A parking method and apparatus

Abstract

The application relates to a parking method and device, the method comprising: determining first information, the first information comprising information associated with a first temporary parking position, the information associated with the first temporary parking position comprising at least one of the following: a first temporary parking point, a first temporary parking position, or a first trajectory; wherein the first temporary parking point is a parking point in a driving process of a first vehicle from a current position to a target stop position, the first temporary parking position is a parking position in the driving process of the first vehicle from the current position to the target stop position, and the first trajectory is a motion trajectory between the first temporary parking position or the first temporary parking point and a target stop position of the first vehicle; and sending the first information to the first vehicle. The parking method and device provided by the embodiments of the application can improve parking efficiency.

Description

Technical Field

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

[0002] In Automated Valet Parking (AVP) scenarios, vehicles can automatically plan their routes to the target parking space based on high-precision maps and perceived surrounding environments. However, in scenarios with significant limitations, vehicles need to repeatedly try to find a feasible path during the automated parking process. Multiple attempts can impact parking efficiency and may even lead to parking failure. For example, in mining scenarios, vehicles in loading areas often struggle to accurately identify geographical and dynamic information on the road due to complex road conditions. The collected spatial information often fails to meet the vehicle's driving requirements, resulting in automated parking failures and low operational efficiency. Improving the efficiency of automated parking has become a pressing issue. Summary of the Invention

[0003] In view of this, a parking method and device are proposed that can improve parking efficiency.

[0004] In a first aspect, embodiments of this application provide a parking method, the method comprising: determining first information, the first information including information associated with a first temporary parking space, the information associated with the first temporary parking space including at least one of the following: a first temporary parking point, a first temporary parking space, or a first trajectory; wherein, the first temporary parking point is a parking point of a first vehicle during its journey from its current position to a target parking position, the first temporary parking space is a parking space of the first vehicle during its journey from its current position to the target parking position, and the first trajectory is the movement trajectory between the first temporary parking space or the first temporary parking point and the target parking position of the first vehicle; and sending the first information to the first vehicle.

[0005] In this embodiment of the application, by determining the starting position of the first vehicle parking, parking is achieved in one go in terms of path planning, which greatly improves parking efficiency.

[0006] According to the first aspect, in a first possible implementation of the method, determining the first information includes: determining the first information based on the vehicle information of the second vehicle and / or the task information of the second vehicle, wherein the second vehicle is the first vehicle, or is a vehicle of the same type as the first vehicle.

[0007] In this embodiment of the application, at least one of the first temporary stop point, the first temporary stop position, and the first trajectory is determined by the vehicle information and / or the work task information of the second vehicle. The first temporary stop point, the first temporary stop position, or the first trajectory is associated with the vehicle information and / or the work task information, which is beneficial for the first vehicle to quickly reach its target stop position.

[0008] According to the first possible implementation of the first aspect, in the second possible implementation of the method, the method further includes: acquiring the vehicle information and / or the task information.

[0009] According to the first or second possible implementation of the first aspect, in the third possible implementation of the method, determining the first information based on the vehicle information and / or the work task information of the second vehicle includes: determining the first temporary stop or the first temporary stop based on the work position and / or the work area of ​​the second vehicle, wherein the work position and / or the work area of ​​the second vehicle is included in the work task information of the second vehicle.

[0010] In this embodiment of the application, determining the first temporary stop point or the first temporary stop position based on the working position and / or working area of ​​the second vehicle is beneficial for the first vehicle to quickly reach its target stopping position.

[0011] According to the first or second possible implementation of the first aspect, in the fourth possible implementation of the method, the vehicle information includes the size information of the second vehicle, the task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle, and determining the first information based on the vehicle information of the second vehicle and / or the task information of the second vehicle includes: determining the first temporary stop point based on the work position and / or the work area; determining the first temporary stop position based on the size information and the first temporary stop point, wherein the first temporary stop point is located in the first temporary stop position.

[0012] In this embodiment of the application, determining the first temporary parking space based on the size information can make the first temporary parking space more suitable for the first vehicle, making it easier for the first vehicle to park in the first temporary parking space.

[0013] According to any possible implementation of the first aspect above, in a fifth possible implementation of the method, the task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle, and the step of determining the first information based on the vehicle information of the second vehicle and / or the task information of the second vehicle includes: determining the first temporary stop point based on the work position and / or the work area; and determining the first trajectory based on the first temporary stop point, wherein the first trajectory includes the first temporary stop point and the target stop position of the first vehicle.

[0014] In this embodiment, by determining the first trajectory, the first vehicle can be comprehensively guided to travel from the first temporary stopping point or the first temporary stopping position to the target stopping position along the first trajectory, which helps to improve parking efficiency. It should be noted that if the first temporary stopping point has already been determined before, the step of determining the first temporary stopping point does not need to be repeated here.

[0015] According to any possible implementation of the first aspect or the above-mentioned first aspect, in the sixth possible implementation of the method, the first temporary stopping point or the first temporary stopping position is located in a first location set, and there is at least one feasible path between any location included in the first location set and the target stopping position of the first vehicle.

[0016] This ensures that there is at least one feasible path between the first temporary stopping point or the first temporary stopping position and the target stopping position of the first vehicle. In other words, after the first vehicle travels from its current position to the first temporary stopping point or the first temporary stopping position, it can reach the target stopping position of the first vehicle from the first temporary stopping point or the first temporary stopping position.

[0017] According to the sixth possible implementation of the first aspect, in the seventh possible implementation of the method, the distance between any position included in the first position set and the target stopping position of the first vehicle is less than a first distance.

[0018] In this embodiment of the application, by limiting the distance between the position in the first position set and the target stopping position of the first vehicle, the first vehicle can reach the target stopping position of the first vehicle through the automatic parking function after stopping at the first temporary parking point or the first temporary parking position, which is beneficial to improving the efficiency of automatic parking.

[0019] According to the sixth or seventh possible implementation of the first aspect, in the eighth possible implementation of the method, any one of the locations included in the first set of locations is located within the temporary parking area.

[0020] By limiting the first temporary parking point or the first temporary parking space to the temporary parking area, the efficiency of determining the first temporary parking point or the first temporary parking space can be accelerated, thus providing favorable conditions for improving parking efficiency.

[0021] According to the eighth possible implementation of the first aspect, in the ninth possible implementation of the method, the distance between the temporary parking area and the target stopping position of the first vehicle is less than the second distance.

[0022] In this embodiment of the application, by limiting the distance between the temporary parking area and the target stopping position of the first vehicle, the distance between the position in the first position set and the target stopping position of the first vehicle is limited. This allows the first vehicle to reach its target stopping position through the automatic parking function after parking at the first temporary parking point or the first temporary parking position, which helps to improve the efficiency of automatic parking.

[0023] According to any one of the sixth to ninth possible implementations of the first aspect, in the tenth possible implementation of the method, any one of the locations included in the first location set is associated with point cloud data and / or road topology data of a high-precision map.

[0024] According to the first or second possible implementation of the first aspect, in the eleventh possible implementation of the method, the vehicle information and / or the task information includes point cloud data of a high-precision map and / or road topology data, and the first information includes the first temporary stopping point; determining the first information based on the vehicle information of the second vehicle and / or the task information of the second vehicle includes: obtaining a first location set based on the point cloud data and / or the road topology data, wherein any location included in the first location set has at least one feasible path to the target stopping position of the first vehicle; the first information is included in the first location set.

[0025] According to the eleventh possible implementation of the first aspect, in the twelfth possible implementation of the method, the distance between any position in the first set of positions and the target stop position of the first vehicle is less than a first distance.

[0026] According to the eleventh or twelfth possible implementation of the first aspect, in the thirteenth possible implementation of the method, any one of the locations included in the first set of locations is located within the temporary parking area.

[0027] According to the thirteenth possible implementation of the first aspect, in the fourteenth possible implementation of the method, the distance between the temporary parking area and the target stopping position of the first vehicle is less than the second distance.

[0028] According to any possible implementation of the first aspect or the above-mentioned first aspect, in the fifteenth possible implementation of the method, the first temporary stop point or the first temporary stop position corresponds to a first sequence, and the first sequence is used to characterize the scheduling order of the first vehicle.

[0029] According to any possible implementation of the first aspect or the above-mentioned first aspect, in the sixteenth possible implementation of the method, before sending the first information, the method further includes: receiving request information from the first vehicle, the request information being used to request at least one of the following: the stopping point of the first vehicle, the stopping position of the first vehicle, the trajectory of the first vehicle from the stopping point of the first vehicle to the target stopping position of the first vehicle, and the trajectory of the first vehicle from the stopping position of the first vehicle to the target stopping position of the first vehicle.

[0030] In a seventeenth possible implementation of the method, according to the first aspect or any of the above-mentioned first aspects, after sending the first information, the method further includes: receiving confirmation information of the first vehicle, the confirmation information being used to indicate that the first vehicle has arrived at the first temporary stopping point or the first temporary stopping position.

[0031] In any possible implementation of the first aspect or the above-mentioned first aspect, in the eighteenth possible implementation of the method, the method further includes: determining M temporary parking positions, the M temporary parking positions corresponding to a first task, the first task being at least a work task to be performed by the first vehicle, the M temporary parking positions including the first temporary parking position, where M is an integer greater than 1.

[0032] By providing multiple temporary parking spaces as candidates, the most suitable temporary parking space for the first vehicle can be selected, which helps improve parking efficiency.

[0033] According to the eighteenth possible implementation of the first aspect, in the nineteenth possible implementation of the method, the method further includes: determining the first temporary parking position or the first temporary parking point based on M, the number of vehicles performing the first task, at least one of the location information of N temporary parking positions among the M temporary parking positions, and the location information of the first vehicle, wherein N is an integer greater than or equal to 1 and less than or equal to M.

[0034] This makes it easier for the first vehicle to enter the first temporary parking space or the first temporary parking point, thus improving parking efficiency.

[0035] According to the eighteenth or nineteenth possible implementation of the first aspect, in the twentieth possible implementation of the method, the M temporary stopping positions correspond to a first sequence, the first sequence contains the M numbers, the M numbers correspond one-to-one with the M temporary stopping positions, and each of the M numbers represents the scheduling order of its corresponding temporary stopping position.

[0036] According to any possible implementation of the first aspect or the above-mentioned first aspect, in the twenty-first possible implementation of the method, the method further includes: sending second information to the first vehicle, the second information being used to instruct the first vehicle to display at least one of the following: the first temporary parking position, the number in the first sequence corresponding to the first temporary parking position, the M temporary parking positions, the number in the first sequence corresponding to each of the M temporary parking positions, the target stopping position of the first vehicle, and the first trajectory.

[0037] This makes it easier for the driver of the first vehicle to understand the parking situation.

[0038] According to any one of the eighteenth to twenty-first possible implementations of the first aspect, in the twenty-second possible implementation of the method, the method further includes: sending a second temporary parking position to the first vehicle, the second temporary parking position being located on the first trajectory, and the second temporary parking position being a parking position of the first vehicle during its journey from the first temporary parking position to the target stopping position of the first vehicle.

[0039] This allows for guidance and standardization of the automatic parking path for the first vehicle.

[0040] According to any possible implementation of the first aspect or the above-mentioned first aspect, in the twenty-third possible implementation of the method, the method further includes: sending third information to the first vehicle, the third information being used to instruct the first vehicle to display at least one of the following: the first temporary parking position, the target stopping position of the first vehicle, and the first trajectory.

[0041] According to any possible implementation of the first aspect or the above-mentioned first aspect, in the twenty-fourth possible implementation of the method, the method further includes: sending fourth information to the first vehicle, the fourth information being used to indicate the operating mode of the first vehicle reaching the target stopping position of the first vehicle, the operating mode including a first mode or a second mode, wherein the first mode is used to characterize the first vehicle reaching the target stopping position of the first vehicle through automatic parking, and the second mode is used to characterize the first vehicle reaching the target stopping position of the first vehicle through the first trajectory.

[0042] According to the twenty-fourth possible implementation of the first aspect, in the twenty-fifth possible implementation of the method, the first temporary parking position is the starting position when the first vehicle initiates the automatic parking.

[0043] According to any possible implementation of the first aspect or the above-mentioned first aspect, in the twenty-sixth possible implementation of the method, the target stop position of the first vehicle is the stop position of the first vehicle when performing the work task or the work position of the first vehicle.

[0044] Secondly, embodiments of this application provide a parking method, the method comprising: receiving first information, the first information including information associated with a first temporary parking space, the information associated with the first temporary parking space including at least one of the following: a first temporary parking point, a first temporary parking space, or a first trajectory; wherein, the first temporary parking point is a parking point of a first vehicle during its journey from its current position to a target parking position, the first temporary parking space is a parking space of the first vehicle during its journey from its current position to the target parking position, and the first trajectory is a movement trajectory between the first temporary parking space or the first temporary parking point and the target parking position of the first vehicle; and driving to the target parking position of the first vehicle according to the first information.

[0045] In one possible implementation, the first information is determined based on the vehicle information system of the second vehicle and / or the task information of the second vehicle, wherein the second vehicle is the first vehicle, or is a vehicle of the same type as the first vehicle.

[0046] In one possible implementation, the first temporary stop or the first temporary stop position is determined based on the work position and / or the work area of ​​the second vehicle, wherein the work position and / or the work area of ​​the second vehicle are included in the work task information of the second vehicle.

[0047] In one possible implementation, the vehicle information includes the size information of the second vehicle, the task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle, the first temporary stop is determined based on the work position and / or the work area, the first temporary stop is determined based on the size information and the first temporary stop, wherein the first temporary stop is located in the first temporary stop.

[0048] In one possible implementation, the task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle, the first temporary stop is determined based on the work position and / or the work area, and the first trajectory is determined based on the first temporary stop, wherein the first trajectory includes the first temporary stop and the target stop position of the first vehicle.

[0049] In one possible implementation, the first temporary stop point or the first temporary stop position is located in a first set of locations, and there is at least one feasible path between any of the locations included in the first set and the target stop position of the first vehicle.

[0050] In one possible implementation, the distance between any location included in the first location set and the target stopping position of the first vehicle is less than a first distance.

[0051] In one possible implementation, any one of the locations included in the first set of locations is located within the temporary parking area.

[0052] In one possible implementation, the distance between the temporary parking area and the target stopping position of the first vehicle is less than a second distance.

[0053] In one possible implementation, any one of the locations included in the first set of locations is associated with point cloud data and / or road topology data of a high-precision map.

[0054] In one possible implementation, the vehicle information and / or the task information includes point cloud data of a high-precision map and / or road topology data. The first information includes the first temporary stop point. The first information is contained in a first location set. There is at least one feasible path between any location included in the first location set and the target stop location of the first vehicle. The first location set is determined based on the point cloud data and / or the road topology.

[0055] In one possible implementation, the distance between any position in the first set of positions and the target stopping position of the first vehicle is less than a first distance.

[0056] In one possible implementation, any one of the locations included in the first set of locations is located within the temporary parking area.

[0057] In one possible implementation, the distance between the temporary parking area and the target stopping position of the first vehicle is less than a second distance.

[0058] In one possible implementation, the first temporary stop point or the first temporary stop position corresponds to a first sequence, which is used to characterize the scheduling order of the first vehicle.

[0059] In one possible implementation, before receiving the first information, the method further includes: sending request information, the request information being used to request at least one of the following: the stopping point of the first vehicle, the stopping position of the first vehicle, the trajectory of the first vehicle from the stopping point of the first vehicle to the target stopping position of the first vehicle, and the trajectory of the first vehicle from the stopping position of the first vehicle to the target stopping position of the first vehicle.

[0060] In one possible implementation, after receiving the first information, the method further includes: sending confirmation information, the confirmation information being used to indicate that the first vehicle has arrived at the first temporary stopping point or the first temporary stopping position.

[0061] In one possible implementation, the method further includes: receiving second information, the second information being used to instruct the first vehicle to display at least one of the following: a first temporary parking position, a number in a first sequence corresponding to the first temporary parking position, M temporary parking positions, a number in a first sequence corresponding to each of the M temporary parking positions, a target stopping position of the first vehicle, and a first trajectory; wherein, the M temporary parking positions correspond to a first task, the first task being at least a task to be performed by the first vehicle, the M temporary parking positions include the first temporary parking position, and M is an integer greater than 1; the M temporary parking positions correspond to the first sequence, the first sequence includes M numbers, the M numbers correspond one-to-one with the M temporary parking positions, and each of the M numbers represents the scheduling order of its corresponding temporary parking position.

[0062] In one possible implementation, the method further includes: receiving a second temporary parking space, the second temporary parking space being located on the first trajectory, and the second temporary parking space being a parking space during the first vehicle's journey from the first temporary parking space to the first vehicle's target stopping position.

[0063] In one possible implementation, the method further includes: receiving third information, the third information being used to display at least one of the following for at least the first vehicle: the first temporary parking position, the target stopping position, and the first trajectory.

[0064] In one possible implementation, the method further includes: receiving fourth information, the fourth information being used to indicate an operating mode in which the first vehicle reaches a target stopping position, the operating mode including a first mode or a second mode, wherein the first mode is used to characterize the first vehicle automatically parking to reach the target stopping position, and the second mode is used to characterize the first vehicle reaching the target stopping position via the first trajectory.

[0065] In one possible implementation, the first temporary parking position is the starting position when the first vehicle initiates the automatic parking.

[0066] In one possible implementation, the target stop position of the first vehicle is either the stop position when the first vehicle performs the task or the work position of the first vehicle.

[0067] Thirdly, embodiments of this application provide a parking device, the device comprising:

[0068] A first determining module is used to determine first information, the first information including at least one of the following: a first temporary stopping point, a first temporary stopping position, or a first trajectory; wherein, the first temporary stopping point is a stopping point of the first vehicle during its journey from the current position to the target stopping position, the first temporary stopping position is a stopping position of the first vehicle during its journey from the current position to the target stopping position, and the first trajectory is the movement trajectory between the first temporary stopping position or the first temporary stopping point and the target stopping position of the first vehicle;

[0069] The first sending module is used to send the first information to the first vehicle.

[0070] In one possible implementation, the first determining module is further configured to:

[0071] The first information is determined based on the vehicle information of the second vehicle and / or the work task information of the second vehicle, wherein the second vehicle is the first vehicle, or is a vehicle of the same type as the first vehicle.

[0072] In one possible implementation, the device further includes:

[0073] The first acquisition module is used to acquire the vehicle information and / or the task information.

[0074] In one possible implementation, determining the first information based on the vehicle information of the second vehicle and / or the task information of the second vehicle includes:

[0075] The first temporary stop or the first temporary stop is determined based on the work position and / or the work area of ​​the second vehicle, wherein the work position and / or the work area of ​​the second vehicle are included in the work task information of the second vehicle.

[0076] In one possible implementation, the vehicle information includes the size information of the second vehicle, the task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle, and the step of determining the first information based on the vehicle information and / or the task information of the second vehicle includes:

[0077] The first temporary stop point is determined based on the work station and / or the work area;

[0078] Based on the size information and the first temporary stopping point, the first temporary stopping position is determined, wherein the first temporary stopping point is located in the first temporary stopping position.

[0079] In one possible implementation, the task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle, and the step of determining the first information based on the vehicle information of the second vehicle and / or the task information of the second vehicle includes:

[0080] The first temporary stop point is determined based on the work station and / or the work area;

[0081] The first trajectory is determined based on the first temporary stop point, wherein the first trajectory includes the first temporary stop point and the target stop position of the first vehicle.

[0082] In one possible implementation, the first temporary stop point or the first temporary stop position is located in a first set of locations, and there is at least one feasible path between any of the locations included in the first set and the target stop position of the first vehicle.

[0083] In one possible implementation, the distance between any location included in the first location set and the target stopping position of the first vehicle is less than a first distance.

[0084] In one possible implementation, any one of the locations included in the first set of locations is located within the temporary parking area.

[0085] In one possible implementation, the distance between the temporary parking area and the target stopping position of the first vehicle is less than a second distance.

[0086] In one possible implementation, any one of the locations included in the first set of locations is associated with point cloud data and / or road topology data of a high-precision map.

[0087] In one possible implementation, the vehicle information and / or the task information includes point cloud data of a high-precision map and / or road topology data, and the first information includes the first temporary stopping point; determining the first information based on the vehicle information of the second vehicle and / or the task information of the second vehicle includes:

[0088] Based on the point cloud data and / or the road topology data, a first location set is obtained, wherein there is at least one feasible path between any location included in the first location set and the target stopping position of the first vehicle.

[0089] The first information is contained in the first location set.

[0090] In one possible implementation, the distance between any position in the first set of positions and the target stopping position of the first vehicle is less than a first distance.

[0091] In one possible implementation, any one of the locations included in the first set of locations is located within the temporary parking area.

[0092] In one possible implementation, the distance between the temporary parking area and the target stopping position of the first vehicle is less than a second distance.

[0093] In one possible implementation, the first temporary stop point or the first temporary stop position corresponds to a first sequence, which is used to characterize the scheduling order of the first vehicle.

[0094] In one possible implementation, before sending the first information, the device further includes:

[0095] A first receiving module is configured to receive request information from the first vehicle, the request information being used to request at least one of the following: the stopping point of the first vehicle, the stopping position of the first vehicle, the trajectory of the first vehicle from the stopping point to the target stopping position, and the trajectory of the first vehicle from the stopping position to the target stopping position.

[0096] In one possible implementation, the device further includes:

[0097] The second receiving module is used to receive confirmation information from the first vehicle, the confirmation information being used to indicate that the first vehicle has arrived at the first temporary stopping point or the first temporary stopping position.

[0098] In one possible implementation, the device further includes:

[0099] The second determining module is used to determine M temporary parking positions, the M temporary parking positions corresponding to a first task, the first task being at least the work task to be performed by the first vehicle, and the M temporary parking positions including the first temporary parking position, where M is an integer greater than 1.

[0100] In one possible implementation, the device further includes:

[0101] The third determining module is used to determine the first temporary parking position or the first temporary parking point based on M, the number of vehicles performing the first task, at least one of the location information of N temporary parking positions among the M temporary parking positions, and the location information of the first vehicle, where N is an integer greater than or equal to 1 and less than or equal to M.

[0102] In one possible implementation, the M temporary parking positions correspond to a first sequence, the first sequence containing the M numbers, the M numbers corresponding one-to-one with the M temporary parking positions, and each of the M numbers representing the scheduling order of its corresponding temporary parking position.

[0103] In one possible implementation, the device further includes:

[0104] A first sending module is configured to send second information to the first vehicle, the second information being configured to instruct the first vehicle to display at least one of the following: the first temporary stopping position, the number in the first sequence corresponding to the first temporary stopping position, the M temporary stopping positions, the number in the first sequence corresponding to each of the M temporary stopping positions, the target stopping position of the first vehicle, and the first trajectory.

[0105] In one possible implementation, the device further includes:

[0106] The second sending module is used to send a second temporary parking position to the first vehicle. The second temporary parking position is located on the first trajectory, and the second temporary parking position is a parking position of the first vehicle during its journey from the first temporary parking position to the target stopping position of the first vehicle.

[0107] In one possible implementation, the device further includes:

[0108] The third sending module is used to send third information to the first vehicle, the third information being used to instruct the first vehicle to display at least one of the following: the first temporary stopping position, the target stopping position of the first vehicle, and the first trajectory.

[0109] In one possible implementation, the device further includes:

[0110] The fourth sending module is used to send fourth information to the first vehicle. The fourth information is used to indicate the operating mode of the first vehicle reaching the target stopping position of the first vehicle. The operating mode includes a first mode or a second mode. The first mode is used to indicate that the first vehicle reaches the target stopping position of the first vehicle through automatic parking. The second mode is used to indicate that the first vehicle reaches the target stopping position of the first vehicle through the first trajectory.

[0111] In one possible implementation, the first temporary parking position is the starting position when the first vehicle initiates the automatic parking.

[0112] In one possible implementation, the target stop position of the first vehicle is either the stop position when the first vehicle performs the task or the work position of the first vehicle.

[0113] Fourthly, embodiments of this application provide a parking device, the device comprising:

[0114] A first receiving module is configured to receive first information, the first information including at least one of the following: a first temporary stopping point, a first temporary stopping position, or a first trajectory; wherein, the first temporary stopping point is a stopping point of the first vehicle during its journey from the current position to the target stopping position, the first temporary stopping position is a stopping position of the first vehicle during its journey from the current position to the target stopping position, and the first trajectory is the movement trajectory between the first temporary stopping position or the first temporary stopping point and the target stopping position of the first vehicle;

[0115] The first driving module is used to drive the first vehicle to the target stop position based on the first information.

[0116] In one possible implementation, the first information is determined based on the vehicle information system of the second vehicle and / or the task information of the second vehicle, wherein the second vehicle is the first vehicle, or is a vehicle of the same type as the first vehicle.

[0117] In one possible implementation, the first temporary stop or the first temporary stop position is determined based on the work position and / or the work area of ​​the second vehicle, wherein the work position and / or the work area of ​​the second vehicle are included in the work task information of the second vehicle.

[0118] In one possible implementation, the vehicle information includes the size information of the second vehicle, the task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle, the first temporary stop is determined based on the work position and / or the work area, the first temporary stop is determined based on the size information and the first temporary stop, wherein the first temporary stop is located in the first temporary stop.

[0119] In one possible implementation, the task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle, the first temporary stop is determined based on the work position and / or the work area, and the first trajectory is determined based on the first temporary stop, wherein the first trajectory includes the first temporary stop and the target stop position of the first vehicle.

[0120] In one possible implementation, the first temporary stop point or the first temporary stop position is located in a first set of locations, and there is at least one feasible path between any of the locations included in the first set and the target stop position of the first vehicle.

[0121] In one possible implementation, the distance between any location included in the first location set and the target stopping position of the first vehicle is less than a first distance.

[0122] In one possible implementation, any one of the locations included in the first set of locations is located within the temporary parking area.

[0123] In one possible implementation, the distance between the temporary parking area and the target stopping position of the first vehicle is less than a second distance.

[0124] In one possible implementation, any one of the locations included in the first set of locations is associated with point cloud data and / or road topology data of a high-precision map.

[0125] In one possible implementation, the vehicle information and / or the task information includes point cloud data of a high-precision map and / or road topology data. The first information includes the first temporary stop point. The first information is contained in a first location set. There is at least one feasible path between any location included in the first location set and the target stop location of the first vehicle. The first location set is determined based on the point cloud data and / or the road topology.

[0126] In one possible implementation, the distance between any position in the first set of positions and the target stopping position of the first vehicle is less than a first distance.

[0127] In one possible implementation, any one of the locations included in the first set of locations is located within the temporary parking area.

[0128] In one possible implementation, the distance between the temporary parking area and the target stopping position of the first vehicle is less than a second distance.

[0129] In one possible implementation, the first temporary stop point or the first temporary stop position corresponds to a first sequence, which is used to characterize the scheduling order of the first vehicle.

[0130] In one possible implementation, prior to receiving the first information, the device further includes:

[0131] A first sending module is configured to send request information, the request information being used to request at least one of the following: the stopping point of the first vehicle, the stopping position of the first vehicle, the trajectory of the first vehicle from the stopping point of the first vehicle to the target stopping position of the first vehicle, and the trajectory of the first vehicle from the stopping position of the first vehicle to the target stopping position of the first vehicle.

[0132] In one possible implementation, the device further includes:

[0133] The second sending module is used to send confirmation information, which is used to indicate that the first vehicle has arrived at the first temporary stopping point or the first temporary stopping position.

[0134] In one possible implementation, the device further includes:

[0135] The second receiving module is used to receive second information, which is used to instruct the first vehicle to display at least one of the following: the first temporary parking position, the number in the first sequence corresponding to the first temporary parking position, M temporary parking positions, the number in the first sequence corresponding to each of the M temporary parking positions, the target stopping position of the first vehicle, and the first trajectory;

[0136] Wherein, the M temporary parking positions correspond to the first task, the first task being at least the operation task to be performed by the first vehicle, the M temporary parking positions include the first temporary parking position, and M is an integer greater than 1; the M temporary parking positions correspond to the first sequence, the first sequence includes M numbers, the M numbers correspond one-to-one with the M temporary parking positions, and each of the M numbers represents the scheduling order of its corresponding temporary parking position.

[0137] In one possible implementation, the device further includes:

[0138] The third receiving module is used to receive a second temporary parking position, which is located on the first trajectory and is a parking position of the first vehicle during its journey from the first temporary parking position to the target stopping position of the first vehicle.

[0139] In one possible implementation, the device further includes:

[0140] The fourth receiving module is used to receive third information, which is used to display at least one of the following for the first vehicle: the first temporary parking position, the target stopping position, and the first trajectory.

[0141] In one possible implementation, the device further includes:

[0142] The fifth receiving module is used to receive fourth information, which is used to indicate the operating mode of the first vehicle reaching the target stopping position of the first vehicle. The operating mode includes a first mode or a second mode, wherein the first mode is used to indicate that the first vehicle automatically parks and reaches the target stopping position of the first vehicle, and the second mode is used to indicate that the first vehicle reaches the target stopping position of the first vehicle through the first trajectory.

[0143] In one possible implementation, the first temporary parking position is the starting position when the first vehicle initiates the automatic parking.

[0144] In one possible implementation, the target stop position of the first vehicle is either the stop position when the first vehicle performs the task or the work position of the first vehicle.

[0145] Fifthly, embodiments of this application provide an electronic device including a processor and a memory for storing processor-executable instructions, wherein the processor is configured to implement one or more of the parking methods described in the first aspect or various possible implementations of the first aspect when executing the instructions.

[0146] Sixthly, embodiments of this application provide an electronic device including a processor and a memory for storing processor-executable instructions, wherein the processor is configured to implement one or more of the parking methods described in the second aspect or various possible implementations of the second aspect when executing the instructions.

[0147] In a seventh aspect, embodiments of this application provide a non-volatile computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement one or more of the parking methods described in the first aspect or in various possible implementations of the first aspect, or one or more of the parking methods described in the second aspect or in various possible implementations of the second aspect.

[0148] Eighthly, embodiments of this application provide a computer program product including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code. When the computer-readable code is executed in an electronic device, a processor in the electronic device executes one or more of the parking methods described in the first aspect or multiple possible implementations of the first aspect, or one or more of the parking methods described in the second aspect or multiple possible implementations of the second aspect.

[0149] Ninthly, embodiments of this application provide a vehicle including a parking device as described in the fourth aspect or one or more possible implementations of the fourth aspect, or an electronic device as described in the sixth aspect.

[0150] These and other aspects of this application will become more apparent in the description of the following embodiments(s). Attached Figure Description

[0151] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this application together with the specification and serve to explain the principles of this application.

[0152] Figure 1 This diagram illustrates the structure of a parking system provided in an embodiment of this application.

[0153] Figure 2 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0154] Figure 3 This diagram illustrates the interactive flow of the parking method provided in an embodiment of this application.

[0155] Figure 4 This is an exemplary schematic diagram showing the temporary stop point, temporary stop position, and target stop position provided in the embodiments of this application.

[0156] Figure 5 This diagram illustrates the interactive flow of the parking method provided in an embodiment of this application.

[0157] Figure 6 A block diagram of a parking device provided in an embodiment of this application is shown.

[0158] Figure 7A block diagram of a parking device provided in an embodiment of this application is shown. Detailed Implementation

[0159] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0160] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0161] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0162] Figure 1 A schematic diagram of the parking system provided in an embodiment of this application is shown. Figure 1 As shown, the system may include a cloud platform 101 and a vehicle 102. A communication connection is established between the cloud platform 101 and the vehicle 102. Taking the first vehicle as an example, in this embodiment, the cloud platform 101 can determine information related to the first temporary parking position, such as a first temporary parking point, a first temporary parking space, or a first trajectory. The first temporary parking point is a parking point for the first vehicle during its journey from its current location to the target parking position; the first temporary parking space is a parking space for the first vehicle during its journey from its current location to the target parking position; and the first trajectory is the movement trajectory between the first temporary parking space or the first temporary parking point and the target parking position of the first vehicle. The cloud platform 101 can send the aforementioned first temporary parking point, first temporary parking space, or first trajectory to the first vehicle to facilitate efficient parking. Here, the first vehicle can represent any vehicle 102. In one example, the first vehicle can be any type of vehicle such as a mining truck, excavator, logistics vehicle, or taxi; this embodiment does not limit the type of vehicle. The cloud platform 101 can be a physical device such as a host, frame server, or blade server, or a virtual device such as a virtual machine or container.

[0163] Figure 2 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. This electronic device can be used to deploy cloud 101.

[0164] like Figure 2As shown, the electronic device may include at least one processor 301, a memory 302, an input / output device 303, and a bus 304. The following is in conjunction with... Figure 2 A detailed introduction to each component of the electronic device:

[0165] Processor 301 is the control center of the electronic device. It can be a single processor or a collective term for multiple processing elements. For example, processor 301 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this disclosure, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0166] The processor 301 can perform various functions of the electronic device by running or executing software programs stored in the memory 302 and calling data stored in the memory 302.

[0167] In a specific implementation, as one example, processor 301 may include one or more CPUs, such as CPU 0 and CPU 1 shown in the figure.

[0168] In a specific implementation, as one example, an electronic device may include multiple processors, for example... Figure 2 The processors 301 and 305 are shown. Each of these processors can be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). Here, "processor" can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0169] Memory 302 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. Memory 302 may exist independently and be connected to processor 301 via bus 304. Memory 302 may also be integrated with processor 301.

[0170] Input / output device 303 is used to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), and Wireless Local Area Networks (WLAN). Input / output device 303 may include all or part of a baseband processor, and may optionally include a Radio Frequency (RF) processor. The RF processor is used to transmit and receive RF signals, while the baseband processor is used to process baseband signals converted from RF signals or baseband signals that are about to be converted to RF signals.

[0171] In a specific implementation, as one example, the input / output device 303 may include a transmitter and a receiver. The transmitter is used to send signals to other devices or communication networks, and the receiver is used to receive signals sent by other devices or communication networks. The transmitter and receiver may exist independently or be integrated together.

[0172] Bus 304 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 2 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0173] Figure 3 This diagram illustrates the interactive flow of a parking method provided in an embodiment of this application. This method can be applied to... Figure 1 The system shown. (As shown in the image) Figure 3 As shown, the method may include:

[0174] Step S201: The cloud determines the first information.

[0175] The first vehicle can refer to a vehicle waiting to be parked, and the first vehicle can be any vehicle. In one example, the first vehicle can be any type of vehicle such as a mining truck, excavator, logistics vehicle, or taxi. This application embodiment does not limit the first vehicle.

[0176] The target stopping position of the first vehicle can be used to indicate the final parking location of the first vehicle. In one example, the target stopping position of the first vehicle can be the stopping position when the first vehicle is performing a work task or the working position of the first vehicle. For example, the work task performed by the first vehicle includes, but is not limited to, mining, loading, unloading, or passenger transport. The working position of the first vehicle includes, but is not limited to, mining position, loading position, unloading position, or waiting position. For example, when the first vehicle is performing a mining work task, the target stopping position of the first vehicle is the mining stopping position or mining position; when the first vehicle is performing a loading work task, the target stopping position of the first vehicle is the loading stopping position or loading position; when the first vehicle is performing an unloading work task, the target stopping position of the first vehicle is the unloading stopping position or unloading position; when the first vehicle is performing a passenger transport work task, the target stopping position of the first vehicle is the passenger pick-up stopping position or waiting position. The above is only an exemplary description of the work task, working position, and target stopping position, and the work task, working position, and target stopping position performed by the first vehicle in this application embodiment are not limited.

[0177] The first temporary parking space is the parking space used by the first vehicle during its journey from its current position to the target stopping position. In this embodiment, the first vehicle can stop at the first temporary parking space while traveling from its current position to the target stopping position. That is, the first vehicle can first travel from its current position to the first temporary parking space, and then travel from the first temporary parking space to its target stopping position. This helps improve the efficiency of automatic parking for the first vehicle.

[0178] The first information may include information associated with the first temporary parking space. The information associated with the first temporary parking space includes at least one of the following: a first temporary parking point, a first temporary parking space, or a first trajectory. Specifically, the first temporary parking point is a parking spot during the first vehicle's journey from its current location to the target parking location; the first temporary parking space is a parking space during the first vehicle's journey from its current location to the target parking location; and the first trajectory is the movement trajectory between the first temporary parking space or the first temporary parking point and the first vehicle's target parking location. Figure 4 This is an exemplary schematic diagram showing the temporary stop point, temporary stop position, and target stop position provided in the embodiments of this application. Figure 4 The document illustrates three temporary stopping points (Temporary Stop 1, Temporary Stop 2, and Temporary Stop 3), three temporary parking spaces (Temporary Parking Space 1, Temporary Parking Space 2, and Temporary Parking Space 3), and three trajectories (Trajectory 1, Trajectory 2, and Trajectory 3). Taking Temporary Stop 1 as a stopping point during the first vehicle's journey from its current position to its target stopping position, Temporary Stop 1 as a parking space during the same journey, and Trajectory 1 as the movement trajectory between Temporary Stop 1 or Temporary Stop 1 and the first vehicle's target stopping position as an example, the first information can be at least one of Temporary Stop 1, Temporary Stop 1, and Trajectory 1. The first information may also include other information unrelated to the first temporary stopping space, such as time information and congestion information; this embodiment does not limit this.

[0179] In one possible implementation, this application embodiment provides a first set of locations, wherein at least one feasible path exists between any location included in the first set and the target stopping position of the first vehicle. A first temporary stopping point or a first temporary stopping position is located in the first set of locations. This ensures that at least one feasible path exists between the first temporary stopping point or the first temporary stopping position and the target stopping position of the first vehicle. That is, after the first vehicle travels from its current location to the first temporary stopping point or the first temporary stopping position, it can reach the target stopping position of the first vehicle from the first temporary stopping point or the first temporary stopping position.

[0180] In one example, the distance between any location in the first set of locations and the target stopping position of the first vehicle is less than a first distance. This first distance can be set as needed, for example, it can be set to the maximum planned distance for automatic parking of the first vehicle or 90% of the maximum planned distance. For example, the first distance could be 50 meters. Thus, after the first vehicle stops at the first temporary parking point or the first temporary parking position, Automated Valet Parking (AVP) can be activated to plan a path, thereby driving the vehicle to its target stopping position based on the planned path.

[0181] When a location in the first location set is a temporary stop, the distance between the temporary stop and a preset location of the target stop position of the first vehicle (e.g., the center, upper left corner, or lower right corner of the target stop position) can be determined as the distance between the temporary stop and the target stop position of the first vehicle.

[0182] In this embodiment of the application, by limiting the distance between the position in the first position set and the target stopping position of the first vehicle, the first vehicle can reach the target stopping position of the first vehicle through the automatic parking function after stopping at the first temporary parking point or the first temporary parking position, which is beneficial to improving the efficiency of automatic parking.

[0183] In one example, any one of the locations included in the first location set is located within the temporary parking area. In this embodiment, the temporary parking area can be planned first, and then the first temporary parking point or the first temporary parking space can be determined within the temporary parking area. By limiting the first temporary parking point or the first temporary parking space to the temporary parking area, the efficiency of determining the first temporary parking point or the first temporary parking space can be accelerated, thereby providing favorable conditions for improving parking efficiency.

[0184] Specifically, it can be separated from the outside world (such as the work area, logistics park, port, enclosed park, or shopping mall parking lot) from the work area (i.e., the area where the first vehicle completes the work task). Figure 4Temporary parking areas are planned on roads connecting to the area outside the edge of the work area shown. This ensures that the first vehicle can smoothly reach the first temporary parking point or the first temporary parking space from outside the work area, which helps improve parking efficiency. Furthermore, in this embodiment, the heading angle of each temporary parking space (including the aforementioned first temporary parking space) in the temporary parking area can be set to the same heading angle as the centerline of the road. In this way, the first vehicle can reach the first temporary parking space without making a U-turn or a sharp turn, shortening the time it takes to reach the first temporary parking space and further improving parking efficiency. Of course, temporary parking areas can also be planned from other locations (e.g., unobstructed open areas in or near the work area), and this embodiment does not limit this.

[0185] In one example, the distance between the temporary parking area and the target stopping position of the first vehicle is less than a second distance. The second distance can be set as needed, for example, it can be set to the maximum planned distance for automatic parking of the first vehicle or 90% of the maximum planned distance. For example, the second distance can be 50 meters. The second distance can be the same as or different from the first distance; this embodiment does not limit this. Thus, after the first vehicle stops at the first temporary parking point or the first temporary parking position, automatic parking can be initiated to plan the route, thereby driving the vehicle to its target stopping position based on the planned route.

[0186] Specifically, the distance between the preset location of the temporary parking area (such as the center, upper left corner, or lower right corner of the temporary parking area) and the preset location of the target stopping position of the first vehicle can be determined as the distance between the temporary parking area and the target stopping position of the first vehicle.

[0187] In this embodiment of the application, by limiting the distance between the temporary parking area and the target stopping position of the first vehicle, the distance between the position in the first position set and the target stopping position of the first vehicle is limited. This allows the first vehicle to reach its target stopping position through the automatic parking function after parking at the first temporary parking point or the first temporary parking position, which helps to improve the efficiency of automatic parking.

[0188] In one possible implementation, any one of the locations included in the first location set provided in this application embodiment is associated with point cloud data and / or road topology data of a high-precision map.

[0189] For example, the traversable areas (i.e., areas where vehicles can drive) in the work area can first be obtained based on point cloud data and / or road topology data from a high-precision map. Then, range constraints such as clustering and segmentation are performed to obtain roads connecting the work area to the outside world, temporary parking areas, and feasible paths to the target stopping position within the work area. Based on this, the locations in the first location set can be obtained. This automated processing method can save on labor costs.

[0190] For example, administrators can use a client to mark roads connecting to the outside world, temporary parking areas, and feasible paths to the target stopping point within the work area on point cloud data and / or road topology data of a high-precision map. Based on this, locations in the first location set can be obtained. This manual processing method can improve accuracy. The client includes, but is not limited to, applications, web pages, or mini-programs.

[0191] In addition, in this embodiment of the application, the target stop position of the first vehicle can be reported by the first vehicle, or it can be set by the administrator through the client, or it can be pre-configured by the cloud server according to the operation task of the first vehicle. This embodiment of the application does not limit this.

[0192] In one possible implementation, step S201 may include: determining the first information based on the vehicle information of the second vehicle and / or the task information of the second vehicle.

[0193] The second vehicle can be the first vehicle or a vehicle of the same type as the first vehicle; this embodiment does not limit this. In this embodiment, vehicles of the same type can include vehicles performing the same task, vehicles operating in the same area, vehicles with the same target stopping position, or vehicles in the same fleet. It is understood that vehicles of the same type have similar or identical size information and dynamic models, and their parking methods are similar or identical. Therefore, determining the first information of a vehicle can refer to the method used to determine the first information of other vehicles of the same type. For example, determining the first information of a mining truck can refer to the method used to determine the first information of other mining trucks, and determining the first information of a taxi can refer to the method used to determine the first information of other taxis. The vehicle's size information includes, but is not limited to, its length, width, and height. The vehicle's dynamic model includes, but is not limited to, its turning radius, maximum curvature, wheelbase, and speed.

[0194] In one example, the cloud can obtain vehicle information and / or task information of the second vehicle from the second vehicle. In one possible implementation, the second vehicle can proactively report its vehicle information and / or task information to the cloud upon confirming or starting the task. In another possible implementation, the cloud can periodically broadcast or send information retrieval requests to the second vehicle in the task list. Upon receiving the request, the second vehicle can return its vehicle information and / or task information to the cloud. This application embodiment does not limit the timing at which the cloud obtains the second vehicle's vehicle information and / or task information from the second vehicle.

[0195] In another example, vehicle information and / or task information of the second vehicle can be pre-configured in the cloud, for example, by an administrator logging into the client.

[0196] The method for determining the first piece of information will be explained in detail below.

[0197] In one possible implementation, the task information of the second vehicle may include the second vehicle's work position and / or its work area. In this case, determining the first information based on the second vehicle's vehicle information and / or its task information may include: determining a first temporary stop point or a first temporary stop position based on the second vehicle's work position and / or its work area. Considering that the second vehicle's work position and / or its work area determines the second vehicle's target stopping position (i.e., the first vehicle's target stopping position), and the second vehicle needs to travel from the first temporary stop point or the first temporary stop position to its target stopping position. For example, in a mining scenario, the second vehicle's work position is the stopping position or mining position during mining, which is the second vehicle's target stopping position; the second vehicle's work area is the mining area, meaning the second vehicle's target stopping position is within the mining area. For the second vehicle to complete mining, it needs to travel from the first temporary stop point or the first temporary stop position to its target stopping position. For example, in a passenger-carrying scenario, the second vehicle's operating position is either a stop for picking up passengers or a waiting position, which is the target stopping position for the second vehicle. To complete passenger transport, the second vehicle needs to travel from the first temporary stopping point or the first temporary stopping position to its target stopping position. Therefore, the first temporary stopping point or the first temporary stopping position can be determined based on the second vehicle's operating position and / or its operating area.

[0198] In one example, the cloud can first determine a first set of locations based on the second vehicle's work position and / or its work area, and then select a first temporary stop or a first temporary stop from the first set of locations. In another example, the cloud can first determine a reachable path based on the second vehicle's work position and / or its work area, and then select a first temporary stop or a first temporary stop from the reachable path. In yet another example, the cloud can first determine a temporary stop area based on the second vehicle's work position and / or its work area, generate a feasible path between the second vehicle's work position and the temporary stop area using a hybrid A* algorithm, and then select a first temporary stop or a first temporary stop from the portion of the feasible path that falls within the temporary stop area.

[0199] In this way, the cloud can determine the first temporary parking point or the first temporary parking position as the first information. It should be noted that the cloud can determine the first temporary parking point without determining the first temporary parking position, or it can determine the first temporary parking point first, and then determine the first temporary parking position based on the first temporary parking point and pre-configured size information. The first temporary parking point is located within the first temporary parking position; the first temporary parking point can be located at the center of the first temporary parking position or at other locations, and this application does not impose any restrictions on this. The size of the first temporary parking position can be greater than or equal to the size of the second vehicle; for example, the length of the first temporary parking position can be greater than or equal to the length of the second vehicle, and the width of the second temporary parking position can be greater than or equal to the width of the second vehicle. The size information of the second vehicle can be reported by the second vehicle or set by the administrator through a client; this embodiment of the application does not impose any restrictions on this.

[0200] In one possible implementation, the vehicle information of the second vehicle includes the size information of the second vehicle, and the work task information of the second vehicle includes the work position and / or the work area of ​​the second vehicle. Determining the first information based on the vehicle information and / or the work task information of the second vehicle may include: determining a first temporary stopping point based on the work position and / or the work area of ​​the second vehicle; and determining a first temporary stopping position based on the size information of the second vehicle and the first temporary stopping point, wherein the first temporary stopping point is located within the first temporary stopping position.

[0201] In this way, the cloud first determines the first temporary stop point and then the first temporary stop position. The cloud can then use the first temporary stop point and / or the first temporary stop position as the first information.

[0202] In one possible implementation, the task information of the second vehicle includes the work position and / or work area of ​​the second vehicle. In this case, determining the first information based on the vehicle information and / or the task information of the second vehicle may include: determining a first temporary stop point based on the work position and / or work area of ​​the second vehicle; and determining a first trajectory based on the first temporary stop point, wherein the first trajectory includes the first temporary stop point and the target stopping position of the first vehicle. In determining the first trajectory based on the first temporary stop point, the dynamic model of the second vehicle can be referenced to facilitate the first vehicle's movement along the first trajectory. Here, the dynamic model of the second vehicle can be reported by the second vehicle or set by the administrator through a client; this embodiment of the application does not impose any restrictions on this.

[0203] In this way, the cloud first determines the first temporary stopping point and then the first trajectory. The cloud can determine at least one of the first temporary stopping point, the first temporary stopping position, and the first trajectory as the first information.

[0204] In this application embodiment, in addition to the methods described above, the first information can also be determined by combining point cloud data and / or road topology data from high-precision maps. The following provides a detailed description of this method for determining the first information.

[0205] In one possible implementation, vehicle information and / or task information includes point cloud data and / or road topology data from a high-precision map, and the first information includes a first temporary stopping point. Determining the first information based on the vehicle information and / or task information of the second vehicle may include: obtaining a first set of locations based on the point cloud data and / or the road topology data, wherein there is at least one feasible path between any location included in the first set and the target stopping location of the first vehicle, and the first information is included in the first set of locations.

[0206] In one example, the distance between any location in the first set of locations and the target stop position of the first vehicle is less than a first distance. In another example, any location in the first set of locations is located within a temporary parking area. In yet another example, the distance between the temporary parking area and the target stop position of the first vehicle is less than a second distance.

[0207] In one possible implementation, the cloud can first determine M temporary parking positions, each corresponding to a first task. The first task is at least the work task that the first vehicle will perform, and the M temporary parking positions include the first temporary parking position, where M is an integer greater than 1. Specifically, the cloud can select M locations from a first set of locations as the M temporary parking positions. These temporary parking positions can all serve as temporary parking spaces for the first vehicle as it travels to its target stopping position while performing the first task.

[0208] For example, the cloud can determine the first temporary parking space or the first temporary parking point based on M, the number of vehicles performing the first task, at least one of the location information of N temporary parking spaces out of the M temporary parking spaces, and the location information of the first vehicle, where N is an integer greater than or equal to 1 and less than or equal to M. For example, the temporary parking space closest to the first vehicle can be determined as the first temporary parking space, or an idle temporary parking space can be determined as the first temporary parking space, or the temporary parking space that has been allocated the fewest times can be determined as the first temporary parking space. This application embodiment does not limit this.

[0209] For example, the cloud can also randomly select an unoccupied temporary parking position from the M temporary parking positions as the first temporary parking position.

[0210] Considering that multiple vehicles may be performing the same work tasks or need to reach the same target stopping position, and that these vehicles arriving at the corresponding temporary stopping point or temporary stopping position at the same time or traveling from the temporary stopping point or temporary stopping position to the target stopping position at the same time will cause congestion, the parking method provided in this application embodiment can schedule these vehicles to reduce congestion and improve parking efficiency.

[0211] In one possible implementation, the M temporary parking spaces correspond to a first sequence, which contains the M numbers. Each of the M numbers corresponds one-to-one with one of the M temporary parking spaces, and each of the M numbers represents the scheduling order of its corresponding temporary parking space. This allows for vehicle scheduling to reduce congestion and improve parking efficiency. It should be noted that the first sequence may contain only one number, meaning that the value of M can be 1.

[0212] Step S202: The cloud sends the first information to the first vehicle.

[0213] Step S203: The first vehicle receives the first information.

[0214] Step S204: The first vehicle travels to the target stopping position of the first vehicle according to the first information.

[0215] When the first vehicle receives a first temporary parking point or first temporary parking space, the first vehicle first stops at the first temporary parking point or first temporary parking space, and then drives from the first temporary parking point or first temporary parking space to the target stopping position of the first vehicle. For example, the path from the first temporary parking space to the target stopping position of the first vehicle can be planned by automatic parking.

[0216] For example, if the first vehicle only receives the first trajectory, the first temporary stopping position or the first temporary stopping point can be determined based on the first trajectory, and then the vehicle can travel from the first temporary stopping position or the first temporary stopping point to the target stopping position of the first vehicle according to the first trajectory.

[0217] Once the first vehicle receives the first temporary stopping point or first temporary stopping position and the first trajectory, the first vehicle first stops at the first temporary stopping point or first temporary stopping position, and then travels from the first temporary stopping point or first temporary stopping position to the target stopping position of the first vehicle according to the first trajectory.

[0218] In this embodiment of the application, by determining the starting position of parking, one-time parking is achieved in the path planning, which greatly improves the efficiency of parking.

[0219] In one possible implementation, the first temporary stop or first temporary stop position corresponds to a first sequence, which represents the scheduling order of the first vehicle. The first sequence can be referenced previously and will not be repeated here. Thus, after the first vehicle obtains the first temporary stop or first temporary stop position, it can be scheduled according to the order of the first temporary stop or first temporary stop position in the first sequence. For example, the elements in the first sequence correspond to temporary stop 2, temporary stop 1, and temporary stop 3 respectively. Assuming the first temporary stop corresponds to temporary stop 1, the scheduling order of the first vehicle is the second position. In this case, the cloud first schedules the vehicle corresponding to temporary stop 2, that is, the vehicle corresponding to temporary stop 2 travels to the target stop position (e.g., the work position) first, and then schedules the vehicle corresponding to temporary stop 1, i.e., the first vehicle.

[0220] In this embodiment of the application, by setting a first sequence to schedule the first vehicle, the scenario of multiple vehicles driving chaotically in the work area can be effectively solved. The system can allocate vehicles for temporary parking in a reasonable and orderly manner to the greatest extent and perform automatic parking, thereby enabling efficient multi-vehicle collaborative operations and improving work efficiency.

[0221] Figure 5 This diagram illustrates the interactive flow of the parking method provided in an embodiment of this application. Figure 5 As shown, the method may include:

[0222] In step S400, the first vehicle sends a request message to the cloud.

[0223] The request information may be used to request at least one of the following: the stopping point of the first vehicle, the stopping position of the first vehicle, the trajectory of the first vehicle from the stopping point of the first vehicle to the target stopping position of the first vehicle, and the trajectory of the first vehicle from the stopping position of the first vehicle to the target stopping position of the first vehicle.

[0224] Step S401: The cloud receives the request information from the first vehicle.

[0225] Step S402: The cloud determines the first information, which includes the first temporary stop point or the first temporary stop position.

[0226] This step can be referred to as step S201, and will not be repeated here.

[0227] Step S403: The cloud sends the first temporary stop point or first temporary stop position to the first vehicle.

[0228] In step S404, the first vehicle receives the first temporary stop point or the first temporary stop position and moves from its current position to the first temporary stop point or the first temporary stop position.

[0229] In step S405, the first vehicle sends a confirmation message to the cloud, the confirmation message being used to indicate that the first vehicle has arrived at the first temporary stop or the first temporary stop position.

[0230] Step S406: The cloud receives the confirmation information of the first vehicle.

[0231] Step S407: The cloud sends the first trajectory to the first vehicle.

[0232] Step S408: The first vehicle travels to the target stopping position of the first vehicle according to the first trajectory.

[0233] In this embodiment, after the first vehicle arrives at the first temporary parking point or the first temporary parking position, it travels to the target parking position of the first vehicle according to the first trajectory planned by the cloud. The first vehicle is guided to park by the cloud. Even if other dynamic vehicles interfere with the automatic parking function of the first vehicle, the parking of the first vehicle can still be achieved, which effectively improves the parking efficiency of the first vehicle.

[0234] In one possible implementation, such as Figure 5 As shown, the method may further include:

[0235] Step S409: The cloud sends the second information to the first vehicle.

[0236] The second information is used to instruct the first vehicle to display at least one of the following: the first temporary parking space, the number in the first sequence corresponding to the first temporary parking space, M temporary parking spaces, the number in the first sequence corresponding to each of the M temporary parking spaces, the target stopping position of the first vehicle, and the first trajectory. The method for determining the M temporary parking spaces can be referred to above and will not be repeated here.

[0237] In step S410, the first vehicle receives the second information and displays information according to the instructions of the second information.

[0238] This makes it easier for drivers to understand the dispatch sequence.

[0239] In one possible implementation, the method may further include:

[0240] Step S411: The cloud sends the third information to the first vehicle.

[0241] The third information can be used to instruct the first vehicle to display at least one of the following: the first temporary parking position, the target stopping position of the first vehicle, and the first trajectory.

[0242] In step S412, the first vehicle receives the third information and displays information according to the instructions of the third information.

[0243] This makes it easier for the driver to understand the overall parking situation.

[0244] In one possible implementation, the method may further include:

[0245] Step S413: The cloud sends the fourth information to the first vehicle.

[0246] The fourth information can be used to indicate the operating mode of the first vehicle reaching the target stopping position of the first vehicle. The operating mode includes a first mode or a second mode. The first mode can be used to indicate that the first vehicle reaches the target stopping position of the first vehicle through automatic parking, and the second mode can be used to indicate that the first vehicle reaches the target stopping position of the first vehicle through a first trajectory.

[0247] In step S414, the first vehicle receives the fourth information and drives to the target stop position of the first vehicle according to the operating mode indicated by the fourth information.

[0248] In the first mode, the first vehicle can use its automatic parking function to navigate from the first temporary parking point or space to its target stopping position, facilitating precise parking. In the second mode, the first vehicle can follow a cloud-planned trajectory to navigate from the first temporary parking point or space to its target stopping position, adapting better to complex external environments. Furthermore, switching between the first and second modes enhances flexibility.

[0249] In one possible implementation, the method may further include:

[0250] In step S415, the cloud sends the second temporary parking position to the first vehicle.

[0251] The second temporary parking space is located on the first trajectory, and the second temporary parking space is the parking space during the first vehicle's journey from the first temporary parking space to the first vehicle's target stopping position.

[0252] like Figure 4 As shown, intermediate temporary stop 1, intermediate temporary stop 2 and intermediate temporary stop 3 can be used as the second temporary stop.

[0253] Step S416: The first vehicle receives the second temporary parking space.

[0254] In step S417, the first vehicle first travels from the first temporary parking position to the second temporary parking position, and then travels from the second temporary parking position to the target stopping position of the first vehicle.

[0255] In this process, two paths can be planned using the automatic parking function of the first vehicle, involving two automatic parking maneuvers. The first temporary parking space is the starting position when the first vehicle initiates its first automatic parking maneuver; the second temporary parking space is the stopping position when the first vehicle initiates its first automatic parking maneuver and the starting position when the first vehicle initiates its second automatic parking maneuver; and the target stopping position is the stopping position when the first vehicle initiates its second automatic parking maneuver. By designing the second temporary parking space, vehicle operations within the work area can be planned in an orderly manner, avoiding congestion and improving work efficiency. It is understood that in this embodiment, the number of temporary parking spaces for the first vehicle is not specifically limited; for example, there can be more than one temporary parking space. Figure 4 In this context, the path from the second temporary stop position to the target stop position may also include other temporary stop positions.

[0256] It should be noted that, in the embodiments of this application, the target stop position can be understood not only as the stop position when the vehicle (e.g., the first vehicle) performs the work task or the work position of the vehicle (e.g., the first vehicle), but also as a temporary stop position between the first temporary stop position and the work position or the stop position when performing the work task, such as the second temporary stop position in the embodiments of this application.

[0257] It is understood that, in one possible implementation of this application embodiment, the first temporary stop position can be understood as the stop position corresponding to the vehicle starting the AVP, that is, starting from the first temporary stop position, the vehicle travels to the subsequent location via the AVP, which may be, for example, the second temporary stop position in this application embodiment or the target stop position.

[0258] Figure 6 This diagram illustrates a parking device provided in an embodiment of this application. Figure 6 As shown, device 600 may include:

[0259] The first determining module 601 is used to determine first information, the first information including at least one of the following: a first temporary stopping point, a first temporary stopping position, or a first trajectory; wherein, the first temporary stopping point is a stopping point of the first vehicle during its journey from the current position to the target stopping position, the first temporary stopping position is a stopping position of the first vehicle during its journey from the current position to the target stopping position, and the first trajectory is the movement trajectory between the first temporary stopping position or the first temporary stopping point and the target stopping position of the first vehicle;

[0260] The first sending module 602 is used to send the first information to the first vehicle.

[0261] In one possible implementation, the first determining module is further configured to:

[0262] The first information is determined based on the vehicle information of the second vehicle and / or the work task information of the second vehicle, wherein the second vehicle is the first vehicle, or is a vehicle of the same type as the first vehicle.

[0263] In one possible implementation, the device further includes:

[0264] The first acquisition module is used to acquire the vehicle information and / or the task information.

[0265] In one possible implementation, determining the first information based on the vehicle information of the second vehicle and / or the task information of the second vehicle includes:

[0266] The first temporary stop or the first temporary stop is determined based on the work position and / or the work area of ​​the second vehicle, wherein the work position and / or the work area of ​​the second vehicle are included in the work task information of the second vehicle.

[0267] In one possible implementation, the vehicle information includes the size information of the second vehicle, the task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle, and the step of determining the first information based on the vehicle information and / or the task information of the second vehicle includes:

[0268] The first temporary stop point is determined based on the work station and / or the work area;

[0269] Based on the size information and the first temporary stopping point, the first temporary stopping position is determined, wherein the first temporary stopping point is located in the first temporary stopping position.

[0270] In one possible implementation, the task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle, and the step of determining the first information based on the vehicle information of the second vehicle and / or the task information of the second vehicle includes:

[0271] The first temporary stop point is determined based on the work station and / or the work area;

[0272] The first trajectory is determined based on the first temporary stop point, wherein the first trajectory includes the first temporary stop point and the target stop position of the first vehicle.

[0273] In one possible implementation, the first temporary stop point or the first temporary stop position is located in a first set of locations, and there is at least one feasible path between any of the locations included in the first set and the target stop position of the first vehicle.

[0274] In one possible implementation, the distance between any location included in the first location set and the target stopping position of the first vehicle is less than a first distance.

[0275] In one possible implementation, any one of the locations included in the first set of locations is located within the temporary parking area.

[0276] In one possible implementation, the distance between the temporary parking area and the target stopping position of the first vehicle is less than a second distance.

[0277] In one possible implementation, any one of the locations included in the first set of locations is associated with point cloud data and / or road topology data of a high-precision map.

[0278] In one possible implementation, the vehicle information and / or the task information includes point cloud data of a high-precision map and / or road topology data, and the first information includes the first temporary stopping point; determining the first information based on the vehicle information of the second vehicle and / or the task information of the second vehicle includes:

[0279] Based on the point cloud data and / or the road topology data, a first location set is obtained, wherein there is at least one feasible path between any location included in the first location set and the target stopping position of the first vehicle.

[0280] The first information is contained in the first location set.

[0281] In one possible implementation, the distance between any position in the first set of positions and the target stopping position of the first vehicle is less than a first distance.

[0282] In one possible implementation, any one of the locations included in the first set of locations is located within the temporary parking area.

[0283] In one possible implementation, the distance between the temporary parking area and the target stopping position of the first vehicle is less than a second distance.

[0284] In one possible implementation, the first temporary stop point or the first temporary stop position corresponds to a first sequence, which is used to characterize the scheduling order of the first vehicle.

[0285] In one possible implementation, before sending the first information, the device further includes:

[0286] A first receiving module is configured to receive request information from the first vehicle, the request information being used to request at least one of the following: the stopping point of the first vehicle, the stopping position of the first vehicle, the trajectory of the first vehicle from the stopping point to the target stopping position, and the trajectory of the first vehicle from the stopping position to the target stopping position.

[0287] In one possible implementation, the device further includes:

[0288] The second receiving module is used to receive confirmation information from the first vehicle, the confirmation information being used to indicate that the first vehicle has arrived at the first temporary stopping point or the first temporary stopping position.

[0289] In one possible implementation, the device further includes:

[0290] The second determining module is used to determine M temporary parking positions, the M temporary parking positions corresponding to a first task, the first task being at least the work task to be performed by the first vehicle, and the M temporary parking positions including the first temporary parking position, where M is an integer greater than 1.

[0291] In one possible implementation, the device further includes:

[0292] The third determining module is used to determine the first temporary parking position or the first temporary parking point based on M, the number of vehicles performing the first task, at least one of the location information of N temporary parking positions among the M temporary parking positions, and the location information of the first vehicle, where N is an integer greater than or equal to 1 and less than or equal to M.

[0293] In one possible implementation, the M temporary parking positions correspond to a first sequence, the first sequence containing the M numbers, the M numbers corresponding one-to-one with the M temporary parking positions, and each of the M numbers representing the scheduling order of its corresponding temporary parking position.

[0294] In one possible implementation, the device further includes:

[0295] A first sending module is configured to send second information to the first vehicle, the second information being configured to instruct the first vehicle to display at least one of the following: the first temporary stopping position, the number in the first sequence corresponding to the first temporary stopping position, the M temporary stopping positions, the number in the first sequence corresponding to each of the M temporary stopping positions, the target stopping position of the first vehicle, and the first trajectory.

[0296] In one possible implementation, the device further includes:

[0297] The second sending module is used to send a second temporary parking position to the first vehicle. The second temporary parking position is located on the first trajectory, and the second temporary parking position is a parking position of the first vehicle during its journey from the first temporary parking position to the target stopping position of the first vehicle.

[0298] In one possible implementation, the device further includes:

[0299] The third sending module is used to send third information to the first vehicle, the third information being used to instruct the first vehicle to display at least one of the following: the first temporary stopping position, the target stopping position of the first vehicle, and the first trajectory.

[0300] In one possible implementation, the device further includes:

[0301] The fourth sending module is used to send fourth information to the first vehicle. The fourth information is used to indicate the operating mode of the first vehicle reaching the target stopping position of the first vehicle. The operating mode includes a first mode or a second mode. The first mode is used to indicate that the first vehicle reaches the target stopping position of the first vehicle through automatic parking. The second mode is used to indicate that the first vehicle reaches the target stopping position of the first vehicle through the first trajectory.

[0302] In one possible implementation, the first temporary parking position is the starting position when the first vehicle initiates the automatic parking.

[0303] In one possible implementation, the target stop position of the first vehicle is either the stop position when the first vehicle performs the task or the work position of the first vehicle.

[0304] Figure 7 This diagram illustrates a parking device provided in an embodiment of this application. Figure 7 As shown, the device 700 may include:

[0305] The first receiving module 701 is used to receive first information, the first information including at least one of the following: a first temporary stopping point, a first temporary stopping position, or a first trajectory; wherein, the first temporary stopping point is a stopping point of the first vehicle during its journey from the current position to the target stopping position, the first temporary stopping position is a stopping position of the first vehicle during its journey from the current position to the target stopping position, and the first trajectory is the movement trajectory between the first temporary stopping position or the first temporary stopping point and the target stopping position of the first vehicle;

[0306] The first driving module 702 is used to drive to the target stop position of the first vehicle according to the first information.

[0307] In one possible implementation, the first information is determined based on the vehicle information system of the second vehicle and / or the task information of the second vehicle, wherein the second vehicle is the first vehicle, or is a vehicle of the same type as the first vehicle.

[0308] In one possible implementation, the first temporary stop or the first temporary stop position is determined based on the work position and / or the work area of ​​the second vehicle, wherein the work position and / or the work area of ​​the second vehicle are included in the work task information of the second vehicle.

[0309] In one possible implementation, the vehicle information includes the size information of the second vehicle, the task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle, the first temporary stop is determined based on the work position and / or the work area, the first temporary stop is determined based on the size information and the first temporary stop, wherein the first temporary stop is located in the first temporary stop.

[0310] In one possible implementation, the task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle, the first temporary stop is determined based on the work position and / or the work area, and the first trajectory is determined based on the first temporary stop, wherein the first trajectory includes the first temporary stop and the target stop position of the first vehicle.

[0311] In one possible implementation, the first temporary stop point or the first temporary stop position is located in a first set of locations, and there is at least one feasible path between any of the locations included in the first set and the target stop position of the first vehicle.

[0312] In one possible implementation, the distance between any location included in the first location set and the target stopping position of the first vehicle is less than a first distance.

[0313] In one possible implementation, any one of the locations included in the first set of locations is located within the temporary parking area.

[0314] In one possible implementation, the distance between the temporary parking area and the target stopping position of the first vehicle is less than a second distance.

[0315] In one possible implementation, any one of the locations included in the first set of locations is associated with point cloud data and / or road topology data of a high-precision map.

[0316] In one possible implementation, the vehicle information and / or the task information includes point cloud data of a high-precision map and / or road topology data. The first information includes the first temporary stop point. The first information is contained in a first location set. There is at least one feasible path between any location included in the first location set and the target stop location of the first vehicle. The first location set is determined based on the point cloud data and / or the road topology.

[0317] In one possible implementation, the distance between any position in the first set of positions and the target stopping position of the first vehicle is less than a first distance.

[0318] In one possible implementation, any one of the locations included in the first set of locations is located within the temporary parking area.

[0319] In one possible implementation, the distance between the temporary parking area and the target stopping position of the first vehicle is less than a second distance.

[0320] In one possible implementation, the first temporary stop point or the first temporary stop position corresponds to a first sequence, which is used to characterize the scheduling order of the first vehicle.

[0321] In one possible implementation, prior to receiving the first information, the device further includes:

[0322] A first sending module is configured to send request information, the request information being used to request at least one of the following: the stopping point of the first vehicle, the stopping position of the first vehicle, the trajectory of the first vehicle from the stopping point of the first vehicle to the target stopping position of the first vehicle, and the trajectory of the first vehicle from the stopping position of the first vehicle to the target stopping position of the first vehicle.

[0323] In one possible implementation, the device further includes:

[0324] The second sending module is used to send confirmation information, which is used to indicate that the first vehicle has arrived at the first temporary stopping point or the first temporary stopping position.

[0325] In one possible implementation, the device further includes:

[0326] The second receiving module is used to receive second information, which is used to instruct the first vehicle to display at least one of the following: the first temporary parking position, the number in the first sequence corresponding to the first temporary parking position, M temporary parking positions, the number in the first sequence corresponding to each of the M temporary parking positions, the target stopping position of the first vehicle, and the first trajectory;

[0327] Wherein, the M temporary parking positions correspond to the first task, the first task being at least the operation task to be performed by the first vehicle, the M temporary parking positions include the first temporary parking position, and M is an integer greater than 1; the M temporary parking positions correspond to the first sequence, the first sequence includes M numbers, the M numbers correspond one-to-one with the M temporary parking positions, and each of the M numbers represents the scheduling order of its corresponding temporary parking position.

[0328] In one possible implementation, the device further includes:

[0329] The third receiving module is used to receive a second temporary parking position, which is located on the first trajectory and is a parking position of the first vehicle during its journey from the first temporary parking position to the target stopping position of the first vehicle.

[0330] In one possible implementation, the device further includes:

[0331] The fourth receiving module is used to receive third information, which is used to display at least one of the following for the first vehicle: the first temporary parking position, the target stopping position, and the first trajectory.

[0332] In one possible implementation, the device further includes:

[0333] The fifth receiving module is used to receive fourth information, which is used to indicate the operating mode of the first vehicle reaching the target stopping position of the first vehicle. The operating mode includes a first mode or a second mode, wherein the first mode is used to indicate that the first vehicle automatically parks and reaches the target stopping position of the first vehicle, and the second mode is used to indicate that the first vehicle reaches the target stopping position of the first vehicle through the first trajectory.

[0334] In one possible implementation, the first temporary parking position is the starting position when the first vehicle initiates the automatic parking.

[0335] In one possible implementation, the target stop position of the first vehicle is either the stop position when the first vehicle performs the task or the work position of the first vehicle.

[0336] Embodiments of this application provide an electronic device, including: a processor and a memory for storing processor-executable instructions; wherein the processor is configured to implement the above-described method when executing the instructions.

[0337] Embodiments of this application provide a vehicle, including Figure 7 The apparatus shown.

[0338] Embodiments of this application provide a non-volatile computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the above-described method.

[0339] Embodiments of this application provide a computer program product including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code, wherein when the computer-readable code is run in a processor of an electronic device, the processor in the electronic device performs the above-described method.

[0340] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example, (but not limited to) electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), electrically programmable read-only memory (EPROM or flash memory), static random-access memory (SRAM), compact disc read-only memory (CD-ROM), digital video disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing.

[0341] The computer-readable program instructions or code described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0342] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing state information from computer-readable program instructions. These electronic circuits can execute computer-readable program instructions to implement various aspects of this application.

[0343] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0344] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0345] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0346] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.

[0347] It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented using hardware (such as circuits or ASICs (Application Specific Integrated Circuits)) that performs the corresponding function or action, or using a combination of hardware and software, such as firmware.

[0348] Although the invention has been described herein in conjunction with various embodiments, those skilled in the art will understand and implement other variations of the disclosed embodiments by reviewing the accompanying drawings, disclosure, and appended claims in carrying out the claimed invention. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0349] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A parking method, characterized in that, The method includes: Obtain vehicle information and / or work task information; the vehicle information includes the size information of the second vehicle, and the work task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle; The determination of first information includes: determining a first temporary stopping point based on the working position and / or working area of ​​the second vehicle; determining a first temporary stopping position based on the size information of the second vehicle and the first temporary stopping point, wherein the first temporary stopping point is located within the first temporary stopping position; the first information includes information associated with the first temporary stopping position, wherein the information associated with the first temporary stopping position includes at least one of the following: a first temporary stopping point, a first temporary stopping position, or a first trajectory; wherein the first temporary stopping point is a stopping point of the first vehicle during its journey from the current position to the target stopping position, the first temporary stopping position is a stopping position of the first vehicle during its journey from the current position to the target stopping position, and the first trajectory is the movement trajectory between the first temporary stopping position or the first temporary stopping point and the target stopping position of the first vehicle; the second vehicle is the first vehicle, or a vehicle of the same type as the first vehicle; Send the first information to the first vehicle.

2. The method according to claim 1, characterized in that, The task information includes the work position of the second vehicle and / or the work area of ​​the second vehicle. Determining the first information based on the vehicle information of the second vehicle and / or the task information of the second vehicle includes: The first temporary stop point is determined based on the work station and / or the work area; The first trajectory is determined based on the first temporary stop point, wherein the first trajectory includes the first temporary stop point and the target stop position of the first vehicle.

3. The method according to claim 1, characterized in that, The first temporary stop point or the first temporary stop position is located in a first set of locations, and there is at least one feasible path between any location included in the first set of locations and the target stop position of the first vehicle.

4. The method according to claim 3, characterized in that, The distance between any position included in the first set of positions and the target stopping position of the first vehicle is less than the first distance.

5. The method according to claim 3 or 4, characterized in that, Any one of the locations included in the first set of locations is located within the temporary parking area.

6. The method according to claim 5, characterized in that, The distance between the temporary parking area and the target stopping position of the first vehicle is less than the second distance.

7. The method according to claim 3 or 4, characterized in that, The first set of locations includes any location associated with point cloud data and / or road topology data of a high-precision map.

8. The method according to claim 1, characterized in that, The vehicle information and / or the task information include point cloud data of high-precision maps and / or road topology data, and the first information includes the first temporary stop. Determining the first information based on the vehicle information of the second vehicle and / or the work task information of the second vehicle includes: Based on the point cloud data and / or the road topology data, a first location set is obtained, wherein there is at least one feasible path between any location included in the first location set and the target stopping position of the first vehicle. The first information is contained in the first location set.

9. The method according to claim 8, characterized in that, The distance between any position in the first set of positions and the target stopping position of the first vehicle is less than the first distance.

10. The method according to claim 8 or 9, characterized in that, Any one of the locations included in the first set of locations is located within the temporary parking area.

11. The method according to claim 10, characterized in that, The distance between the temporary parking area and the target stopping position of the first vehicle is less than the second distance.

12. The method according to any one of claims 1-4, characterized in that, The first temporary stop or the first temporary stop position corresponds to a first sequence, which is used to characterize the scheduling order of the first vehicle.

13. The method according to any one of claims 1-4, characterized in that, Before sending the first information, the method further includes: The system receives a request from the first vehicle, the request being used to request at least one of the following: the stopping point of the first vehicle, the stopping position of the first vehicle, the trajectory of the first vehicle from the stopping point to the target stopping position, and the trajectory of the first vehicle from the stopping position to the target stopping position.

14. The method according to any one of claims 1-4, characterized in that, After sending the first information, the method further includes: The system receives confirmation information from the first vehicle, which indicates that the first vehicle has arrived at the first temporary stop or the first temporary stop position.

15. The method according to claim 1, characterized in that, The method further includes: M temporary parking positions are determined, the M temporary parking positions correspond to a first task, the first task is at least the operation task that the first vehicle will perform, and the M temporary parking positions include the first temporary parking position, where M is an integer greater than 1.

16. The method according to claim 15, characterized in that, The method further includes: Based on M, the number of vehicles performing the first task, at least one of the location information of N temporary parking spaces out of the M temporary parking spaces, and the location information of the first vehicle, the first temporary parking space or the first temporary parking point is determined, where N is an integer greater than or equal to 1 and less than or equal to M.

17. The method according to claim 15 or 16, characterized in that, The M temporary parking positions correspond to a first sequence, the first sequence contains the M numbers, the M numbers correspond one-to-one with the M temporary parking positions, and each of the M numbers represents the scheduling order of its corresponding temporary parking position.

18. The method according to any one of claims 15 or 16, characterized in that, The method further includes: Send a second message to the first vehicle, the second message being used to instruct the first vehicle to display at least one of the following: the first temporary stop position, the number in the first sequence corresponding to the first temporary stop position, the M temporary stop positions, the number in the first sequence corresponding to each of the M temporary stop positions, the target stop position of the first vehicle, and the first trajectory.

19. The method according to claim 15 or 16, characterized in that, The method further includes: Send a second temporary parking space to the first vehicle. The second temporary parking space is located on the first trajectory and is a parking space for the first vehicle during its journey from the first temporary parking space to the target stopping position of the first vehicle.

20. The method according to any one of claims 1-4, characterized in that, The method further includes: Send a third message to the first vehicle, the third message being used to instruct the first vehicle to display at least one of the following: the first temporary stopping position, the target stopping position of the first vehicle, and the first trajectory.

21. The method according to any one of claims 1-4, characterized in that, The method further includes: Send a fourth message to the first vehicle, the fourth message being used to indicate the operating mode of the first vehicle reaching the target stopping position of the first vehicle, the operating mode including a first mode or a second mode, wherein the first mode is used to indicate that the first vehicle reaches the target stopping position of the first vehicle through automatic parking, and the second mode is used to indicate that the first vehicle reaches the target stopping position of the first vehicle through the first trajectory.

22. The method according to claim 21, characterized in that, The first temporary parking position is the starting position when the first vehicle initiates the automatic parking.

23. The method according to any one of claims 1-4, characterized in that, The target stop position of the first vehicle is either the stop position when the first vehicle performs the work task or the work position of the first vehicle.

24. A parking method, characterized in that, The method includes: The system receives first information, which includes information associated with a first temporary parking space. The information associated with the first temporary parking space includes at least one of the following: a first temporary parking point, a first temporary parking space, or a first trajectory. Specifically, the first temporary parking point is a parking spot of the first vehicle during its journey from its current position to its target parking position; the first temporary parking space is a parking space of the first vehicle during its journey from its current position to its target parking position; and the first trajectory is the movement trajectory between the first temporary parking space or the first temporary parking point and the target parking position of the first vehicle. The first temporary parking point is determined based on the work position of the second vehicle and / or the work area of ​​the second vehicle included in the work task information. The first temporary parking space is determined based on the size information of the second vehicle included in the vehicle information and the first temporary parking point, wherein the first temporary parking point is located within the first temporary parking space. The second vehicle is the first vehicle, or a vehicle of the same type as the first vehicle. Based on the first information, drive to the target stopping position of the first vehicle.

25. The method according to claim 24, characterized in that, The first temporary stop point is determined based on the work position and / or the work area, and the first trajectory is determined based on the first temporary stop point, wherein the first trajectory includes the first temporary stop point and the target stop position of the first vehicle.

26. The method according to any one of claim 24 or 25, characterized in that, The first temporary stop point or the first temporary stop position is located in a first set of locations, and there is at least one feasible path between any location included in the first set of locations and the target stop position of the first vehicle.

27. The method according to claim 26, characterized in that, The distance between any position included in the first set of positions and the target stopping position of the first vehicle is less than the first distance.

28. The method according to claim 26, characterized in that, Any one of the locations included in the first set of locations is located within the temporary parking area.

29. The method according to claim 28, characterized in that, The distance between the temporary parking area and the target stopping position of the first vehicle is less than the second distance.

30. The method according to claim 26, characterized in that, The first set of locations includes any location associated with point cloud data and / or road topology data of a high-precision map.

31. The method according to claim 24, characterized in that, The vehicle information and / or the task information include point cloud data of high-precision map and / or road topology data. The first information includes the first temporary stop point. The first information is contained in a first location set. There is at least one feasible path between any location included in the first location set and the target stop location of the first vehicle. The first location set is determined based on the point cloud data and / or the road topology.

32. The method according to claim 31, characterized in that, The distance between any position in the first set of positions and the target stopping position of the first vehicle is less than the first distance.

33. The method according to claim 31 or 32, characterized in that, Any one of the locations included in the first set of locations is located within the temporary parking area.

34. The method according to claim 33, characterized in that, The distance between the temporary parking area and the target stopping position of the first vehicle is less than the second distance.

35. The method according to any one of claims 24-25, characterized in that, The first temporary stop or the first temporary stop position corresponds to a first sequence, which is used to characterize the scheduling order of the first vehicle.

36. The method according to any one of claims 24-25, characterized in that, Before receiving the first information, the method further includes: Send a request message, the request message being used to request at least one of the following: the stopping point of the first vehicle, the stopping position of the first vehicle, the trajectory of the first vehicle from the stopping point of the first vehicle to the target stopping position of the first vehicle, and the trajectory of the first vehicle from the stopping position of the first vehicle to the target stopping position of the first vehicle.

37. The method according to any one of claims 24-25, characterized in that, After receiving the first information, the method further includes: Send a confirmation message, which is used to indicate that the first vehicle has arrived at the first temporary stop or the first temporary stop position.

38. The method according to any one of claims 24-25, characterized in that, The method further includes: Receive second information, the second information being used to instruct the first vehicle to display at least one of the following: the first temporary parking position, the number in the first sequence corresponding to the first temporary parking position, M temporary parking positions, the number in the first sequence corresponding to each of the M temporary parking positions, the target stopping position of the first vehicle, and the first trajectory; Wherein, the M temporary parking positions correspond to the first task, the first task being at least the operation task to be performed by the first vehicle, the M temporary parking positions include the first temporary parking position, and M is an integer greater than 1; the M temporary parking positions correspond to the first sequence, the first sequence includes M numbers, the M numbers correspond one-to-one with the M temporary parking positions, and each of the M numbers represents the scheduling order of its corresponding temporary parking position.

39. The method according to any one of claims 24-25, characterized in that, The method further includes: Receive a second temporary parking space, which is located on the first trajectory and is a parking space during the first vehicle's journey from the first temporary parking space to the first vehicle's target stopping position.

40. The method according to any one of claims 24-25, characterized in that, The method further includes: Receive third information, the third information being used to display at least one of the following for the first vehicle: the first temporary parking position, the target stopping position, and the first trajectory.

41. The method according to any one of claims 24-25, characterized in that, The method further includes: Receive fourth information, the fourth information being used to indicate the operating mode of the first vehicle reaching the target stopping position of the first vehicle, the operating mode including a first mode or a second mode, wherein the first mode is used to characterize the first vehicle automatically parking to reach the target stopping position of the first vehicle, and the second mode is used to characterize the first vehicle reaching the target stopping position of the first vehicle via the first trajectory.

42. The method according to claim 41, characterized in that, The first temporary parking position is the starting position when the first vehicle initiates the automatic parking.

43. The method according to any one of claims 24-25, characterized in that, The target stop position of the first vehicle is either the stop position when the first vehicle performs the work task or the work position of the first vehicle.

44. A parking device, characterized in that, The device includes: A first determining module is used to acquire vehicle information and / or work task information; the vehicle information includes the size information of a second vehicle, and the work task information includes the work position and / or the work area of ​​the second vehicle; determining first information; the determining of the first information includes: determining a first temporary stopping point based on the work position and / or the work area of ​​the second vehicle, and determining a first temporary stopping position based on the size information of the second vehicle and the first temporary stopping point, thereby determining the first information, wherein the first temporary stopping point is located in the first temporary stopping position; the first information includes at least one of the following: a first temporary stopping point, a first temporary stopping position, or a first trajectory; wherein the first temporary stopping point is a stopping point of the first vehicle during its journey from the current position to the target stopping position, the first temporary stopping position is a stopping position of the first vehicle during its journey from the current position to the target stopping position, and the first trajectory is the movement trajectory between the first temporary stopping position or the first temporary stopping point and the target stopping position of the first vehicle; the second vehicle is the first vehicle, or a vehicle of the same type as the first vehicle; The first sending module is used to send the first information to the first vehicle.

45. A parking device, characterized in that, The device includes: A first receiving module is configured to receive first information, the first information including at least one of the following: a first temporary stopping point, a first temporary stopping position, or a first trajectory; wherein, the first temporary stopping point is a stopping point of the first vehicle during its journey from its current position to its target stopping position, the first temporary stopping position is a stopping position of the first vehicle during its journey from its current position to its target stopping position, and the first trajectory is the movement trajectory between the first temporary stopping position or the first temporary stopping point and the target stopping position of the first vehicle; the first temporary stopping point is determined based on the work position of the second vehicle and / or the work area of ​​the second vehicle included in the work task information; the first temporary stopping position is determined based on the size information of the second vehicle included in the vehicle information and the first temporary stopping point, wherein the first temporary stopping point is located in the first temporary stopping position; the second vehicle is the first vehicle, or a vehicle of the same type as the first vehicle; The first driving module is used to drive the first vehicle to the target stop position based on the first information.

46. ​​An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the method of any one of claims 1-23 when executing the instructions.

47. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the method of any one of claims 24-43 when executing the instructions.

48. A non-volatile computer-readable storage medium storing computer program instructions thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the method described in any one of claims 1 to 23, or the method described in any one of claims 24 to 43.

49. A computer program product comprising computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code, wherein when the computer-readable code is executed in an electronic device, a processor in the electronic device performs the method of any one of claims 1 to 23, or implements the method of any one of claims 24 to 43.

50. A vehicle, characterized in that, include: The parking device as claimed in claim 45, or the electronic device as claimed in claim 47.

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