the first parking space has been updated to the category identifier indicating that the first parking space is occupied, the parking device determines a second parking space among the multiple parking spaces based on the current location information of the vehicle, the category identifiers of the multiple parking spaces, and the location information of the multiple parking spaces. The parking device generates a second parking path based on the current location information of the vehicle, the location information of the second parking space, and a high-precision map of the parking lot, and controls the vehicle to park in the second parking space according to the second parking path. The second parking space is an empty public parking space among the multiple parking spaces. The second parking path is the shortest path from the current location of the vehicle to the second parking space. The process by which the parking device determines the second parking space can refer to the process by which the parking device determines the first parking space; the process by which the parking device determines and generates the second parking path can refer to the process by which the parking device generates the first parking path; and the process by which the parking device controls the vehicle to park in the second parking space according to the second parking path can refer to the process by which the parking device controls the vehicle to park in the second parking space according to the first parking path. These details will not be elaborated upon here.

[0103] The category identifier of the first parking space indicates whether it is a vacant public parking space. For example, the category identifier can indicate that the first parking space is a vacant public parking space, a vacant private parking space, or an occupied parking space (i.e., the first parking space is occupied). For instance, if the first parking space is parking space 1, during the process of the parking device determining the first parking space and the first parking path, the category identifier of parking space 1 is "01," indicating that parking space 1 is a vacant public parking space. During the process of the parking device controlling the vehicle to park in parking space 1 according to the first parking path, the category identifier of parking space 1 is updated to "03," indicating that parking space 1 is occupied. If, during the process of the parking device controlling the vehicle to park in parking space 1 according to the first parking path, the parking device determines that the category identifier of parking space 1 has been updated to "03," indicating that parking space 1 is occupied.

[0104] Optionally, before the parking device controls the vehicle to park in the first parking space according to the first parking path, the parking device prompts the user to get out of the vehicle after it reaches the drop-off area via voice, or displays a prompt message through the vehicle's map application to remind the user to get out of the vehicle after it reaches the drop-off area. After receiving the parking instruction sent by the user terminal, the parking device controls the vehicle to park in the first parking space according to the first parking path. Wherein, if the vehicle has not entered the target parking lot, the drop-off area can be a preset area outside or inside the target entrance of the target parking lot, and the first parking path is the shortest path between the target entrance and the first parking space. If the vehicle has entered the target parking lot, the drop-off area is a preset area within the target parking lot, and the first parking path is the shortest path between the vehicle and the first parking space. For example, after the vehicle reaches the drop-off area, the user gets out of the vehicle and selects the "Start Parking" button based on the display interface of the vehicle's map application on the user terminal to trigger the parking instruction. After receiving the parking instruction from the user terminal, the parking device controls the vehicle to park in the first parking space according to the first parking path.

[0105] In summary, in the parking method provided in this application embodiment, the parking device determines a first parking space among the multiple parking spaces based on the vehicle's location information, the category identifiers of multiple parking spaces in the target parking lot, and the location information of those multiple parking spaces. The first parking space is an vacant public parking space among the multiple parking spaces, and the distance between the target parking lot and the vehicle is less than a preset distance. The parking device generates a first parking path based on the vehicle's location information and the location information of the first parking space, and controls the vehicle to park in the first parking space according to the first parking path. Since the first parking space is an vacant public parking space, that is, a public parking space that is not occupied by others, rather than a private parking space, the availability of the first parking space determined by the parking device is high.

[0106] To facilitate understanding, the parking method is illustrated below with an example. Figure 3 As shown, this parking method is applied to, for example... Figure 1 The parking system shown can have parking devices that are Figure 1 The parking device 10 in the middle. The parking method includes the following steps S301 to S312.

[0107] S301, the monitoring subsystem collects monitoring data from the parking lot.

[0108] The monitoring subsystem includes at least one data acquisition device, which may include radar, cameras, etc. Correspondingly, the monitoring data of the parking lot acquired by the acquisition device may include radar data acquired by radar and / or image data acquired by cameras.

[0109] S302, the monitoring subsystem determines the category identifier and location information of the multiple parking spaces based on the monitoring data of the parking lot. The category identifier of each parking space is used to indicate whether the parking space is an vacant public parking space.

[0110] The monitoring subsystem also includes a computing device, which can communicate with the at least one data acquisition device via a wired or wireless network. The wireless network includes, but is not limited to, the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, or Bluetooth. The computing device can be a computer, personal computer, tablet computer, cloud server, etc. The at least one data acquisition device can send the collected monitoring data to the computing device, which analyzes the monitoring data to determine the category identifiers and location information of the multiple parking spaces. For example, the monitoring data is a depth image captured by a depth camera. Based on the depth image, the depth information of multiple parking spaces (including the distance information between the multiple parking spaces and the depth camera) can be determined. Based on the location information of the depth camera and the depth information of the multiple parking spaces, the location information of the multiple parking spaces is determined. The location information of the depth camera is stored in the computing device of the monitoring subsystem. In another example, the monitoring data is the first image captured by the camera. The first image is input into a graph segmentation network to determine the positions of multiple parking spaces in the first image. Then, based on the camera's shooting parameters and the positions of the multiple parking spaces in the first image, the distance between the multiple parking spaces and the camera can be calculated. Finally, based on the distance between the multiple parking spaces and the camera and the camera's position information, the coordinate information of the multiple parking spaces can be determined.

[0111] S303, the monitoring subsystem sends the category identifiers and location information of the multiple parking spaces to the server.

[0112] The monitoring subsystem communicates with the server. For example, the monitoring subsystem and the server communicate via a wired network or a wireless network. This wireless network includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), or wireless local area networks. The server can be a single server or a server cluster consisting of multiple servers.

[0113] S304, The server stores the category identifiers and location information of the multiple parking spaces.

[0114] The server and parking device are connected via a communication network. For example, the server and parking device can communicate via a wireless network. This wireless network includes, but is not limited to, the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), or wireless local area networks.

[0115] S305, the parking device acquires the vehicle's location information, the category identifier of the multiple parking spaces, and the location information of the multiple parking spaces.

[0116] S306, the parking device determines at least one alternative parking space among the plurality of parking spaces based on the category identifier of the plurality of parking spaces, the at least one alternative parking space being an vacant public parking space among the plurality of parking spaces.

[0117] S307, the parking device sends the vehicle's location information and the location information of the at least one alternative parking space to the user terminal.

[0118] The parking device communicates with the user terminal. For example, the parking device and the user terminal communicate via a wireless network. This wireless network includes, but is not limited to: the World Wide Web, metropolitan area network, intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), wireless local area network or Bluetooth, etc.

[0119] S308, the user terminal determines the first parking space from the at least one alternative parking space based on the selection instruction triggered by the user.

[0120] S309, the user terminal sends parking space indication information to the parking device to indicate the first parking space.

[0121] S310, the parking device determines the first parking space based on the parking space indication information.

[0122] S311, the parking device generates a first parking path based on the vehicle's location information and the location information of the first parking space.

[0123] S312, the parking device controls the vehicle to park in the first parking space according to the first parking path.

[0124] In this process, when the parking device controls the vehicle to park in the first parking space according to the first parking path, if the parking device determines that the category identifier of the first parking space has been updated to a category identifier indicating that the first parking space is occupied, the parking device determines a second parking space from among the multiple parking spaces based on the current location information of the vehicle, the category identifiers of the multiple parking spaces, and the location information of the multiple parking spaces. The second parking space is an vacant public parking space among the multiple parking spaces. The parking device generates a second parking path based on the current location information of the vehicle and the location information of the second parking space. The parking device then controls the vehicle to park in the second parking space according to the second parking path. Figure 3 For detailed explanations and benefits of the parking method shown, please refer to [link / reference]. Figure 2 The explanation of the parking method shown will not be repeated here.

[0125] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0126] Please refer to Figure 4 This illustration shows a schematic diagram of a parking device 40 provided in an embodiment of this application. The parking device 40 is used to perform... Figure 2 The parking method provided in the illustrated embodiment, for example, uses a parking device 40 as a functional component in a vehicle. See also... Figure 4 The parking device 40 includes: an acquisition module 401, a determination module 402, a generation module 403, and a control module 404.

[0127] The acquisition module 401 is used to acquire the vehicle's location information, the category identifiers of multiple parking spaces in the target parking lot, and the location information of the multiple parking spaces. The category identifier of each parking space is used to indicate whether the parking space is an empty public parking space.

[0128] The determining module 402 is used to determine the first parking space among the multiple parking spaces based on the location information of the vehicle, the category identifier of the multiple parking spaces and the location information of the multiple parking spaces. The first parking space is an empty public parking space among the multiple parking spaces.

[0129] The generation module 403 is used to generate a first parking path based on the location information of the vehicle and the location information of the first parking space;

[0130] The control module 404 is used to control the vehicle to park in the first parking space according to the first parking path.

[0131] Optionally, the determining module 402 is configured to: determine at least one alternative parking space among the plurality of parking spaces based on the category identifier of the plurality of parking spaces, wherein the at least one alternative parking space is an vacant public parking space among the plurality of parking spaces; and determine a first parking space among the at least one alternative parking space based on the location information of the vehicle and the location information of the at least one alternative parking space.

[0132] Optionally, the determining module 402 is configured to: send the location information of the vehicle and the location information of the at least one alternative parking space to a user terminal, wherein the user terminal is configured to determine a first parking space among the at least one alternative parking space based on a selection command triggered by the user and send parking space indication information for indicating the first parking space; receive the parking space indication information sent by the user terminal; and determine the first parking space according to the parking space indication information.

[0133] Optionally, the determining module 402 is configured to: determine the first parking space as the nearest parking space to the vehicle among the at least one alternative parking spaces, based on the location information of the vehicle and the location information of the at least one alternative parking space.

[0134] Optionally, the determining module 402 is further configured to, during the process of the control module 404 controlling the vehicle to park in the first parking space according to the first parking path, if the category identifier of the first parking space is updated to a category identifier used to indicate that the first parking space is occupied, determine a second parking space among the multiple parking spaces based on the current location information of the vehicle, the category identifiers of the multiple parking spaces and the location information of the multiple parking spaces, wherein the second parking space is an vacant public parking space among the multiple parking spaces;

[0135] The generation module 403 is also used to generate a second parking path based on the current location information of the vehicle and the location information of the second parking space;

[0136] The control module 404 is also used to control the vehicle to park in the second parking space according to the second parking path. In summary, in the technical solution provided by this application embodiment, the determining module in the parking device determines a first parking space from among the multiple parking spaces based on the vehicle's location information obtained by the acquiring module, the category identifiers of multiple parking spaces in the target parking lot, and the location information of the multiple parking spaces. The first parking space is an vacant public parking space among the multiple parking spaces. The generating module in the parking device generates a first parking path based on the vehicle's location information and the location information of the first parking space. The control module in the parking device controls the vehicle to park in the first parking space according to the first parking path. Since the first parking space is an vacant public parking space, that is, a public parking space not occupied by others, rather than a private parking space, the availability of the first parking space determined by the parking device is high.

[0137] This application provides a parking device, including a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements... Figure 2 The parking method provided in the illustrated embodiment may include all or part of the steps, or implement as follows: Figure 3 All or part of the steps performed by the parking device in the parking method provided in the illustrated embodiment.

[0138] The parking device provided in this application embodiment can be a vehicle or a functional component deployed in a vehicle. Optionally, the parking device is a functional component deployed in a vehicle, and this application embodiment also provides a vehicle including the parking device. As an example, please refer to... Figure 5 , Figure 5This is a schematic diagram of a vehicle 500 provided in an embodiment of this application. The vehicle 500 includes the parking device provided in the above embodiment to perform the above parking method.

[0139] Typically, the vehicle 500 includes a processor 501 and a memory 502.

[0140] Processor 501 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 501 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 501 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 501 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 501 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0141] The memory 502 may include one or more computer-readable storage media, which may be non-transitory. The memory 502 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 502 is used to store a computer program, the computer program including at least one instruction, which is executed by the processor 501 to implement the parking method provided in the embodiments of this application.

[0142] In some embodiments, the parking device 500 may also optionally include a peripheral device interface 503 and at least one peripheral device. The processor 501, memory 502, and peripheral device interface 503 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 503 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of the following: a radio frequency circuit 504, a display screen 505, a camera assembly 506, an audio circuit 507, a positioning assembly 508, and a power supply 509.

[0143] Peripheral device interface 503 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 501 and memory 502. In some embodiments, processor 501, memory 502 and peripheral device interface 503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 501, memory 502 and peripheral device interface 503 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0144] The radio frequency (RF) circuit 504 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 504 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 504 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 504 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 504 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application embodiment.

[0145] Display screen 505 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 505 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 501 for processing. In this case, display screen 505 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, display screen 505 can be a flexible display screen. Furthermore, display screen 505 can be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. Display screen 505 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0146] Camera assembly 506 is used to acquire images or video. Optionally, camera assembly 506 includes at least one camera. Typically, the camera assembly is located inside the vehicle to acquire images of the interior, such as the roof, dashboard, or steering wheel. In some embodiments, camera assembly 506 may also include a flash. The flash may be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash is a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures. The camera assembly may also be positioned around the vehicle body to acquire images of the surrounding environment.

[0147] The audio circuit 507 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 501 for processing, or input to the radio frequency circuit 504 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each positioned at a different location within the parking device 500. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert the electrical signals from the processor 501 or the radio frequency circuit 504 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 507 may also include a headphone jack.

[0148] The positioning component 508 is used to determine the current geographical location of the parking device 500 in order to enable navigation or LBS (Location Based Service). The positioning component 508 can be a positioning component based on the US GPS (Global Positioning System), China's BeiDou system, or Russia's Galileo system.

[0149] Power supply 509 is used to power the various components in parking device 500. Power supply 509 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 509 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, and a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0150] In some embodiments, the parking device 500 further includes one or more sensors 510. The one or more sensors 510 include, but are not limited to: a pressure sensor 511, a fingerprint sensor 512, an optical sensor 513, a wheel speed sensor 514, and a gyroscope sensor 515.

[0151] The pressure sensor 511 can be located below the display screen 505. When the pressure sensor 511 is located below the display screen 505, the processor 501 controls the operable controls on the UI interface based on the user's pressure operation on the display screen 505. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0152] The fingerprint sensor 512 is used to collect the user's fingerprint. The processor 501 identifies the user's identity based on the fingerprint collected by the fingerprint sensor 512, or the fingerprint sensor 512 identifies the user's identity based on the collected fingerprint. When the user's identity is identified as trusted, the processor 501 authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. The fingerprint sensor 512 can be located on the front, back, or side of the display screen 505. When the display screen 505 has a physical button or manufacturer logo, the fingerprint sensor 512 can be integrated with the physical button or manufacturer logo.

[0153] An optical sensor 513 is used to collect ambient light intensity. In one embodiment, the processor 501 can control the display brightness of the display screen 505 based on the ambient light intensity collected by the optical sensor 513. Specifically, when the ambient light intensity is high, the display brightness of the display screen 505 is increased; when the ambient light intensity is low, the display brightness of the display screen 505 is decreased. In another embodiment, the processor 501 can also dynamically adjust the shooting parameters of the camera assembly 506 based on the ambient light intensity collected by the optical sensor 513.

[0154] Wheel speed sensor 514 is used to collect the rotational speed of the vehicle's wheels.

[0155] The gyroscope sensor 515 is used to collect the angular velocity of the steering wheel of the vehicle.

[0156] In some embodiments, a computer-readable storage medium is also provided, which stores a computer program that, when executed (e.g., by a processor, parking device, etc.), implements all or part of the steps of the parking method described above.

[0157] It is worth noting that the computer-readable storage medium mentioned in the embodiments of this application can be a non-volatile storage medium, in other words, it can be a non-transient storage medium.

[0158] It should be understood that all or part of the steps of the above embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented in whole or in part as a computer program product. A computer program product includes one or more computer instructions. The computer instructions can be stored in the above-described computer-readable storage medium.

[0159] In some embodiments, this application also provides a computer program product, including a computer program / instruction that, when executed (e.g., by a processor, parking device, etc.), implements all or part of the steps of the above-described parking method.

[0160] It should be understood that "at least one" as mentioned herein refers to one or more, and "multiple" refers to two or more. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In addition, in order to clearly describe the technical solutions of the embodiments of this application, the terms "first," "second," etc., are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or execution order, and the terms "first," "second," etc., are not necessarily different.

[0161] The method embodiments and device embodiments provided in this application can be referenced interchangeably, and this application does not limit them. The order of operations in the method embodiments provided in this application can be appropriately adjusted, and operations can be added or removed as needed. Any variations that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application, and therefore will not be elaborated further.

[0162] In the corresponding embodiments provided in this application, it should be understood that the disclosed devices, etc., can be implemented by other configurations. For example, the device embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0163] The modules described as separate components may or may not be physically separate, and the components described as modules may or may not be physical modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0164] It should be noted that all information (including but not limited to vehicle location information, parking space category identification, parking space location information, etc.), data (including but not limited to data used for analysis, stored data, etc.), and signals involved in this application are authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the images inside the vehicle and the images displayed in this application were obtained with full authorization.

[0165] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A parking method, characterized in that, The method includes: The system acquires the vehicle's location information, the category identifiers of multiple parking spaces in the target parking lot, and the location information of the multiple parking spaces. The category identifier of each parking space is used to indicate whether the parking space is an vacant public parking space. Based on the category identifiers of the plurality of parking spaces, at least one alternative parking space is determined from the plurality of parking spaces, wherein the at least one alternative parking space is an vacant public parking space among the plurality of parking spaces; Based on the location information of the vehicle and the location information of the at least one alternative parking space, a first parking space is determined from the at least one alternative parking space; A first parking path is generated based on the vehicle's location information and the location information of the first parking space; During the process of controlling the vehicle to park in the first parking space according to the first parking path, if it is determined that the category identifier of the first parking space is updated to a category identifier used to indicate that the first parking space is occupied, a second parking space is determined among the multiple parking spaces based on the current location information of the vehicle, the category identifiers of the multiple parking spaces, and the location information of the multiple parking spaces. The second parking space is an vacant public parking space among the multiple parking spaces. A second parking path is generated based on the current location information of the vehicle and the location information of the second parking space. Control the vehicle to park in the second parking space according to the second parking path.

2. The method according to claim 1, characterized in that, The step of determining the first parking space from the at least one alternative parking space based on the vehicle's location information and the location information of the at least one alternative parking space includes: The location information of the vehicle and the location information of the at least one alternative parking space are sent to the user terminal. The user terminal is used to determine the first parking space from the at least one alternative parking space based on the selection command triggered by the user and send parking space indication information to indicate the first parking space. Receive the parking space indication information sent by the user terminal; The first parking space is determined based on the parking space indication information.

3. The method according to claim 1, characterized in that, The step of determining the first parking space from the at least one alternative parking space based on the vehicle's location information and the location information of the at least one alternative parking space includes: Based on the location information of the vehicle and the location information of the at least one alternative parking space, the alternative parking space closest to the vehicle among the at least one alternative parking spaces is determined as the first parking space.

4. A parking device, characterized in that, The device includes: The acquisition module is used to acquire the vehicle's location information, the category identifiers of multiple parking spaces in the target parking lot, and the location information of the multiple parking spaces. The category identifier of each parking space is used to indicate whether the parking space is an empty public parking space. The determining module is configured to: determine at least one alternative parking space from the plurality of parking spaces based on the category identifiers of the plurality of parking spaces, wherein the at least one alternative parking space is an vacant public parking space from the plurality of parking spaces; and determine a first parking space from the at least one alternative parking space based on the location information of the vehicle and the location information of the at least one alternative parking space. The generation module is used to generate a first parking path based on the location information of the vehicle and the location information of the first parking space; The determining module is further configured to, during the process of the control module controlling the vehicle to park in the first parking space according to the first parking path, if it is determined that the category identifier of the first parking space is updated to a category identifier used to indicate that the first parking space is occupied, determine a second parking space among the multiple parking spaces based on the current location information of the vehicle, the category identifiers of the multiple parking spaces and the location information of the multiple parking spaces, wherein the second parking space is an vacant public parking space among the multiple parking spaces; The generation module is also used to generate a second parking path based on the current location information of the vehicle and the location information of the second parking space; The control module is also used to control the vehicle to park in the second parking space according to the second parking path.

5. The apparatus according to claim 4, characterized in that, The determining module is used for: The location information of the vehicle and the location information of the at least one alternative parking space are sent to the user terminal. The user terminal is used to determine the first parking space from the at least one alternative parking space based on the selection command triggered by the user and send parking space indication information to indicate the first parking space. Receive the parking space indication information sent by the user terminal; The first parking space is determined based on the parking space indication information.

6. The apparatus according to claim 4, characterized in that, The determining module is used for: Based on the location information of the vehicle and the location information of the at least one alternative parking space, the alternative parking space closest to the vehicle among the at least one alternative parking spaces is determined as the first parking space.

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