A method, apparatus and vehicle for assisting parking

Abstract

The application provides a kind of auxiliary parking method, device and electronic equipment.The application adopts the cooperative work of double unmanned aerial vehicles, in the case that the first unmanned aerial vehicle searches the target parking space that can be parked, if the target parking space exists the risk of being occupied, then determine the occupying unmanned aerial vehicle and the navigation unmanned aerial vehicle from the first unmanned aerial vehicle and the second unmanned aerial vehicle, and the occupying unmanned aerial vehicle flies to the target parking space to occupy, and the navigation unmanned aerial vehicle hovers above the parking lot, and plans the first driving path of the vehicle to the target parking space, not only greatly improves the reliability and flexibility of path planning, facilitates the vehicle to successfully go to the target parking space, but also ensures that the target parking space is always available, thereby solving the problem that the large parking lot with backward basic equipment has difficulty in finding empty parking spaces and parking spaces are easily occupied.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicle technology, and in particular to an assisted parking method, device, and vehicle. Background Technology

[0002] As the number of cars on the road increases year by year, parking lots are being built larger and larger in order to alleviate the parking problem.

[0003] However, in scenarios such as large open-air parking lots with poor infrastructure and no access to electronic maps, users have difficulty visually determining whether there are available parking spaces due to limited field of vision, let alone knowing the location of available spaces. This forces users to drive into the parking lot and search for available spaces with their naked eyes, which not only easily leads to wasted effort due to a shortage of spaces, but also makes it easy for spaces to be occupied by others, causing inconvenience to users and affecting their driving experience. Summary of the Invention

[0004] This invention provides an assisted parking method, device, and vehicle to solve the problems of difficulty in finding empty parking spaces and easy occupation of parking spaces in large parking lots with outdated infrastructure.

[0005] In a first aspect, embodiments of the present invention provide a first assisted parking method, wherein the method is applied to a first unmanned aerial vehicle (UAV), the method comprising:

[0006] Upon receiving a search command, the first drone is controlled to take off and search for available parking spaces in the parking lot.

[0007] Determine the risk status of the target parking space;

[0008] When the risk status is that the target parking space is at risk of being occupied, the parking space occupancy drone is controlled to fly to the target parking space to occupy it, and the navigation drone is controlled to take off to plan a first driving route for the vehicle to the target parking space. The parking space occupancy drone is one of the first drone and the second drone, and the navigation drone is the other of the first drone and the second drone.

[0009] Optionally, in the method, determining the risk status of the target parking space includes:

[0010] Obtain the running trends of other vehicles around the target parking space and the third distance between them and the target parking space;

[0011] If the third distance is less than the first distance threshold and the running trend is toward the target parking space, it is determined that the target parking space is at risk of being occupied.

[0012] Optionally, before controlling the parking space occupancy drone to fly to the target parking space and occupy the space, and controlling the navigation drone to take off to plan a first driving path for the vehicle to the target parking space, the method further includes:

[0013] Obtain a first distance between the first drone and the target parking space, and a second distance between the second drone and the target parking space;

[0014] If the first distance is less than or equal to the second distance, the first drone is identified as the occupant drone, and the second drone is identified as the navigation drone;

[0015] If the first distance is greater than the second distance, the first drone is identified as the navigation drone, and the second drone is identified as the occupant drone.

[0016] Optionally, in the method, controlling the parking space occupancy drone to fly to the target parking space to occupy it includes:

[0017] Control the drone to hover above the target parking space and send a warning signal to the surrounding area that the space has been occupied.

[0018] Optionally, the method further includes:

[0019] If it is determined that the target parking space is not at risk of being occupied, the first drone flies over the parking lot and plans a first driving route for the vehicle to the target parking space.

[0020] Optionally, in the method, searching for available parking spaces in the parking lot includes:

[0021] Acquire a first scene image of the parking lot;

[0022] Based on the scene image and vehicle size information, determine the first parking space that can be parked;

[0023] The target parking space is determined based on the first parking space.

[0024] Optionally, in the method, determining the target parking space based on the first parking space includes:

[0025] Send a display instruction to a preset terminal, the display instruction being used to control the preset terminal to display the first parking space;

[0026] Based on the selection instruction fed back by the preset terminal in response to the display instruction, the first parking space corresponding to the selection instruction is determined as the target parking space.

[0027] Optionally, in the method, determining the target parking space based on the first parking space includes:

[0028] A display instruction is sent to a preset terminal. The display instruction carries the location information of the first parking space. The display instruction is used to control the preset terminal to display the first parking space according to the location information.

[0029] If a selection instruction is received from the preset terminal in response to the display instruction within a first time period, the first parking space corresponding to the selection instruction is determined as the target parking space.

[0030] If no selection instruction is received from the preset terminal in response to the display instruction within the first time period, a recommended second parking space is determined from the first parking space, and the second parking space is determined as the target parking space.

[0031] Optionally, in the method, determining a recommended second parking space from the first parking space includes:

[0032] If multiple first parking spaces exist, the parking space with the shortest distance to the vehicle among the multiple first parking spaces is determined as the second parking space; or

[0033] The parking space with the shortest time when the vehicle arrives at the parking space among the multiple first parking spaces is determined as the second parking space;

[0034] If there is a first parking space, the first parking space is designated as the second parking space.

[0035] Optionally, in the method, planning a first driving route for the vehicle to the target parking space includes:

[0036] Acquire a second scene image of the parking lot;

[0037] Determine the second position of the vehicle in the second scene image;

[0038] Based on the second scene image, the second location, and the first location of the target parking space in the second scene image, a feasible path to the target parking space is determined;

[0039] The first driving route is determined based on the feasible path.

[0040] Optionally, in the method, determining the first driving path based on the drivable path includes:

[0041] The travel path with the shortest travel time among all the possible travel paths is determined as the first travel path.

[0042] Optionally, in the method, determining a feasible path to the target parking space based on the second scene image, the second location, and the first location of the target parking space in the second scene image includes:

[0043] The second scene image, the second location, and the first location are input into the semantic segmentation algorithm model, and the set of drivable paths output by the semantic segmentation algorithm model is obtained. The semantic segmentation algorithm model is pre-trained based on sample images of parking lots and can determine the set of drivable paths from the starting point to the destination based on images of different target parking lots.

[0044] Optionally, the method further includes:

[0045] If the second drone is identified as a placeholder drone and the distance between the vehicle and the target parking space is less than a second distance threshold, a first return command is sent to the second drone. The first return command is used to control the second drone to return to the vehicle platform.

[0046] If the second drone is a placeholder drone, after the vehicle is parked in the target parking space, the first drone returns to the vehicle platform.

[0047] If the second drone is identified as a navigation drone and a second return command is received from the second drone, the first drone returns to the vehicle platform; the second return command is used to control the occupant drone to return to the vehicle platform; the second return command is sent by the second drone to the first drone when the distance between the vehicle and the target parking space is less than a second distance threshold.

[0048] Optionally, the method further includes:

[0049] Upon receiving a vehicle location command, the first drone flies above the parking lot and captures a third scene image of the parking lot;

[0050] Based on the third scene image, a second driving path is planned for the vehicle to reach the location of the preset terminal;

[0051] The second driving path is sent to the vehicle, and the second driving path is used to control the vehicle to travel to the location of the preset terminal.

[0052] Secondly, embodiments of the present invention provide a second assisted parking method, wherein the method is applied to a second unmanned aerial vehicle (UAV), and the method includes:

[0053] Upon receiving a navigation command from the first drone, the system controls the second drone to take off and plans a first driving route for the vehicle to the target parking space. The first driving route is then sent to the vehicle to control it to travel to the target parking space along the first driving route. The navigation command is sent from the first drone to the second drone when the first drone determines that the target parking space is at risk of being occupied and determines that the second drone is a navigation drone.

[0054] Upon receiving a parking space reservation instruction from the first drone, the second drone flies to the target parking space to reserve it; wherein, the parking space reservation instruction is sent by the first drone to the second drone after determining that the target parking space is at risk of being occupied and determining that the second drone is a parking space reservation drone.

[0055] Optionally, the method further includes:

[0056] After receiving the navigation command sent by the first drone, if the distance between the vehicle and the target parking space is less than a second distance threshold, a second return command is sent to the first drone, and the drone returns to the vehicle platform after the vehicle parks in the target parking space; the second return command is used to control the first drone to return to the vehicle platform.

[0057] Upon receiving a placeholder instruction from the first drone, and upon receiving a first return instruction from the first drone, the second drone returns to the vehicle platform; the first return instruction is sent by the first drone to the second drone when the second drone is identified as a placeholder drone and the distance between the vehicle and the target parking space is less than a second distance threshold.

[0058] Thirdly, embodiments of the present invention provide a third assisted parking method, wherein the method includes:

[0059] Send a search command to the first drone, the search command being used to control the first drone to search for target parking spaces in the parking lot and determine the risk status of the target parking spaces;

[0060] Receive the risk status returned by the first drone, and if the risk status indicates that the target parking space is at risk of being occupied, determine the parking space occupancy drone and the navigation drone from the first drone and the preset second drone.

[0061] Control the drone to fly to the target parking space and reserve it;

[0062] Control the navigation drone to take off and plan the first driving route for the vehicle to the target parking space;

[0063] The system receives the first driving path returned by the navigation drone and controls the vehicle to travel along the first driving path to the target parking space.

[0064] Fourthly, embodiments of the present invention provide a first type of auxiliary parking device, wherein the device is applied to a first unmanned aerial vehicle (UAV), the device comprising:

[0065] The search module is used to control the first drone to take off and search for available parking spaces in the parking lot when a search command is received.

[0066] The determination module is used to determine the risk status of the target parking space;

[0067] The first control module is used to control a parking space occupancy drone to fly to the target parking space to occupy it when the risk status is that the target parking space is at risk of being occupied, and to control a navigation drone to take off to plan a first driving path for the vehicle to the target parking space. The parking space occupancy drone is one of the first drone and the second drone, and the navigation drone is the other of the first drone and the second drone.

[0068] Fifthly, embodiments of the present invention provide a second type of auxiliary parking device, wherein the device is applied to a second unmanned aerial vehicle (UAV), and the device includes:

[0069] The second control module is used to control the second drone to take off when it receives a navigation command sent by the first drone, and to plan a first driving route for the vehicle to the target parking space, and send the first driving route to the vehicle so as to control the vehicle to drive to the target parking space according to the first driving route; the navigation command is sent by the first drone to the second drone when it determines that the risk status of the target parking space is that there is a risk of it being occupied, and determines that the second drone is a navigation drone.

[0070] The third control module is used to control the second drone to fly to the target parking space to occupy the space when it receives a occupancy command sent by the first drone; wherein the occupancy command is sent by the first drone to the second drone when it determines that the target parking space is at risk of being occupied and determines that the second drone is the occupancy drone.

[0071] Sixthly, embodiments of the present invention provide a third type of auxiliary parking device, wherein the device includes:

[0072] The first sending module is used to send a search command to the first drone, the search command being used to control the first drone to search for target parking spaces in the parking lot and determine the risk status of the target parking spaces;

[0073] The first receiving module is used to receive the risk status returned by the first drone, and when the risk status indicates that the target parking space is at risk of being occupied, it determines from the first drone and the preset second drone a parking space occupant drone and a navigation drone for navigation.

[0074] The fourth control module is used to control the drone to fly to the target parking space to occupy the space;

[0075] The fifth control module is used to control the navigation drone to take off and plan the first driving route of the vehicle to the target parking space;

[0076] The sixth control module is used to receive the first driving path returned by the navigation drone and control the vehicle to travel to the target parking space according to the first driving path.

[0077] In a seventh aspect, embodiments of the present invention provide an electronic device, including: a processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0078] Memory, used to store computer programs;

[0079] When a processor executes a program stored in memory, it implements the steps in the assisted parking method described in the first, second, or third aspects above.

[0080] Eighthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the assisted parking method described in the first, second, or third aspects above.

[0081] Compared with prior art, the present invention has the following advantages:

[0082] In this embodiment of the invention, a dual-drone collaborative operation is employed. If the first drone finds a target parking space that can be parked, and there is a risk that the target parking space is already occupied, a vacancy-reserving drone and a navigation drone are selected from the first and second drones. The vacancy-reserving drone flies to the target parking space to reserve it, while the navigation drone hovers above the parking lot and plans the first driving path for the vehicle to reach the target parking space. This not only greatly improves the reliability and flexibility of path planning, making it easier for vehicles to reach the target parking space smoothly, but also ensures that the target parking space is always available. This solves the problem of difficulty in finding empty parking spaces and the ease with which parking spaces are occupied in large parking lots with outdated infrastructure.

[0083] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0084] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0085] Figure 1 This is a schematic diagram of the first assisted parking method provided in an embodiment of the present invention;

[0086] Figure 2 A schematic diagram illustrating a scenario for implementing the assisted parking method provided in this embodiment of the invention;

[0087] Figure 3 This is a top view of the drone fixed to the vehicle platform in an embodiment of the present invention;

[0088] Figure 4 This is a side view of the drone fixed to the vehicle platform in an embodiment of the present invention;

[0089] Figure 5 This is a schematic diagram of the first stage of the dual-drone relay positioning in an embodiment of the present invention;

[0090] Figure 6 This is a schematic diagram of the second stage of the dual-drone relay positioning in an embodiment of the present invention;

[0091] Figure 7 This is a logic diagram of the assisted parking method in an embodiment of the present invention;

[0092] Figure 8 This is a logic diagram of the vehicle-finding process in an embodiment of the present invention;

[0093] Figure 9 This is a logic diagram illustrating the generation of a driving path in an embodiment of the present invention;

[0094] Figure 10 This is a schematic diagram of a second assisted parking method provided in an embodiment of the present invention;

[0095] Figure 11 This is a schematic diagram of a third assisted parking method provided in an embodiment of the present invention;

[0096] Figure 12 This is a schematic diagram of a first type of auxiliary parking device provided in an embodiment of the present invention;

[0097] Figure 13 This is a schematic diagram of a second type of auxiliary parking device provided in an embodiment of the present invention;

[0098] Figure 14 This is a schematic diagram of a third type of auxiliary parking device provided in an embodiment of the present invention;

[0099] Figure 15 A block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0100] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the invention and to fully convey the scope of the invention to those skilled in the art.

[0101] Figure 1 This invention provides an assisted parking method applied to a first unmanned aerial vehicle (UAV). The method includes steps 101 to 104.

[0102] The assisted parking method provided in this embodiment of the invention is applied to a first unmanned aerial vehicle (UAV), such as... Figure 2 As shown, the first drone 21 can communicate with the second drone 22, the vehicle 23, and the mobile terminal 24 in pairs. The mobile terminal can be a mobile phone, etc. For example, the mobile terminal can communicate with the first drone, the second drone, and the vehicle through a 5G module, while the vehicle can communicate with the first drone and the second drone through vehicle-to-everything (V2X) technology, and the first drone can communicate with the second drone through a 5G module.

[0103] like Figures 3-4As shown, both the first drone 21 and the second drone 22 are vehicle-mounted drones, and both are equipped with cameras and communication modules. The bases of the two drones are connected to the vehicle-mounted platform on the roof of the vehicle 23 via a fixing device, allowing them to be stably moved with the vehicle when not in operation. The two drones can be symmetrically arranged on the roof about the vehicle's central axis. When the first drone 21 and / or the second drone 22 need to start working, the fixing device opens, allowing the drone to detach from the vehicle-mounted platform on the roof and take off to perform its work.

[0104] The vehicle is equipped with an autonomous driving module, which can control other systems of the vehicle according to the driving path, and automatically park the vehicle into or out of the target parking space.

[0105] It should be noted that the data acquisition process and related data involved in the embodiments of the present invention are carried out in compliance with the relevant data protection laws and policies of the country where the invention is located, and with the authorization of the owner of the corresponding device.

[0106] Step 101: Upon receiving a search command, control the first drone to take off and search for available parking spaces in the parking lot.

[0107] In this step, the target parking space is a public parking space that is in a vacant state, that is, a parking space that has been released by the parking lot's parking management system and is available for vehicles to park; the above search instruction is an instruction for the drone to search for the target parking space in the parking lot, which can be sent by the user to the first drone through the vehicle's on-board terminal or the user's mobile terminal when they need to find a parking space.

[0108] In this step, when the first drone receives the search instruction, it indicates that the vehicle needs to be parked in a parking space. Therefore, it searches for a suitable parking space in the parking lot by communicating with the parking management system or by conducting aerial scans.

[0109] Step 102: Determine the risk status of the target parking space.

[0110] In this step, in order to ensure that the vehicle can be parked in the target parking space smoothly, it is necessary to continuously determine the risk status of the target parking space before the vehicle arrives at the target parking space. The aforementioned determination of the risk status of the target parking space is to monitor whether there is a risk that the target parking space will be occupied by other vehicles.

[0111] In practical applications, the aforementioned parking lot is an open-air parking lot with parking space lines. The aforementioned search command is issued by the vehicle or mobile terminal when the user drives the vehicle to the entrance of the parking lot when there is a parking need. When the first UAV receives the aforementioned search command, it takes off from the roof of the vehicle and ascends to a suitable altitude. Then it slowly flies into the airspace inside the parking lot and searches for a target parking space that can be parked. Then it monitors the risk status of the target parking space.

[0112] Step 103: When the risk status is that the target parking space is at risk of being occupied, control the parking space occupancy drone to fly to the target parking space to occupy it, and control the navigation drone to take off to plan the first driving path of the vehicle to the target parking space. The parking space occupancy drone is one of the first drone and the second drone, and the navigation drone is the other of the first drone and the second drone.

[0113] In this step, if the risk of a target parking space being occupied is detected, a drone needs to be dispatched to reserve the parking space. Therefore, it is necessary to determine the parking space reservation drone and the navigation drone from the first drone and the pre-set second drone. Then, the navigation drone is controlled to take off and navigate, that is, to plan the first driving route for the vehicle to the target parking space, while the parking space reservation drone goes to the target parking space to reserve it and prevent it from being occupied by other vehicles. Specifically, when the second drone is determined to be the parking space reservation drone, the first drone is the navigation drone; when the second drone is determined to be the navigation drone, the first drone is the parking space reservation drone.

[0114] In this step, such as Figures 5-6 As shown, when the second drone is a navigation drone, the first drone is a parking space occupancy drone, which needs to go to the target parking space to occupy it. At the same time, when the second drone is a navigation drone, it needs to take over the navigation above the parking lot from the first drone. Therefore, the first drone sends a navigation command to the second drone. When the second drone receives the navigation command, it will take off from the vehicle platform and fly over the parking lot to plan the first driving path of the vehicle to the target parking space in real time. Then, it sends the first driving path to the vehicle. When the vehicle receives the first driving path, it controls the entire vehicle power system, steering system and braking system to cooperate and control the vehicle to move to the target parking space, thereby completing the automatic parking process.

[0115] In this step, when the second drone is a parking space occupancy drone, the first drone is a navigation drone. The first drone needs to navigate above the parking lot, so it plans the first driving route of the vehicle to the target parking space in real time, and then sends the first driving route to the vehicle. When the vehicle receives the first driving route, it controls the entire vehicle power system, steering system and braking system to work together to control the vehicle to move to the target parking space, thereby completing the automatic parking process.

[0116] In this step, when the second drone is a parking space occupant, the second drone needs to go to the target parking space to occupy it. The first drone sends a parking space occupant command to the second drone. When the second drone receives the parking space occupant command, it will take off from the vehicle platform and go to the target parking space to occupy it.

[0117] Optionally, in one embodiment, controlling the parking space occupancy drone to fly to the target parking space to reserve the space includes:

[0118] Control the drone to hover above the target parking space and send a warning signal to the surrounding area that the space has been occupied.

[0119] In this implementation, a parking space occupancy drone is hovered above the target parking space and emits warning signals such as lights or sounds to inform other vehicles that the target parking space has been occupied.

[0120] Optionally, the drone used to reserve the parking space hovers at a height lower than that of other vehicles in the vicinity to prevent other vehicles from ignoring the warning signal and forcibly occupying the target parking space.

[0121] The above implementation process employs a dual-drone collaborative operation. If the first drone finds a target parking space that can be parked, and there is a risk that the target parking space is already occupied, a vacancy-reservation drone and a navigation drone are selected from the first and second drones. The vacancy-reservation drone flies to the target parking space to reserve it, while the navigation drone hovers above the parking lot and plans the first driving route for the vehicle to the target parking space. This not only greatly improves the reliability and flexibility of route planning, making it easier for vehicles to reach the target parking space smoothly, but also ensures that the target parking space is always available. This solves the problem of difficulty in finding empty parking spaces and the ease with which parking spaces are occupied in large parking lots with outdated infrastructure.

[0122] Optionally, in one implementation, searching for available parking spaces in a parking lot includes steps 111 to 113:

[0123] Step 111: Acquire the first scene image of the parking lot.

[0124] In this step, when the first drone flies over the parking lot, it turns on its camera to take pictures of the parking lot and obtains an aerial image, which is the first scene picture mentioned above.

[0125] Step 112: Based on the scene image and vehicle size information, determine the first parking space that can be parked.

[0126] In this step, the vehicle is the one that needs to be parked in the parking lot. Because the vehicle has established a communication connection with the first drone, the first drone can obtain the vehicle's size information. Specifically, the first drone sends a query request to the vehicle to query the vehicle's length, width, and other size information, and then the vehicle can feed back the size information to the first drone.

[0127] In this step, the first drone first acquires the locations of all available empty parking spaces in the first scene image; for each detected empty parking space, it calculates the width and length of the empty parking space based on the length of the parking space lines in the image; then, it compares the length and width of the vehicle with the length and width of each empty parking space. When the length of the empty parking space is greater than the length of the vehicle and the width of the empty parking space is greater than the width of the vehicle, the empty parking space is selected as the first available parking space for the user to choose from. Optionally, the first drone can use an empty parking space detection algorithm to obtain the locations of all available empty parking spaces in the first scene image.

[0128] Step 113: Determine the target parking space based on the first parking space.

[0129] In this step, a parking space is randomly selected from the first available parking spaces or selected according to a preset selection rule as the target parking space.

[0130] In this implementation, an empty parking space is identified by taking an overhead view of the parking lot scene, and then combined with the vehicle's size information to quickly search for available parking spaces.

[0131] Optionally, in one embodiment, step 113 above includes steps 1131 to 1132:

[0132] Step 1131: Send a display instruction to a preset terminal. The display instruction carries the location information of the first parking space and is used to control the preset terminal to display the first parking space according to the location information.

[0133] In this step, when an available parking space is found, the location information of the first parking space is sent to a preset terminal. Upon receiving the aforementioned display instruction, the preset terminal displays the available parking space on its screen for the user to select, provides text prompts, and simultaneously informs the user that a parking space is available and to select one if needed. The preset terminal can be a mobile terminal or an in-vehicle terminal.

[0134] In practical applications, the aforementioned display instruction also carries the aforementioned first scene image, so that when the preset terminal receives the aforementioned display instruction, it can display the aforementioned parking spaces in the first scene image on the screen for the user to select, so that the user can view the surrounding situation of each first parking space.

[0135] Step 1132: Based on the selection instruction fed back by the preset terminal in response to the display instruction, determine the first parking space corresponding to the selection instruction as the target parking space.

[0136] In this step, because available parking spaces are displayed, users can actively select a specific target parking space. The above selection instruction is the user's instruction to select a target parking space, which can be triggered through gesture operations such as touch on the vehicle screen or voice commands. The selection instruction carries the location information of the target parking space, so the target parking space can be determined based on the selection instruction.

[0137] In this implementation, a display command is sent to a preset terminal to display the first available parking space. Then, the user waits for a selection command from the preset terminal to determine the target parking space, and the vehicle can be parked in the empty parking space that the user wants to park in.

[0138] Optionally, in one embodiment, step 113 above includes steps 1133 to 1135:

[0139] Step 1133: Send a display instruction to a preset terminal, the display instruction being used to control the preset terminal to display the first parking space.

[0140] For details on step 1133, please refer to step 1131; it will not be repeated here.

[0141] Step 1134: If a selection instruction is received from the preset terminal in response to the display instruction within a first time period, the first parking space corresponding to the selection instruction is determined as the target parking space.

[0142] In this step, the first duration is the time limit for determining whether the user needs to independently select a parking space; the first duration can be set according to the actual situation, for example, it can be 10 seconds. Because the available parking spaces are displayed, the user can actively select a specific target parking space; the above selection instruction is the user's instruction to select a target parking space, which can be triggered through touch gestures or voice commands on the vehicle's infotainment screen; the selection instruction carries the location information of the target parking space, so the target parking space can be determined based on the selection instruction; if the user's selection instruction is received within the first duration, it means that the user needs to independently select a parking space, so the first parking space corresponding to the selection instruction is taken as the target parking space.

[0143] Step 1135: If no selection instruction is received from the preset terminal in response to the display instruction within the first time period, a recommended second parking space is determined from the first parking space, and the second parking space is determined as the target parking space.

[0144] In this step, if no selection instruction is received from the user within the first time period, it means that the user does not need to select a parking space independently. Therefore, the system recommends parking spaces and automatically selects one from the available parking spaces as the second parking space to be recommended, and sets the second parking space as the target parking space.

[0145] Optionally, in one specific implementation, determining the recommended second parking space from the first parking space includes:

[0146] If multiple first parking spaces exist, the parking space with the shortest distance to the vehicle among the multiple first parking spaces is determined as the second parking space; or

[0147] The parking space with the shortest time when the vehicle arrives at the parking space among the multiple first parking spaces is determined as the second parking space;

[0148] If there is a first parking space, the first parking space is designated as the second parking space.

[0149] In this specific implementation, when there are multiple available first parking spaces, the parking space that is closest or takes the shortest time to park is selected as the recommended parking space; when there is only one available first parking space, that first parking space is directly selected as the recommended parking space.

[0150] In the above embodiments, by displaying the first parking space to the preset terminal, users can choose the parking space they need to park in, or the system can recommend parking spaces without user intervention, and then park in the recommended parking space as the target parking space.

[0151] In the assisted parking method provided by this invention, the first drone only performs the step of determining the risk status of the target parking space upon receiving a parking instruction. That is, it only needs to monitor whether the target parking space is at risk of being occupied when the user determines that automatic parking is required, and then dispatches a occupancy drone to occupy the space if there is a risk. The parking instruction can be issued directly by the user through the vehicle's onboard terminal, or it can be triggered by the user using a mobile terminal to activate the vehicle parking function after selecting a target parking space, getting out of the car, and locking the doors.

[0152] Optionally, if the time taken to search for a suitable parking space in the parking lot exceeds the second time limit, the first drone returns to the vehicle platform, that is, it automatically exits the process of searching for a suitable parking space in the parking lot, and can display a reminder signal through voice, light or text to inform the user that no suitable parking space has been found.

[0153] Optionally, in one implementation, determining the risk status of the target parking space includes steps 201 to 202:

[0154] Step 201: Obtain the running trends of other vehicles around the target parking space and the third distance between them and the target parking space.

[0155] In this step, the first drone continuously captures images of the surrounding environment of the target parking space to determine the movement trends of other vehicles and the distance between other vehicles and the target parking space, which is the aforementioned third distance.

[0156] Step 202: If the third distance is less than the first distance threshold and the running trend is toward the target parking space, it is determined that the target parking space is at risk of being occupied.

[0157] In this step, the first distance threshold is the distance at which other vehicles are judged to have a tendency to occupy the target parking space; when the third distance between other vehicles around the target parking space and the target parking space is less than the first distance threshold, and their running trend is to move closer to the target parking space, it is judged that the target parking space is at risk of being occupied; when the third distance is greater than or equal to the first distance threshold, or the running trend of other vehicles is to move away from the target parking space, or there are no other vehicles around, it is judged that the target parking space is not at risk of being occupied.

[0158] In this implementation, the risk of the target parking space being occupied is determined by continuously monitoring the movement trends of other vehicles around the target parking space and their distance from the target parking space.

[0159] Optionally, in one embodiment, the assisted parking method provided by the present invention further includes steps 204 to 206 before step 103:

[0160] Step 204: Obtain the first distance between the first drone and the target parking space, and the second distance between the second drone and the target parking space.

[0161] In this step, the first UAV calculates the aforementioned first distance by combining its flight altitude with the location information of the target vehicle in the first scene image;

[0162] In this step, the first drone can actively request the location information of the second drone. Combined with the location information of the target parking space, the distance between the second drone and the target parking space can be calculated, which is the second distance mentioned above.

[0163] Optionally, since the second drone is fixed to the vehicle platform when not in operation, the vehicle's location information can be used as the location information of the second drone. The first drone actively requests its location information from the vehicle to determine the location information of the second drone, thus allowing the calculation of the distance between the second drone and the target parking space. The aforementioned location information may include GPS navigation coordinates.

[0164] Step 205: If the first distance is less than or equal to the second distance, the second drone is identified as the navigation drone.

[0165] In this step, if the first distance is less than or equal to the second distance, it means that the first drone is closer to the target parking space and is already in flight. Therefore, the first drone can be used as a parking space occupant drone to reach the target parking space more quickly. Correspondingly, the second drone will act as a navigation drone, which needs to take off and fly above the parking lot to obtain road information with a wide field of view from high altitude. Then, it will take over the task of the first drone and dynamically plan the driving path of the vehicle to the target parking space.

[0166] In this step, the second drone can take off from the vehicle-mounted platform and arrive at the original hovering position of the first drone, taking over the task of real-time path planning from the first drone.

[0167] Step 206: If the first distance is greater than the second distance, the second drone is identified as the occupant drone.

[0168] In this step, if the first distance is greater than the second distance, it means that the second drone is closer to the target parking space. Therefore, the second drone is used as a parking space occupant drone, which can reach the target parking space more quickly. Correspondingly, the first drone is used as a navigation drone, which continues to fly above the parking lot and then dynamically plans the driving path of the vehicle to the target parking space.

[0169] In the above embodiments, the drone with the shorter flight distance to the target parking space among the first and second drones is used as the parking space occupant drone, which can occupy the target parking space before other vehicles to the greatest extent possible, ensuring that the parking space can be used by the user.

[0170] Optionally, in one embodiment, the assisted parking method provided by the present invention further includes step 104:

[0171] Step 104: If it is determined that the target parking space is not at risk of being occupied, control the first drone to fly above the parking lot and plan the first driving route for the vehicle to the target parking space.

[0172] In this implementation, as long as there is no risk of the target parking space being occupied by other vehicles, the first UAV continues to monitor it, that is, continuously judges the risk status of the target parking space. At the same time, the first UAV needs to act as a navigation UAV for navigation, and thus plans the first driving path of the vehicle to the target parking space in real time and dynamically.

[0173] Optionally, in one embodiment, the first driving path of the planned vehicle to the target parking space includes steps 301 to 304:

[0174] Step 301: Acquire a second scene image of the parking lot.

[0175] In this step, a drone used for navigation continuously takes images of the parking lot from above using a camera, which is the second scene image mentioned above.

[0176] In practical applications, the second scene image can simultaneously include the vehicle and the target parking space, so as to facilitate the planning of a drivable path for the vehicle to reach the target parking space.

[0177] Step 302: Determine the second position of the vehicle in the second scene image.

[0178] In this step, the vehicle continuously sends its coordinate information to the first drone, and then the first drone converts the vehicle's coordinate information into the image coordinate system to locate the vehicle's position in the second scene image, which is the aforementioned second position.

[0179] Step 303: Determine the drivable path to the target parking space based on the second scene image, the second location, and the first location of the target parking space in the second scene image.

[0180] In this step, the drivable and non-drivable areas are determined by analyzing the second scene image. By combining the first position of the target parking space in the second scene image with the aforementioned second position, a path from the second position to the first position can be planned as the aforementioned drivable path.

[0181] Optionally, in one specific embodiment, step 303 specifically includes:

[0182] The second scene image, the second location, and the first location are input into the semantic segmentation algorithm model, and the set of drivable paths output by the semantic segmentation algorithm model is obtained. The semantic segmentation algorithm model is pre-trained based on sample images of parking lots and can determine the set of drivable paths from the starting point to the destination based on images of different target parking lots.

[0183] In this specific implementation, a semantic segmentation algorithm model is pre-trained using sample images of the parking lot. This model can perform image semantic segmentation on the drivable and non-drivable areas in the image to obtain a set of all drivable paths from the starting point to the destination. Then, the second scene image of the parking lot, the second location as the starting point, and the target parking space as the destination are input into the semantic segmentation algorithm model, which can output a set of drivable paths for the vehicle to travel from the current location to the target parking space.

[0184] Step 304: Determine the first driving path based on the drivable path.

[0185] In this step, one of the driving routes that can lead to the target parking space is selected as the driving route for the vehicle to drive into the target parking space, which is the first driving route mentioned above.

[0186] Optionally, in one specific embodiment, step 304 above includes:

[0187] The travel path with the shortest travel time among all the possible travel paths is determined as the first travel path.

[0188] In this specific implementation, information such as vehicle and pedestrian density, road congestion, sudden accidents, and road length in all drivable paths is identified and statistically analyzed to calculate the expected travel time. Then, the path with the shortest required travel time is selected from all drivable paths and sent to the vehicle as the first driving path, so that when the vehicle travels along the first driving path, it can reach the target parking space in the shortest time.

[0189] In the above implementation, by continuously collecting second scene images of the parking lot, combining the second position of the vehicle in the second scene image with the first position of the target parking space in the scene image, the driving path of the vehicle from its current position to the target parking space is planned in real time, so that the vehicle can be automatically parked into the target parking space.

[0190] Optionally, in one embodiment, the assisted parking method provided by the present invention further includes steps 105 to 107:

[0191] Step 105: When the second drone is a vacancy drone and the distance between the vehicle and the target parking space is less than the second distance threshold, send a first return command to the second drone. The first return command is used to control the second drone to return to the vehicle platform.

[0192] In this step, the second distance threshold is the distance at which it is determined that the target parking space will not be occupied by other vehicles.

[0193] In this step, when the second drone is a parking space reservation drone, the first drone is a navigation drone. When the distance between the vehicle and the target parking space is less than the second distance threshold, it means that the vehicle is close enough to the target parking space and the target parking space will not be occupied by other vehicles in theory. In order to facilitate the vehicle to park in the target parking space, the second drone used for parking space reservation needs to be removed from the target parking space first. Therefore, the first drone sends a first return command to the second drone. After receiving the first return command, the second drone will return to the vehicle platform, thereby releasing the target parking space for the vehicle to park.

[0194] Step 106: If the second drone is a berth drone, after the vehicle is parked in the target parking space, control the first drone to return to the vehicle platform.

[0195] In this step, when the second drone is a parking space occupant drone, the first drone is a navigation drone; after the vehicle is parked in the target parking space, the navigation of the first drone is completed and thus automatically fed back to the vehicle platform; while before the vehicle is parked in the target parking space, the second drone has already returned to the vehicle platform.

[0196] Step 107: If the second drone is a navigation drone and a second return command is received from the second drone, control the first drone to return to the vehicle platform; the second return command is used to control the occupant drone to return to the vehicle platform; the second return command is sent by the second drone to the first drone when the distance between the vehicle and the target parking space is less than a second distance threshold.

[0197] In this step, when the second drone is a navigation drone, the first drone is a parking space occupant drone. When the distance between the vehicle and the target parking space is less than the second distance threshold, in order to facilitate the vehicle parking in the target parking space, the first drone used for parking space occupancy needs to be removed from the target parking space. Therefore, the second drone will send a second return command to the first drone. After receiving the second return command, the first drone will return to the vehicle platform, thereby releasing the target parking space for the vehicle to park.

[0198] In this implementation, when the vehicle is close enough to the target parking space, the navigation drone controls the parking space occupancy drone to return to the vehicle platform, ensuring that the vehicle can be parked smoothly in the target parking space. The navigation drone then returns to the vehicle platform after the vehicle has been parked in the target parking space, thus completing the entire parking process.

[0199] Optionally, in one embodiment, the assisted parking method provided by the present invention further includes steps 401 to 403:

[0200] Step 401: Upon receiving a vehicle search command, control the first drone to fly above the parking lot and collect a third scene image of the parking lot.

[0201] In this step, the vehicle search instruction is an instruction to direct the vehicle to the location of a preset terminal, which can be a mobile terminal bound to the vehicle. The vehicle search instruction can be sent to the first drone via the vehicle. Upon receiving the vehicle search instruction, it indicates that the vehicle needs to be navigated to the location of the preset terminal. Therefore, the first drone flies above the parking lot and activates its camera to capture a third scene image of the parking lot.

[0202] Step 402: Based on the third scene image, plan a second driving path for the vehicle to reach the location of the preset terminal.

[0203] In this step, the vehicle acquires the location information of the preset terminal and shares it with the first drone. Then, the first drone monitors the changes in road conditions in the third scene image in real time based on the third scene image, the vehicle's location information, and the preset terminal's location information, and plans a second driving path for the vehicle to reach the location of the preset terminal.

[0204] For details on the path planning method, please refer to steps 303 to 304, which will not be repeated here.

[0205] Step 403: Send the second driving path to the vehicle. The second driving path is used to control the vehicle to travel to the location of the preset terminal.

[0206] In this step, the second driving path is sent to the vehicle. When the vehicle receives the second driving path, it controls the entire vehicle power system, steering system and braking system to work together to control the vehicle to move to the location of the preset terminal. Then the first drone returns to the vehicle platform, thus completing the automatic vehicle search process.

[0207] In this implementation, the user sends a vehicle-finding command to the first drone through a preset terminal. The first drone then flies over the parking lot and dynamically plans a second driving route for the vehicle to the location of the preset terminal. The second driving route is then sent to the vehicle, enabling the vehicle to quickly travel to the location of the preset terminal according to the second driving route. This realizes the remote parking and exit functions, completely decoupling the user from the parking lot and greatly solving the problems of parking difficulties and vehicle retrieval difficulties.

[0208] Please see Figure 7 The diagram shows the logic principle of the assisted parking method in an embodiment of the present invention.

[0209] like Figure 7 As shown, in step 701, the user drives the vehicle to the entrance of the parking lot, which is preferably an open-air parking lot;

[0210] In step 702, the user issues a search command through the vehicle terminal or mobile terminal, and then the first drone takes off from the roof of the vehicle to a preset height and flies over the parking lot.

[0211] In step 703, the first drone turns on its camera to take pictures of the interior of the parking lot, capturing an aerial image of the parking lot;

[0212] In step 704, available parking spaces are selected based on the overhead image and vehicle size information;

[0213] In step 705, the first drone hovers over the parking lot, with its field of vision including both vehicles and available parking spaces.

[0214] In step 706, the first drone captures an overhead view of the vehicle and the target parking space, which is then transmitted back to the vehicle and displayed on the vehicle's infotainment screen, whereby the user selects the target parking space.

[0215] In step 707, the user can use a mobile terminal to activate the vehicle parking function after getting out of the vehicle, use the first drone as a navigation drone, and then proceed to step 708.

[0216] In step 708, the navigation drone continuously detects whether the vehicle has parked in the target parking space. If yes, proceed to step 718; otherwise, execute steps 709 and 715.

[0217] In step 709, the navigation drone monitors the road conditions in the overhead image of the parking lot in real time, dynamically generates a better driving route from the vehicle to the target parking space, and then sends the driving route to the vehicle.

[0218] In step 710, the vehicle proceeds to the target parking space according to the driving path sent by the navigation drone;

[0219] In step 711, the navigation drone continuously monitors whether the vehicle has reached the vicinity of the target parking space. If it has, proceed to step 712; otherwise, return to step 708.

[0220] In step 712, it is determined whether the parking space is occupied by a drone. If yes, proceed to step 713; otherwise, proceed to step 714.

[0221] In step 713, the occupant drone is controlled to return to the vehicle-mounted platform.

[0222] In step 714, the vehicle activates the automatic parking function and parks itself in the target parking space;

[0223] In step 715, the navigation drone monitors the surroundings of the target parking space in real time;

[0224] In step 716, the risk status of the target parking space is determined. If it is determined that the target parking space is at risk of being occupied, proceed to step 717; otherwise, return to step 708.

[0225] In step 717, the second drone is used as a navigation drone to take over the position of the first drone to perform monitoring and navigation tasks; at the same time, the first drone flies to the target parking space, hovers to occupy the space, and sends out lights or sounds to the surrounding area to indicate that the space has been occupied.

[0226] In step 718, the navigation drone is controlled to return to the vehicle platform;

[0227] In step 719, the vehicle sends a completion signal to the mobile terminal to inform the user that parking was successful, thus completing the entire parking process.

[0228] Please see Figure 8 The diagram illustrates the logic principle of the vehicle-finding process in an embodiment of the present invention.

[0229] like Figure 8 As shown, in step 801, the user holds a mobile terminal at the parking lot exit, pick-up point, or other boarding location.

[0230] In step 802, the user activates the vehicle parking function via a mobile terminal and sends a vehicle-finding command carrying the GPS location information of the mobile terminal to the vehicle.

[0231] In step 803, the vehicle acquires the GPS location information of the mobile terminal and shares it with the first drone;

[0232] In step 804, the first UAV, acting as a navigation UAV, takes off from the vehicle-mounted platform to a preset altitude;

[0233] In step 805, the first drone activates its camera to take an overhead view of the ground;

[0234] In step 806, the first UAV determines in real time whether the vehicle has arrived at the location of the mobile terminal based on the overhead view and the GPS location information of the mobile terminal. If yes, proceed to step 810; otherwise, proceed to step 807.

[0235] In step 807, the first UAV monitors the road conditions in the overhead view in real time, generates a better driving route from the vehicle to the location of the mobile terminal, and sends the driving route to the vehicle.

[0236] In step 808, the vehicle travels to the location of the mobile terminal according to the driving path sent by the navigation drone;

[0237] In step 809, the vehicle sends its location information back to the mobile terminal to inform the user of the vehicle's location in real time.

[0238] In step 810, after the vehicle arrives at the location of the mobile terminal, it stops and the first drone is controlled to return to the vehicle platform, completing the entire vehicle search process;

[0239] In step 811, the user gets into the car and drives away from the parking lot.

[0240] Please see Figure 9 The diagram illustrates the logic principle of generating a driving path in an embodiment of the present invention.

[0241] like Figure 9 As shown, in step 901, the navigation drone hovers over the parking lot and takes an overhead view of the ground.

[0242] In step 902, the vehicle sends its own GPS location coordinates to the navigation drone;

[0243] In step 903, the navigation drone converts the vehicle's GPS location coordinates into image coordinates, thereby locating the vehicle's position in the image;

[0244] In step 904, when performing parking exit navigation, the navigation drone obtains the location of the target parking space selected by the user in the image as the endpoint and the location of the vehicle as the starting point; when performing vehicle search navigation, the navigation drone obtains the user's GPS location as the endpoint and the GPS location of the vehicle as the starting point.

[0245] In step 905, the drivable roads in the overhead view are segmented to obtain a set of drivable paths from the starting point to the end point;

[0246] In step 906, the navigation drone continuously monitors road information such as vehicle and pedestrian density and road length on drivable roads, and calculates the estimated travel time for each drivable path;

[0247] In step 907, the path with the shortest estimated travel time among all possible routes is selected as the optimal travel path and sent to the vehicle to complete one route planning operation.

[0248] This invention also provides a second assisted parking method, applied to a second unmanned aerial vehicle (UAV), such as... Figure 10 As shown, the method includes steps 211 to 212.

[0249] The assisted parking method provided in this embodiment of the invention is applied to a second drone. The second drone can communicate with the first drone, the vehicle, and the mobile terminal in pairs. The mobile terminal can be a mobile phone, etc. For example, the mobile terminal can communicate with the first drone, the second drone, and the vehicle through a 5G module, while the vehicle can communicate with the first drone and the second drone through vehicle-to-everything (V2X) technology, and the first drone and the second drone can communicate through a 5G module.

[0250] Step 211: Upon receiving the navigation command sent by the first UAV, control the second UAV to take off and plan a first driving route for the vehicle to the target parking space, and send the first driving route to the vehicle to control the vehicle to travel to the target parking space according to the first driving route; the navigation command is sent by the first UAV to the second UAV after determining that the risk status of the target parking space is that there is a risk of it being occupied, and determining that the second UAV is a navigation UAV.

[0251] In this step, when the first drone receives a search instruction instructing it to search for available parking spaces, it searches for such spaces in the parking lot. Simultaneously, to ensure vehicles can successfully park in the target spaces, the risk status of the target parking spaces is continuously assessed before the vehicles arrive, i.e., monitoring for the risk of other vehicles occupying the spaces. If the risk of occupancy is detected, a drone is dispatched to reserve the space. Therefore, it is necessary to identify the reserving drone (from the first drone) and the navigation drone (from the pre-set second drone), thus determining the identity of the second drone and consequently, the identity of the first drone. Specifically, if the second drone is determined to be the reserving drone, the first drone is the navigation drone; conversely, if the second drone is determined to be the navigation drone, the first drone is the reserving drone.

[0252] Specifically, when the first UAV determines that the second UAV is a navigation UAV for navigation, the first UAV sends a navigation command to the second UAV. Upon receiving the navigation command, the second UAV takes off from the vehicle platform and flies over the parking lot, planning a first driving path for the vehicle to reach the target parking space in real time. Then, it sends the first driving path to the vehicle. Upon receiving the first driving path, the vehicle controls the entire vehicle's power system, steering system, and braking system to work together to control the vehicle to reach the target parking space, thereby completing the automatic parking process.

[0253] In this scenario, when the second drone is a navigation drone, the first drone is a parking space occupant drone, which needs to go to the target parking space to occupy it.

[0254] Step 212: Upon receiving a parking space reservation instruction from the first drone, control the second drone to fly to the target parking space to reserve the space; wherein, the parking space reservation instruction is sent to the second drone by the first drone after determining that the risk status of the target parking space is that it is at risk of being occupied, and determining that the second drone is the parking space reservation drone.

[0255] In this step, when the first drone determines that the target parking space is at risk of being occupied and determines that the second drone is a parking space occupancy drone, the first drone will send a parking space occupancy command to the second drone. Upon receiving the parking space occupancy command, the second drone will take off from the vehicle platform and go to the target parking space to occupy it.

[0256] In this scenario, when the second drone is determined to be a parking space occupancy drone, the first drone is a navigation drone. The first drone needs to navigate above the parking lot, thus planning the first driving path for the vehicle to the target parking space in real time. Then, the first driving path is sent to the vehicle. When the vehicle receives the first driving path, it controls the entire vehicle's power system, steering system, and braking system to work together to control the vehicle to move to the target parking space, thereby completing the automatic parking process.

[0257] The above implementation process employs a dual-drone collaborative operation. If the first drone finds a target parking space that can be parked, and there is a risk that the target parking space is already occupied, a vacancy-reservation drone and a navigation drone are selected from the first and second drones. The vacancy-reservation drone flies to the target parking space to reserve it, while the navigation drone hovers above the parking lot and plans the first driving route for the vehicle to the target parking space. This not only greatly improves the reliability and flexibility of route planning, making it easier for vehicles to reach the target parking space smoothly, but also ensures that the target parking space is always available. This solves the problem of difficulty in finding empty parking spaces and the ease with which parking spaces are occupied in large parking lots with outdated infrastructure. It eliminates the need for users to drive themselves, saving users time.

[0258] Optionally, in one embodiment, the assisted parking method provided by the present invention further includes steps 213 to 214:

[0259] Step 213: After receiving the navigation command sent by the first UAV, if the distance between the vehicle and the target parking space is less than the second distance threshold, send a second return command to the first UAV and return to the vehicle platform after the vehicle parks in the target parking space; the second return command is used to control the first UAV to return to the vehicle platform.

[0260] In this step, upon receiving the navigation command sent by the first drone, it is determined that the second drone is a navigation drone used for navigation. Therefore, when the distance between the vehicle and the target parking space is less than the second distance threshold, that is, when it is determined that the target parking space is theoretically impossible to be occupied by other vehicles, a second return command is sent to the first drone to control the first drone to return to the vehicle platform. At the same time, the second drone returns to the vehicle platform after the vehicle is parked in the target parking space, thereby completing the entire parking process.

[0261] Step 214: After receiving the placeholder instruction sent by the first drone, and upon receiving the first return instruction sent by the first drone, the second drone returns to the vehicle platform; the first return instruction is sent by the first drone to the second drone when the second drone is identified as a placeholder drone and the distance between the vehicle and the target parking space is less than a second distance threshold.

[0262] In this step, upon receiving the occupancy command from the first drone, it is determined that the second drone is an occupancy drone used for occupancy. Therefore, when the distance between the vehicle and the target parking space is less than the second distance threshold, in order to facilitate the vehicle parking in the target parking space, the first drone will send a first return command to the second drone. So, upon receiving the first feedback command, the second drone will automatically return to the vehicle platform. The first drone will then return to the vehicle platform after the vehicle has been parked in the target parking space, thus completing the entire parking process.

[0263] This invention also provides a third assisted parking method, such as... Figure 11 As shown, the method includes steps 311 to 315.

[0264] The assisted parking method provided in this embodiment of the invention is applied to a preset terminal, which can be an in-vehicle terminal or a mobile terminal on a vehicle. The in-vehicle terminal, the mobile terminal, the second drone, and the first drone can communicate with each other. The mobile terminal can be a mobile phone, etc. For example, the mobile terminal can communicate with the first drone, the second drone, and the vehicle through a 5G module, while the vehicle can communicate with the first drone and the second drone through vehicle-to-everything (V2X) technology, and the first drone can communicate with the second drone through a 5G module.

[0265] Step 311: Send a search command to the first UAV. The search command is used to control the first UAV to search for target parking spaces in the parking lot and determine the risk status of the target parking spaces.

[0266] In this step, the search instruction is an instruction for the drone to search for available parking spaces. It can be sent by the user to the first drone through the vehicle terminal or mobile terminal when they need to find a parking space. When the first drone receives the search instruction, it will fly over the parking lot to search for available parking spaces. After finding an available parking space, it will continuously monitor the risk status of the target parking space, that is, monitor whether the target parking space is at risk of being occupied.

[0267] Step 312: Receive the risk status returned by the first drone, and if the risk status indicates that the target parking space is at risk of being occupied, determine the parking space occupancy drone and the navigation drone from the first drone and the preset second drone.

[0268] In this step, after the first drone determines the risk status of the target parking space, it will feed back the risk status to the preset terminal. When the preset terminal learns that the risk status is that the target parking space is at risk of being occupied, it needs to identify the drone used for occupying the space and the drone used for navigation from the first drone and the second drone, respectively, thereby determining the identity of the second drone, which in turn determines the identity of the first drone. Specifically, when the second drone is determined to be the drone used for occupying the space, the first drone is the drone used for navigation; when the second drone is determined to be the drone used for navigation, the first drone is the drone used for occupying the space.

[0269] Optionally, in step 312, determining the parking space occupant drone and the navigation drone from the first drone and the preset second drone specifically includes: obtaining a first distance between the first drone and the target parking space, and a second distance between the second drone and the target parking space; if the first distance is less than or equal to the second distance, determining the first drone as the parking space occupant drone and the second drone as the navigation drone; if the first distance is greater than the second distance, determining the first drone as the navigation drone and the second drone as the parking space occupant drone.

[0270] Step 313: Control the drone to fly to the target parking space to occupy the space.

[0271] In this step, the preset terminal sends a parking space reservation command to the parking space reservation drone. After receiving the parking space reservation command, the parking space reservation drone flies to the target parking space to reserve the space.

[0272] Optionally, the drone may occupy a parking space by hovering over the target space and sending a warning signal to the surrounding area that the space has been occupied.

[0273] Step 314: Control the navigation drone to take off and plan the first driving route for the vehicle to the target parking space.

[0274] In this step, the navigation drone needs to navigate, so it flies over the parking lot and plans the first driving route for the vehicle to the target parking space in real time, and then sends the first driving route to the preset terminal.

[0275] Step 315: Receive the first driving path returned by the navigation drone, and control the vehicle to travel to the target parking space according to the first driving path.

[0276] In this step, when the preset terminal receives the first driving path, it controls the vehicle's power system, steering system, and braking system to work together to control the vehicle to move to the target parking space, thereby completing the automatic parking process.

[0277] The above implementation process employs a dual-drone collaborative operation. If the first drone finds a target parking space that can be parked, and there is a risk that the target parking space is already occupied, a vacancy-reservation drone and a navigation drone are selected from the first and second drones. The vacancy-reservation drone flies to the target parking space to reserve it, while the navigation drone hovers above the parking lot and plans the first driving route for the vehicle to the target parking space. This not only greatly improves the reliability and flexibility of route planning, making it easier for vehicles to reach the target parking space smoothly, but also ensures that the target parking space is always available. This solves the problem of difficulty in finding empty parking spaces and the ease with which parking spaces are occupied in large parking lots with outdated infrastructure.

[0278] Optionally, in one embodiment, the assisted parking method provided by the present invention further includes:

[0279] If the distance between the vehicle and the target parking space is less than a second distance threshold, control the occupancy drone to return to the vehicle platform;

[0280] When the vehicle is parked in the target parking space, the navigation drone is controlled to return to the vehicle-mounted platform.

[0281] In this implementation, when the vehicle is close enough to the target parking space, the parking drone is controlled to return to the vehicle platform to ensure that the vehicle can be parked smoothly in the target parking space. The navigation drone then returns to the vehicle platform after the vehicle has been parked in the target parking space, thus completing the entire parking process.

[0282] Figure 12 This is a schematic diagram of an auxiliary parking device provided in an embodiment of the present invention, applied to a first unmanned aerial vehicle (UAV). The device includes:

[0283] The search module 1201 is used to control the first drone to take off and search for a target parking space in the parking lot when a search command is received.

[0284] The determination module 1202 is used to determine the risk status of the target parking space;

[0285] The first control module 1203 is used to control a parking space occupancy drone to fly to the target parking space to occupy it when the risk status is that the target parking space is at risk of being occupied, and to control a navigation drone to take off to plan a first driving path for the vehicle to the target parking space. The parking space occupancy drone is one of the first drone and the second drone, and the navigation drone is the other of the first drone and the second drone.

[0286] Optionally, in the device, the determining module 1202 includes:

[0287] The first acquisition submodule is used to acquire the running trends of other vehicles around the target parking space and the third distance between them and the target parking space;

[0288] The first determining submodule is used to determine that the target parking space is at risk of being occupied when the third distance is less than the first distance threshold and the running trend is toward the target parking space.

[0289] Optionally, in the device, the first control module 1203 includes:

[0290] The second acquisition submodule is used to acquire the first distance between the first drone and the target parking space, and the second distance between the second drone and the target parking space;

[0291] The second determining submodule is used to determine the second UAV as the navigation UAV when the first distance is less than or equal to the second distance;

[0292] The third determining submodule is used to determine the second drone as the occupant drone when the first distance is greater than the second distance.

[0293] Optionally, in the device, the first control module 1203 includes:

[0294] The parking space occupancy submodule is used to control the occupancy drone to hover above the target parking space and send a reminder signal to the surrounding area that the space has been occupied.

[0295] Optionally, the device further includes:

[0296] The first navigation module is used to control the first drone to fly above the parking lot and plan a first driving route for the vehicle to the target parking space when it is determined that the target parking space is not at risk of being occupied.

[0297] Optionally, in the device, the search module 1201 includes:

[0298] The first acquisition submodule is used to acquire a first scene image of the parking lot;

[0299] The fourth determination submodule is used to determine the first parking space that can be parked based on the scene image and the vehicle size information;

[0300] The fifth determining submodule is used to determine the target parking space based on the first parking space.

[0301] Optionally, in the device, the fifth determining submodule includes:

[0302] The first sending unit is used to send a display instruction to a preset terminal. The display instruction carries the location information of the first parking space and is used to control the preset terminal to display the first parking space according to the location information.

[0303] The first determining unit is used to determine the first parking space corresponding to the selection instruction as the target parking space based on the selection instruction fed back by the preset terminal in response to the display instruction.

[0304] Optionally, in the device, the fifth determining submodule includes:

[0305] The second sending unit is used to send a display instruction to a preset terminal. The display instruction carries the location information of the first parking space and is used to control the preset terminal to display the first parking space according to the location information.

[0306] The second determining unit is configured to determine the first parking space corresponding to the selection instruction as the target parking space when it receives the selection instruction from the preset terminal in response to the display instruction within a first time period.

[0307] The third determining unit is used to determine a recommended second parking space from the first parking space and determine the second parking space as the target parking space if no selection instruction is received from the preset terminal in response to the display instruction within a first time period.

[0308] Optionally, in the device, the third determining unit is specifically used to determine the parking space with the shortest distance to the vehicle among the multiple first parking spaces as the second parking space when multiple first parking spaces exist; or

[0309] The parking space with the shortest time when the vehicle arrives at the parking space among the multiple first parking spaces is determined as the second parking space;

[0310] If there is a first parking space, the first parking space is designated as the second parking space.

[0311] Optionally, in the device, the first control module 1203 includes:

[0312] The second acquisition submodule is used to acquire a second scene image of the parking lot;

[0313] The sixth determining submodule is used to determine the second position of the vehicle in the second scene image;

[0314] The seventh determining submodule is used to determine a drivable path to the target parking space based on the second scene image, the second location, and the first location of the target parking space in the second scene image;

[0315] The eighth determining submodule is used to determine the first driving path based on the drivable path.

[0316] Optionally, in the device, the eighth determining submodule is specifically used to determine the driving path with the shortest required time among the various drivable paths as the first driving path.

[0317] Optionally, in the device, the seventh determining submodule is used to input the second scene image, the second position and the first position into the semantic segmentation algorithm model, and obtain the set of drivable paths output by the semantic segmentation algorithm model; the semantic segmentation algorithm model is pre-trained based on sample images of parking lots, and can determine the set of drivable paths from the starting point to the destination based on different target parking lot images.

[0318] Optionally, the device further includes:

[0319] The second sending module is used to send a first return command to the second drone when the second drone is a placeholder drone and the distance between the vehicle and the target parking space is less than a second distance threshold. The first return command is used to control the second drone to return to the vehicle platform.

[0320] The first return module is used to control the first drone to return to the vehicle platform after the vehicle has parked in the target parking space, in the case that the second drone is a placeholder drone.

[0321] The second return module is used to control the first drone to return to the vehicle platform when the second drone is a navigation drone and a second return command is received from the second drone; the second return command is used to control the occupant drone to return to the vehicle platform; the second return command is sent by the second drone to the first drone when the distance between the vehicle and the target parking space is less than a second distance threshold.

[0322] Optionally, the device further includes:

[0323] The acquisition module is used to, upon receiving a vehicle search command, have the first drone fly above the parking lot and acquire a third scene image of the parking lot;

[0324] The planning module is used to plan a second driving path for the vehicle to reach the location of the preset terminal based on the third scene image;

[0325] The third sending module is used to send the second driving path to the vehicle, and the second driving path is used to control the vehicle to travel to the location of the preset terminal.

[0326] Figure 13 This is a schematic diagram of a second type of auxiliary parking device provided in an embodiment of the present invention, applied to a second unmanned aerial vehicle (UAV). The device includes:

[0327] The second control module 1301 is used to control the second drone to take off when it receives a navigation command sent by the first drone, and to plan a first driving route for the vehicle to the target parking space, and to send the first driving route to the vehicle so as to control the vehicle to drive to the target parking space according to the first driving route; the navigation command is sent by the first drone to the second drone when it is determined that the risk status of the target parking space is that there is a risk of it being occupied, and when it is determined that the second drone is a navigation drone.

[0328] The third control module 1302 is used to fly to the target parking space to occupy it upon receiving a occupancy command sent by the first drone; wherein the occupancy command is sent by the first drone to the second drone after determining that the target parking space is at risk of being occupied and determining that the second drone is the occupancy drone.

[0329] Figure 14 This is a schematic diagram of a second type of auxiliary parking device provided in an embodiment of the present invention, the device comprising:

[0330] The first sending module 1401 is used to send a search command to the first drone. The search command is used to control the first drone to search for target parking spaces in the parking lot and determine the risk status of the target parking spaces.

[0331] The first receiving module 1402 is used to receive the risk status returned by the first drone, and when the risk status is that the target parking space is at risk of being occupied, to determine the parking space occupancy drone and the navigation drone from the first drone and the preset second drone.

[0332] The fourth control module 1403 is used to control the parking space occupancy drone to fly to the target parking space to occupy the space;

[0333] The fifth control module 1404 is used to control the navigation drone to take off and plan the first driving route of the vehicle to the target parking space;

[0334] The sixth control module 1405 is used to receive the first driving path returned by the navigation drone and control the vehicle to travel to the target parking space according to the first driving path.

[0335] For the above-described device embodiments, since they are basically similar to the following parking method embodiments, the relevant parts can be referred to in the description of the method embodiments.

[0336] The auxiliary parking device provided in this invention employs a dual-drone collaborative operation. When the first drone searches for a target parking space that can be parked, if there is a risk that the target parking space is occupied, a vacancy-reserving drone and a navigation drone are selected from the first and second drones. The vacancy-reserving drone flies to the target parking space to reserve it, while the navigation drone hovers above the parking lot and plans the first driving path for the vehicle to reach the target parking space. This not only greatly improves the reliability and flexibility of path planning, making it easier for vehicles to reach the target parking space smoothly, but also ensures that the target parking space is always available. This solves the problem of difficulty in finding empty parking spaces and the ease with which parking spaces are occupied in large parking lots with outdated infrastructure.

[0337] This invention also provides an electronic device, such as... Figure 15 As shown, it includes a processor 11501, a communication interface 1502, a memory 1503, and a communication bus 1504, wherein the processor 1501, the communication interface 1502, and the memory 1503 communicate with each other through the communication bus 1504.

[0338] Memory 1503 is used to store computer programs.

[0339] When processor 1501 executes a program stored in memory 1503, it performs the following steps:

[0340] Upon receiving a search command, the first drone is controlled to take off and search for available parking spaces in the parking lot.

[0341] Determine the risk status of the target parking space;

[0342] When the risk status is that the target parking space is at risk of being occupied, the parking space occupancy drone is controlled to fly to the target parking space to occupy it, and the navigation drone is controlled to take off to plan a first driving path for the vehicle to the target parking space. The parking space occupancy drone is one of the first drone and the second drone, and the navigation drone is the other of the first drone and the second drone.

[0343] or

[0344] Perform the following steps:

[0345] Upon receiving a navigation command from the first drone, the system controls the second drone to take off and plans a first driving route for the vehicle to the target parking space. The first driving route is then sent to the vehicle to control it to travel to the target parking space along the first driving route. The navigation command is sent from the first drone to the second drone when the first drone determines that the target parking space is at risk of being occupied and determines that the second drone is a navigation drone.

[0346] Upon receiving a parking space reservation instruction from the first drone, the second drone is controlled to fly to the target parking space to reserve it; wherein, the parking space reservation instruction is sent to the second drone by the first drone after determining that the risk status of the target parking space is that it is at risk of being occupied, and determining that the second drone is the reservation drone;

[0347] or

[0348] Perform the following steps:

[0349] Send a search command to the first drone, the search command being used to control the first drone to search for target parking spaces in the parking lot and determine the risk status of the target parking spaces;

[0350] Receive the risk status returned by the first drone, and if the risk status indicates that the target parking space is at risk of being occupied, determine the parking space occupancy drone and the navigation drone from the first drone and the preset second drone.

[0351] Control the drone to fly to the target parking space and reserve it;

[0352] Control the navigation drone to take off and plan the first driving route for the vehicle to the target parking space;

[0353] The system receives the first driving path returned by the navigation drone and controls the vehicle to travel along the first driving path to the target parking space.

[0354] The processor 1501 can also implement other steps in the above-mentioned assisted parking method, which will not be described in detail here.

[0355] The communication bus mentioned in the aforementioned electronic devices can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or a Controller Area Network (CAN) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0356] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0357] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0358] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0359] In another embodiment of the present invention, a computer-readable storage medium is also provided, which stores instructions that, when executed on a computer, cause the computer to perform the assisted parking method described in the above embodiments.

[0360] In another embodiment of the present invention, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute the following parking method described in the above embodiments.

[0361] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0362] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0363] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. For embodiments of devices, electronic devices, computer-readable storage media, and computer program products containing instructions, the descriptions are relatively simple because they are basically similar to the method embodiments; relevant parts can be referred to the descriptions of the method embodiments.

[0364] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A parking assistance method, characterized in that, The method, applied to a first drone, wherein the first drone and a second drone are connected in communication, wherein the first drone sends at least one of a navigation command, a placeholder command, and a first return command to the second drone, and the second drone sends a second return command to the first drone, includes: Upon receiving a search command, the first drone is controlled to take off and search for available parking spaces in the parking lot. Determine the risk status of the target parking space; Obtain a first distance between the first drone and the target parking space, and a second distance between the second drone and the target parking space; If the first distance is less than or equal to the second distance, the first drone is identified as a placeholder drone, and the second drone is identified as a navigation drone. The second drone arrives at the hovering position of the first drone from the vehicle platform and takes over the task of real-time path planning from the first drone. The first drone sends navigation commands to the second drone. If the first distance is greater than the second distance, the first drone is identified as the navigation drone, and the second drone is identified as the occupant drone; the first drone sends an occupant command to the second drone; When the risk status is that the target parking space is at risk of being occupied, the parking space occupancy drone is controlled to fly to the target parking space to occupy it, and the navigation drone is controlled to take off to plan the first driving path of the vehicle to the target parking space in real time. The parking space occupancy drone is one of the first drone and the second drone, and the navigation drone is the other of the first drone and the second drone. If the second drone is a vacancy drone and the distance between the vehicle and the target parking space is less than a second distance threshold, a first return command is sent to the second drone. The first return command is used to control the second drone to return to the vehicle platform. In the case that the second drone is a staking drone, after the vehicle is parked in the target parking space, the first drone is controlled to return to the vehicle platform; If the second drone is a navigation drone and a second return command is received from the second drone, the first drone returns to the vehicle platform; the second return command is used to control the occupant drone to return to the vehicle platform; the second return command is sent by the second drone to the first drone when the distance between the vehicle and the target parking space is less than a second distance threshold.

2. The method according to claim 1, characterized in that, Determining the risk status of the target parking space includes: Obtain the running trends of other vehicles around the target parking space and the third distance between them and the target parking space; If the third distance is less than the first distance threshold and the running trend is toward the target parking space, it is determined that the target parking space is at risk of being occupied.

3. The method according to claim 1, characterized in that, Controlling the drone to fly to the target parking space to reserve it includes: Control the drone to hover above the target parking space and send a warning signal to the surrounding area that the space has been occupied.

4. The method according to claim 1, characterized in that, The method further includes: If it is determined that the target parking space is not at risk of being occupied, the first drone is controlled to fly above the parking lot and a first driving route for the vehicle to reach the target parking space is planned.

5. The method according to claim 1, characterized in that, The search for available parking spaces in the parking lot includes: Acquire a first scene image of the parking lot; Based on the scene image and vehicle size information, determine the first parking space that can be parked; The target parking space is determined based on the first parking space.

6. The method according to claim 5, characterized in that, Determining the target parking space based on the first parking space includes: A display instruction is sent to a preset terminal. The display instruction carries the location information of the first parking space. The display instruction is used to control the preset terminal to display the first parking space according to the location information. Based on the selection instruction fed back by the preset terminal in response to the display instruction, the first parking space corresponding to the selection instruction is determined as the target parking space.

7. The method according to claim 5, characterized in that, Determining the target parking space based on the first parking space includes: A display instruction is sent to a preset terminal. The display instruction carries the location information of the first parking space. The display instruction is used to control the preset terminal to display the first parking space according to the location information. If a selection instruction is received from the preset terminal in response to the display instruction within a first time period, the first parking space corresponding to the selection instruction is determined as the target parking space. If no selection instruction is received from the preset terminal in response to the display instruction within the first time period, a recommended second parking space is determined from the first parking space, and the second parking space is determined as the target parking space.

8. The method according to claim 7, characterized in that, Determine a recommended second parking space from the first parking space, including: If multiple first parking spaces exist, the parking space with the shortest distance to the vehicle among the multiple first parking spaces is determined as the second parking space; or The parking space with the shortest time when the vehicle arrives at the parking space among the multiple first parking spaces is determined as the second parking space; If there is a first parking space, the first parking space is designated as the second parking space.

9. The method according to claim 1, characterized in that, The first driving route planned for the vehicle to the target parking space includes: Acquire a second scene image of the parking lot; Determine the second position of the vehicle in the second scene image; Based on the second scene image, the second location, and the first location of the target parking space in the second scene image, a feasible path to the target parking space is determined; The first driving route is determined based on the feasible path.

10. The method according to claim 9, characterized in that, Determining the first driving route based on the drivable route includes: The travel path with the shortest travel time among all the possible travel paths is determined as the first travel path.

11. The method according to claim 9, characterized in that, Based on the second scene image, the second location, and the first location of the target parking space in the second scene image, a feasible path to the target parking space is determined, including: The second scene image, the second location, and the first location are input into the semantic segmentation algorithm model, and the set of drivable paths output by the semantic segmentation algorithm model is obtained. The semantic segmentation algorithm model is pre-trained based on sample images of parking lots and can determine the set of drivable paths from the starting point to the destination based on images of different target parking lots.

12. The method according to claim 1, characterized in that, The method further includes: Upon receiving a vehicle search command, the first drone is controlled to fly above the parking lot and capture a third scene image of the parking lot; Based on the third scene image, a second driving path is planned for the vehicle to reach the location of the preset terminal; The second driving path is sent to the vehicle, and the second driving path is used to control the vehicle to travel to the location of the preset terminal.

13. A parking assistance method, characterized in that, Applied to a second drone, the first drone and the second drone are connected by communication, and the first drone sends at least one of the following instructions to the second drone: a navigation instruction, a placeholder instruction, and a first return instruction; The second drone sends a second return command to the first drone, the method comprising: Obtain a first distance between the first drone and the target parking space, and a second distance between the second drone and the target parking space; If the first distance is less than or equal to the second distance, the first drone is identified as a placeholder drone, and the second drone is identified as a navigation drone. The second drone arrives at the hovering position of the first drone from the vehicle platform and takes over the task of real-time path planning from the first drone. The first drone sends navigation commands to the second drone. If the first distance is greater than the second distance, the first drone is identified as the navigation drone, and the second drone is identified as the occupant drone; the first drone sends an occupant command to the second drone; Upon receiving a navigation command from the first drone, the system controls the second drone to take off and plans a first driving route for the vehicle to the target parking space in real time. The first driving route is then sent to the vehicle to control it to travel to the target parking space along the first driving route. The navigation command is sent from the first drone to the second drone when the first drone determines that the target parking space is at risk of being occupied and determines that the second drone is a navigation drone. Upon receiving a parking space reservation instruction from the first drone, the second drone is controlled to fly to the target parking space to reserve it; wherein, the parking space reservation instruction is sent to the second drone by the first drone after determining that the risk status of the target parking space is that it is at risk of being occupied, and determining that the second drone is the reservation drone; After receiving the navigation command sent by the first drone, if the distance between the vehicle and the target parking space is less than a second distance threshold, a second return command is sent to the first drone, and the drone returns to the vehicle platform after the vehicle parks in the target parking space; the second return command is used to control the first drone to return to the vehicle platform. Upon receiving a placeholder instruction from the first drone, and upon receiving a first return instruction from the first drone, the second drone returns to the vehicle platform; the first return instruction is sent by the first drone to the second drone when the second drone is identified as a placeholder drone and the distance between the vehicle and the target parking space is less than a second distance threshold.

14. A parking assistance method, characterized in that, A communication connection is established between a first drone and a second drone. The first drone sends at least one of a navigation command, a placeholder command, and a first return command to the second drone. The second drone sends a second return command to the first drone. The method includes: Send a search command to the first drone, the search command being used to control the first drone to search for target parking spaces in the parking lot and determine the risk status of the target parking spaces; The system receives a risk status returned by the first drone, and if the risk status indicates that the target parking space is at risk of being occupied, it determines a parking space occupant drone and a navigation drone from the first drone and a pre-set second drone. This includes: obtaining a first distance between the first drone and the target parking space, and a second distance between the second drone and the target parking space; if the first distance is less than or equal to the second distance, the first drone is identified as the parking space occupant drone, and the second drone is identified as the navigation drone; the second drone moves from the vehicle platform to the hovering position of the first drone and takes over the real-time path planning task from the first drone; the first drone sends a navigation command to the second drone; if the first distance is greater than the second distance, the first drone is identified as the navigation drone, and the second drone is identified as the parking space occupant drone; the first drone sends a parking space occupant command to the second drone. Control the drone to fly to the target parking space and reserve it; Control the navigation drone to take off and plan the first driving route of the vehicle to the target parking space in real time; Receive the first driving path returned by the navigation drone, and control the vehicle to travel to the target parking space according to the first driving path; If the second drone is a staking drone and the distance between the vehicle and the target parking space is less than a second distance threshold, the first drone sends a first return command to the second drone. The first return command is used to control the second drone to return to the vehicle platform. In the case that the second drone is a staking drone, after the vehicle is parked in the target parking space, the first drone is controlled to return to the vehicle platform; If the second drone is a navigation drone and the first drone receives a second return command sent by the second drone, the first drone returns to the vehicle platform; the second return command is used to control the occupant drone to return to the vehicle platform; the second return command is sent by the second drone to the first drone when the distance between the vehicle and the target parking space is less than a second distance threshold.

15. An electronic device, characterized in that, include: The system includes a processor, a communication interface, a memory, and a communication bus; the processor, communication interface, and memory communicate with each other via the communication bus. Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the steps of the assisted parking method as described in any one of claims 1 to 14.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the assisted parking method as described in any one of claims 1 to 14.

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