Empty parking space recommendation method suitable for autonomous parking in parking lot

Abstract

The invention discloses an empty parking space recommendation method suitable for autonomous parking in a parking lot, relates to the technical field of empty parking space recommendation methods in an autonomous parking scene in the parking lot, and aims to solve the problem that in the prior art, when an autonomous valet parking function is used at present, a user selects a parking space to be parked on a mobile phone APP, and the parking space cannot be parked. The problems that the parking efficiency of a vehicle is greatly reduced due to the fact that a user cannot know the occupation state of a selected parking space, and traffic jam and even collision and rubbing accidents are easily caused in a parking lot in the peak period of the parking lot are solved. Comprising the following steps: S1, a field end server obtains and analyzes a real-time parking space state sensing result of a parking space detection camera to obtain an idle parking space matrix P0 in a current parking lot; s2, according to the road topology structure of the parking lot, the driving distance S from the center point of each parking space in the P0 to the elevator hall E is calculated; and S3, calculating the driving cost C of each parking space.

Description

Technical Field

[0001] The present invention relates to the technical field of a method for recommending an empty parking space in an autonomous parking scene in a parking lot, and in particular to a method for recommending an empty parking space suitable for autonomous parking in a parking lot. Background Art

[0002] At present, when using the autonomous valet parking function, users select the parking space they want to park on the mobile phone APP, but users cannot know the occupancy status of the selected parking space. If the vehicle drives near the selected parking space and finds that the target parking space is occupied, the vehicle needs to continue roaming to find an empty parking space. This leads to a significant decrease in the parking efficiency of the vehicle, and it is easy to cause traffic congestion in the parking lot or even collision and scratch accidents during the peak hours of the parking lot.

[0003] This problem cannot be solved by relying solely on vehicle-side sensors. Vehicles must obtain parking space status and recommended parking space data at the parking lot. However, how the parking lot recommends parking spaces for vehicles to better improve traffic efficiency and avoid congestion becomes an important issue. Therefore, the market urgently needs to develop a method for recommending empty parking spaces suitable for autonomous parking in parking lots to help people solve existing problems. Summary of the invention

[0004] The purpose of the present invention is to provide a method for recommending empty parking spaces suitable for autonomous parking in a parking lot, so as to solve the problem proposed in the above-mentioned background technology that when the current autonomous valet parking function is used, the user selects the parking space to be parked on the mobile phone APP, but the user cannot know the occupancy status of the selected parking space, resulting in a significant decrease in the parking efficiency of the vehicle, and during the peak hours of the parking lot, it is easy to cause traffic congestion in the parking lot and even collision and scratch accidents.

[0005] To achieve the above object, the present invention provides the following technical solution: a method for recommending empty parking spaces for autonomous parking in a parking lot, comprising the following steps:

[0006] S1: The field server obtains and analyzes the real-time parking status perception results of the parking detection camera to obtain the current free parking space matrix P0 in the parking lot;

[0007] S2: According to the parking lot road topology, calculate the driving distance S from the center point of each parking space in P0 to the elevator hall E;

[0008] S3: Calculate the driving cost C of each parking space;

[0009] S4: Calculate the minimum value in the vector C, record it as Cimin, and push the parking space number corresponding to the parking space to the autonomous parking vehicle;

[0010] S5: When the vehicle autonomously drives to the parking space recommended by the system, the system monitors the occupancy of the target parking space in real time. If the parking space is occupied by other vehicles before the autonomously parked vehicle reaches the target parking space, the system immediately searches for other free parking spaces within a radius of Rs with the target parking space as the center and the distance Rs as the radius, and obtains a new free parking space matrix P0, and repeats step S1 until the vehicle arrives at the recommended free parking space and completes autonomous parking.

[0011] In S1, Where N is the parking space number, x is the x-axis coordinate of the center point of the parking space, and y is the y-axis coordinate of the center point of the parking space.

[0012] In S2, E=(xe, ye), where the driving distance S is not a straight-line distance, but the total distance from the center point of the parking space as the starting point along the center line of the parking lot road to the elevator hall.

[0013] In the above S2, the calculation formula of S is: Among them, Di is the straight-line distance from the center of the parking space to the center of the adjacent lane, De is the straight-line distance from the elevator hall to the center line of the lane, Dk is the length of each line segment of the road center line, and R is the set of line segment numbers of the lane center line.

[0014] In S3, the calculation formula of C is: Where Vk is the number of vehicles on the kth lane line segment.

[0015] In S4, the calculation formula of Cimin is: imin =P0(imin,1).

[0016] The present invention proposes a method for recommending vacant parking spaces suitable for autonomous parking in a parking lot, which mainly has the following advantages:

[0017] 1. In this solution, the autonomous parking vehicle does not need to rely on its own sensors to search for vacant parking spaces, but only needs to receive recommended parking space data from the parking lot;

[0018] 2. The parking spaces recommended by the yard tend to be those farther away from the elevator hall to prevent too many vehicles from crowding near the elevator hall parking spaces and causing congestion;

[0019] 3. The parking lot can recommend parking spaces with fewer vehicles on the route, which can effectively avoid congested sections and drive to the target parking space as quickly as possible, thereby improving the traffic operation efficiency of the parking lot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of a method for recommending empty parking spaces suitable for autonomous parking in a parking lot according to the present invention. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] Example 1

[0023] When the vehicle autonomously drives to the parking space recommended by the system, and the system monitors the vacancy of the target parking space in real time, please refer to Figure 1 , an embodiment provided by the present invention: a method for recommending an empty parking space applicable to autonomous parking in a parking lot, comprising the following steps:

[0024] S1: The field server obtains and analyzes the real-time parking status perception results of the parking detection camera to obtain the current free parking space matrix P0 in the parking lot;

[0025] S2: According to the parking lot road topology, calculate the driving distance S from the center point of each parking space in P0 to the elevator hall E;

[0026] S3: Calculate the driving cost C of each parking space;

[0027] S4: Calculate the minimum value in the vector C, record it as Cimin, and push the parking space number corresponding to the parking space to the autonomous parking vehicle;

[0028] In S1, Where N is the parking space number, x is the x-axis coordinate of the center point of the parking space, and y is the y-axis coordinate of the center point of the parking space.

[0029] In S2, E = (xe, ye), where the driving distance S is not a straight-line distance, but the total distance from the center point of the parking space as the starting point along the center line of the parking lot road to the elevator hall.

[0030] In S2, the calculation formula of S is: Among them, Di is the straight-line distance from the center of the parking space to the center of the adjacent lane, De is the straight-line distance from the elevator hall to the center line of the lane, Dk is the length of each line segment of the road center line, and R is the set of line segment numbers of the lane center line.

[0031] In S3, the calculation formula of C is: Where Vk is the number of vehicles on the kth lane line segment.

[0032] In S4, the calculation formula of Cimin is: imin =P0(imin,1).

[0033] Implementation 2

[0034] When the vehicle autonomously drives to the parking space recommended by the system, if the system detects in real time that the target parking space is occupied, please refer to Figure 1, an embodiment provided by the present invention: a method for recommending an empty parking space applicable to autonomous parking in a parking lot, comprising the following steps:

[0035] S1: The field server obtains and analyzes the real-time parking status perception results of the parking detection camera to obtain the current free parking space matrix P0 in the parking lot;

[0036] S2: According to the parking lot road topology, calculate the driving distance S from the center point of each parking space in P0 to the elevator hall E;

[0037] S3: Calculate the driving cost C of each parking space;

[0038] S4: Calculate the minimum value in the vector C, record it as Cimin, and push the parking space number corresponding to the parking space to the autonomous parking vehicle;

[0039] S5: The system immediately searches for other free parking spaces within the radius Rs with the target parking space as the center and the distance Rs as the radius, and obtains a new free parking space matrix P0, and repeats step S1 until the vehicle arrives at the recommended free parking space and completes autonomous parking.

[0040] In S1, Where N is the parking space number, x is the x-axis coordinate of the center point of the parking space, and y is the y-axis coordinate of the center point of the parking space.

[0041] In S2, E = (xe, ye), where the driving distance S is not a straight-line distance, but the total distance from the center point of the parking space as the starting point along the center line of the parking lot road to the elevator hall.

[0042] In S2, the calculation formula of S is: Among them, Di is the straight-line distance from the center of the parking space to the center of the adjacent lane, De is the straight-line distance from the elevator hall to the center line of the lane, Dk is the length of each line segment of the road center line, and R is the set of line segment numbers of the lane center line.

[0043] In S3, the calculation formula of C is: Where Vk is the number of vehicles on the kth lane line segment.

[0044] In S4, the calculation formula of Cimin is: imin =P0(imin,1).

[0045] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for recommending an empty parking space for autonomous parking in a parking lot, comprising the following steps: S1: The field server obtains and analyzes the real-time parking status perception results of the parking detection camera to obtain the current free parking space matrix P0 in the parking lot; S2: According to the parking lot road topology, calculate the driving distance S from the center point of each parking space in P0 to the elevator hall E; S3: Calculate the driving cost C of each parking space; S4: Calculate the minimum value in the vector C, record it as Cimin, and push the parking space number corresponding to the parking space to the autonomous parking vehicle; S5: When the vehicle autonomously drives to the parking space recommended by the system, the system monitors the occupancy of the target parking space in real time. If the parking space is occupied by other vehicles before the autonomously parked vehicle reaches the target parking space, the system immediately searches for other free parking spaces within a radius of Rs with the target parking space as the center and the distance Rs as the radius, and obtains a new free parking space matrix P0, and repeats step S1 until the vehicle arrives at the recommended free parking space and completes autonomous parking.

2. The method for recommending vacant parking spaces for autonomous parking in a parking lot according to claim 1, characterized in that: In S1, Where N is the parking space number, x is the x-axis coordinate of the center point of the parking space, and y is the y-axis coordinate of the center point of the parking space.

3. The method for recommending vacant parking spaces for autonomous parking in a parking lot according to claim 2, characterized in that: In S2, E=(xe, ye), where the driving distance S is not a straight-line distance, but the total distance from the center point of the parking space as the starting point along the center line of the parking lot road to the elevator hall.

4. The method for recommending vacant parking spaces for autonomous parking in a parking lot according to claim 3, characterized in that: In the above S2, the calculation formula of S is: Among them, Di is the straight-line distance from the center of the parking space to the center of the adjacent lane, De is the straight-line distance from the elevator hall to the center line of the lane, Dk is the length of each line segment of the road center line, and R is the set of line segment numbers of the lane center line.

5. The method for recommending vacant parking spaces for autonomous parking in a parking lot according to claim 4, characterized in that: In S3, the calculation formula of C is: Where Vk is the number of vehicles on the kth lane line segment.

6. The method for recommending vacant parking spaces for autonomous parking in a parking lot according to claim 5, characterized in that: In S4, the calculation formula of Cimin is: imin =P0(imin,1).

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