Methods and devices for vehicles and robots to collaborate in finding parking spaces

Abstract

This application relates to the field of intelligent device technology, and provides a method and apparatus for a vehicle and a robot to collaboratively find parking spaces. The method includes: with the vehicle's smart parking mode activated, controlling the vehicle to move from a first real-time location to a parking space area, and moving within the parking space area to find a first vacant parking space; issuing a parking space search command to the robot, causing the robot to execute the command and move within the parking space area to find a second vacant parking space; if it is detected that the vehicle has found the first vacant parking space, and no second vacant parking space is received from the robot, then recording a first time point when the vehicle found the first vacant parking space, and starting a timer from the first time point; if a second vacant parking space is received from the robot within a first preset time period, then determining a target parking space based on the first and second vacant parking spaces. This application can improve the efficiency of searching for vacant parking spaces and the accuracy of identifying vacant parking spaces.

Description

Technical Field

[0001] This application relates to the field of intelligent device technology, and in particular to a method and apparatus for a vehicle and a robot to collaboratively find parking spaces. Background Technology

[0002] With the rapid development of the automotive industry, the number of cars on the road has increased rapidly. However, contrary to the rapid increase in the number of cars, the supporting facilities of various parking lots are relatively backward, and problems such as difficulty in parking, difficulty in finding parking spaces, increasing parking time, and difficulty in finding the car when returning are becoming increasingly prominent.

[0003] In related technologies, parking lots without parking guidance systems rely on users to inefficiently search for available spaces haphazardly, resulting in a poor parking experience. While parking lots with guidance systems can use indicator lights to find available spaces, this method still suffers from inaccurate space identification (e.g., misjudgments of whether a space is available due to misaligned parking), requiring users to repeatedly search for spaces, leading to low search efficiency and a poor parking experience.

[0004] It is evident that existing parking space search methods still suffer from low search efficiency and inaccurate identification of available parking spaces, resulting in a poor parking experience for users. Summary of the Invention

[0005] In view of this, embodiments of this application provide a method and apparatus for vehicles and robots to collaboratively find parking spaces, in order to solve the problems that existing parking space finding methods still have low search efficiency, inaccurate identification of vacant parking spaces, and poor parking experience for users.

[0006] A first aspect of this application provides a method for a vehicle and a robot to collaboratively find a parking space, comprising:

[0007] If it is detected that the vehicle has entered the parking lot and the vehicle's smart parking mode is on, then the first real-time communication connection between the vehicle and the paired robot is established.

[0008] Determine the vehicle's initial real-time location in the parking lot, as well as the parking space area within the parking lot;

[0009] Control the vehicle to move from the first real-time location to the parking area, and move within the parking area to find the first available parking space;

[0010] Send a parking space search command to the robot so that the robot can execute the command and move within the parking space area to find a second available parking space.

[0011] If it is detected that the vehicle has found the first available parking space and has not received a second available parking space from the robot, then record the first time point when the vehicle found the first available parking space and start timing from the first time point;

[0012] If a second available parking space is received from the robot within a first preset time period, the target parking space is determined based on the first and second available parking spaces.

[0013] A second aspect of this application provides an apparatus for a vehicle and a robot to collaboratively find parking spaces, comprising:

[0014] The identification module is configured to establish a first real-time communication connection between the vehicle and the paired robot if it is detected that the vehicle has entered the parking lot and the vehicle's smart parking mode is on.

[0015] The first determining module is configured to determine the first real-time location of the vehicle in the parking lot, and the parking space area of ​​the parking lot;

[0016] The first control module is configured to control the vehicle to move from a first real-time location to a parking space area, and to move within the parking space area to find a first available parking space.

[0017] The sending module is configured to send a parking space search command to the robot, so that the robot can execute the parking space search command and move within the parking space area to find a second available parking space;

[0018] The first recording module is configured to record the first time point when the vehicle finds the first available parking space and to start timing from the first time point if it detects that the vehicle has found the first available parking space and has not received a second available parking space from the robot.

[0019] The second determining module is configured to determine the target parking space based on the first and second vacant parking spaces if it receives a second vacant parking space sent by the robot within a first preset time period.

[0020] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0021] A fourth aspect of this application provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0022] Compared with the prior art, the beneficial effects of this application embodiment include at least the following: when the vehicle is in smart parking mode, by controlling the vehicle and the robot to search for vacant parking spaces in the parking area of ​​the parking lot, the distance limitation of the vehicle's own judgment of the environment can be effectively removed with the assistance of the robot, and the vehicle's perception of the external environment can be extended, thereby improving the efficiency of searching for vacant parking spaces and the accuracy of identifying vacant parking spaces. At the same time, it further enriches the human-vehicle interaction mode, making the human-vehicle interaction mode more flexible and diversified, and making the user's car use experience in parking scenarios better. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating a method for a vehicle and a robot to collaboratively find a parking space, as provided in an embodiment of this application.

[0025] Figure 2 This is a schematic diagram of a parking scenario provided in an embodiment of this application;

[0026] Figure 3 This is a system structure block diagram of a vehicle provided in an embodiment of this application;

[0027] Figure 4 This is a system structure block diagram of a robot provided in an embodiment of this application;

[0028] Figure 5 This is a schematic diagram illustrating the communication connection between a vehicle and a robot, provided in an embodiment of this application.

[0029] Figure 6 This is a flowchart illustrating a method for identifying vacant parking spaces in the vehicle-robot collaborative parking space search method provided in this application embodiment;

[0030] Figure 7 This is a flowchart illustrating the process of determining a parking space recommendation list in a method for vehicles and robots to collaboratively find parking spaces, as provided in an embodiment of this application.

[0031] Figure 8 This is a flowchart illustrating a parking navigation route generation method, one of the methods for vehicle and robot collaboration in finding parking spaces provided in this application embodiment.

[0032] Figure 9This is a schematic diagram of another parking scenario provided in an embodiment of this application;

[0033] Figure 10 This is a schematic diagram of a device for a vehicle and a robot to collaboratively find a parking space, provided in an embodiment of this application;

[0034] Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0035] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0036] The following will describe in detail, with reference to the accompanying drawings, a method and apparatus for a vehicle and a robot to collaboratively find a parking space according to an embodiment of this application.

[0037] Figure 1 This is a flowchart illustrating a method for a vehicle and a robot to collaboratively find a parking space, as provided in an embodiment of this application.

[0038] This application embodiment Figure 1 The method of vehicles and robots collaborating to find parking spaces can be executed by the vehicle's cockpit software system. For example... Figure 1 As shown, the method includes the following steps:

[0039] Step S101: If it is detected that the vehicle has entered the parking lot and the vehicle's smart parking mode is on, then the first real-time communication connection between the vehicle and the robot paired with it is established.

[0040] Figure 2 This is a schematic diagram of a parking scenario provided in an embodiment of this application. Please refer to... Figure 2 In this parking scenario, a parking lot includes four parking areas, labeled Parking Area 1, 2, 3, and 4. Each parking area contains multiple parking spaces; for example, Parking Area 1 includes spaces 11-18, Parking Area 2 includes spaces 21-24, Parking Area 3 includes spaces 31-37, and Parking Area 4 includes spaces 41-48. After entering the parking lot, vehicle 20 can search for the first available parking space within the parking area. Simultaneously, robot 30 will also search for the second available parking space within the same parking area. Through the cooperation between vehicle 20 and robot 30, the target parking space is found within the parking area of ​​the parking lot.

[0041] Vehicle 20 can be an intelligent car (such as a new energy vehicle); robot 30 can be an intelligent in-vehicle robot (such as a dog or a cartoon character).

[0042] Figure 3 This is a system structure block diagram of a vehicle according to an embodiment of this application. For ease of description, only the parts related to the embodiment of this application are shown in the figure, which are described in detail below:

[0043] Please see Figure 3 The vehicle 20 (such as a smart car) may include: a cockpit software system 201, an in-vehicle near-field communication module 202 (specifically, a Bluetooth module, WiFi module, NFC (Near Field Communication) module, etc.), an in-vehicle T-BOX (remote communication module) 203, a TSP (Telematics Service Provider) platform 204, an in-vehicle map system 205, an in-vehicle GPS positioning system 206, and an in-vehicle voice assistant 207, etc. These modules and systems can communicate with each other via a CAN (Controller Area Network) bus.

[0044] Figure 4 This is a system structure block diagram of a robot according to an embodiment of this application. For ease of description, only the parts related to the embodiment of this application are shown in the figure, which are described in detail below:

[0045] Please see Figure 4 The robot may include: an intelligent robot system 301, a vision system 302, a navigation and obstacle avoidance system 303, a robot near-field communication module 304, a robot mapping system 305, a robot GPS positioning system 306, a robot voice assistant 307, and a lighting system 308, etc. These modules and systems can communicate with each other via a CAN (Controller Area Network) bus.

[0046] Figure 5 This is a schematic diagram illustrating the communication connection between a vehicle and a robot, provided in an embodiment of this application.

[0047] Please see Figure 5When the smart parking mode of vehicle 20 is activated, vehicle 20 can communicate with robot 30's robot near-field communication module 304 via the onboard near-field communication module 202 to establish a near-field communication connection between vehicle 20 and robot 30's intelligent robot system 301. Vehicle 20 can also communicate and interact with a client (such as a car owner's app) via the onboard near-field communication module 202 to establish a near-field communication connection with the client (such as the car owner's app). Robot 30 can communicate and interact with a client (such as the car owner's app) via the robot near-field communication module 304 to establish a near-field communication connection with the client (such as the car owner's app). Vehicle 20 can establish a remote communication connection with the cloud information platform via the TSP platform 204 or the onboard T-BOX 203. Robot 30 and the cloud information platform can establish a mobile communication connection via 4G / 5G modules. The cloud information platform and the client (such as the car owner's app) can establish a mobile communication connection via 4G / 5G modules.

[0048] The cloud-based information platform can be a cloud server. This platform includes a database that stores data such as the spatial layout twins of each parking lot, the distribution of vacant parking spaces, parking space vacancy periods, and the compatibility between parking spaces and vehicle types. This data facilitates further in-depth analysis and parking space recommendations.

[0049] As an example, please refer to Figures 2-5 When the cockpit software system 201 of vehicle 20 receives environmental perception information uploaded by the vehicle perception system (such as vision system, radar system) via the CAN bus and recognizes that vehicle 20 has entered the parking lot, it further identifies whether the smart parking mode of vehicle 20 is activated. If the smart parking mode of vehicle 20 is activated and the distance between vehicle 20 and robot 30 is within the preset near-field communication distance range, a first real-time communication connection (near-field communication connection, such as Bluetooth connection) can be established between vehicle-mounted near-field communication module 202 and robot near-field communication module 304 of robot 30. If the distance between vehicle 20 and robot 30 is greater than the upper limit of the near-field communication distance range, a remote communication connection can be established with the cloud information platform via vehicle-mounted T-BOX 203 or TSP platform 204. The cloud information platform establishes a remote communication connection with robot 30 via 4G / 5G module. At this time, vehicle 20 and robot 30 can establish an indirect communication connection through the cloud information platform. In this way, the communication stability and reliability between vehicle 20 and robot 30 can be guaranteed.

[0050] The preset near-field communication range can be specifically set according to actual conditions, such as 0-30 meters, 0-20 meters, etc. The preset near-field communication range usually needs to meet the stability and quality requirements of near-field communication between the vehicle and other communication peers.

[0051] If the preset near-field communication distance range is 0 to 30 meters, then its upper limit is 30 meters.

[0052] In some implementations, a user (such as the current driver) can input a voice command to turn the smart parking mode of the vehicle 20 on or off via the in-vehicle voice assistant 207. When the cockpit software system 201 of the vehicle 20 receives the voice command, it controls the smart parking mode of the vehicle 20 to be turned on or off.

[0053] In other embodiments, users can also input touch commands to turn the smart parking mode of the vehicle 20 on or off via the touch screen of the cockpit software system 201. When the cockpit software system 201 detects the touch command, it controls the smart parking mode of the vehicle 20 to be turned on or off.

[0054] In some other implementations, when vehicle 20 and robot 30 successfully establish a first real-time communication connection, robot 30 can proactively issue voice prompts via robot voice assistant 307 to indicate to the user whether to activate / deactivate the smart parking mode. Simultaneously, vehicle 20's cockpit software system 201 can display text prompts and activation / deactivation buttons on the central control screen for user confirmation of activating / deactivating the smart parking mode. At this point, robot voice assistant 307 and in-vehicle voice assistant 207 are interconnected, functioning as a single voice assistant to the user.

[0055] If the user confirms the activation of the smart parking mode, vehicle 20 can transmit the smart parking mode activation command to robot 30 via CAN bus and near-field communication. Upon receiving the smart parking mode activation command, robot 30 autonomously controls the opening of the electric rear door of vehicle 20, jumps out of the vehicle, and begins searching for a second available parking space in the parking area.

[0056] Users can turn the smart parking mode on / off before or after the vehicle enters the parking lot.

[0057] It should be noted that the layout, quantity, and type of parking spaces (including perpendicular parking spaces, parallel parking spaces, etc.) of the parking lot, parking space area, and parking spaces in the parking space area, as well as the specific type, quantity, and combination of vehicles 20, robots 30, etc., can be adjusted according to the actual needs of the application scenario. This application embodiment does not impose any restrictions on this.

[0058] Step S102: Determine the vehicle's first real-time location in the parking lot, as well as the parking space area of ​​the parking lot.

[0059] The first real-time location refers to the location of vehicle 20 after entering the parking lot and preparing to start looking for the first available parking space.

[0060] In some implementations, the first real-time location of the vehicle 20 when it begins searching for the first available parking space can be determined by the vehicle-mounted GPS positioning system 206.

[0061] In some implementations, vehicle 20 can establish a remote communication connection with the parking system corresponding to the parking lot it has entered and send a parking information retrieval request to the parking system. The parking system responds to the parking information retrieval request and returns the corresponding parking information to vehicle 20, including the spatial layout map of the parking lot, parking space areas, etc.

[0062] In other embodiments, vehicle 20 uses its onboard camera to capture images of the interior environment of the parking lot it is currently entering, and analyzes these images to determine the parking space area of ​​the parking lot.

[0063] Step S103: Control the vehicle to move from the first real-time location to the parking space area, and move within the parking space area to find the first available parking space.

[0064] As an example, please refer to Figure 2 The cockpit software system 201 can control the vehicle 20 to move from a first real-time location to parking area 1-4 of the parking lot to find a first available parking space. The movement route of the vehicle 20 within parking area 1-4 can be flexibly set according to actual conditions. For example, the vehicle 20 can first be controlled to move to parking area 1 to find a first available parking space; if no first available parking space is found in parking area 1, then the vehicle 20 can be controlled to move to parking area 2 to continue searching; if no first available parking space is found in parking area 2, then the vehicle 20 can be controlled to move to parking area 3 to continue searching; if no first available parking space is found in parking area 3, then the vehicle 20 can be controlled to move to parking area 4 to continue searching. This avoids repeatedly searching for parking areas and improves search efficiency.

[0065] The cockpit software system 201 can acquire environmental images of the parking lot via an onboard camera and then analyze these images to determine whether the parking lot has a parking guidance system. If the parking lot is equipped with a parking guidance system, the system can move within the parking area according to the parking space indicator lights (e.g., green light indicates an available parking space, red light indicates a occupied parking space) to find the first available parking space displaying a green light. This improves the efficiency of finding available parking spaces.

[0066] If the parking lot is not equipped with a parking guidance system, then it needs to rely on the vehicle's perception system (such as a vision system or radar system) to search for parking spaces. During the search, target detection algorithms such as YOLO (You Only Look Once) or SSD (Single Shot MultiBox Detector) can be used to identify whether the parking spaces are vacant.

[0067] As an example, please refer to Figure 6 The specific process for vehicle 20 to identify whether a parking space is vacant is as follows:

[0068] 1) Load the YOLOv3 model; 2) Load the category names; 3) Read the image (the acquired environment perception image); 4) Image preprocessing; 5) Set the network input; 6) Perform network forward propagation; 7) Parse the output; 8) Apply NMS (Non-maximum suppression) to determine the current parking space; 9) Determine if a vehicle is detected in the current parking space; 10) If a vehicle is detected in the current parking space, end the detection; 11) If no vehicle is detected, designate the current parking space as the first available parking space.

[0069] Step S104: Send a parking space search command to the robot so that the robot can execute the parking space search command and move within the parking space area to find a second available parking space.

[0070] As an example, if robot 30 is placed in the trunk of vehicle 20, the distance between vehicle 20 and robot 30 can be considered zero, within a preset near-field communication range (e.g., 0-30 meters). In this case, vehicle 20 can establish a near-field communication connection with robot 30 and issue a parking space search command to robot 30. Upon receiving this parking space search command, if robot 30 is placed in the trunk of vehicle 20, it can autonomously control the opening of the electric tailgate of vehicle 20, then jump out of vehicle 20 and move within the parking area to search for a second available parking space. Simultaneously, the cockpit software system 201 synchronously controls vehicle 20 to search for a first available parking space within the parking area.

[0071] As another example, when the communication distance between vehicle 20 and robot 30 is detected to be greater than the upper limit of the near-field communication distance range (e.g., 0-30 meters) (30 meters), the near-field communication connection between vehicle 20 and robot 30 can be switched to a remote communication connection (e.g., a remote communication connection between vehicle 20 and robot 30 can be built through a cloud information platform) to ensure the stability and reliability of the communication between vehicle 20 and robot 30.

[0072] As a preferred method, the robot 30 and vehicle 20 can search for vacant parking spaces by alternating parking area searches. For example, vehicle 20 can search for the first vacant parking space in the order of parking area 1 → parking area 2 → parking area 3 → parking area 4; while robot 30 can search for the second vacant parking space in the order of parking area 4 → parking area 3 → parking area 2 → parking area 1. This method helps improve the efficiency of vacant parking space search.

[0073] As an example, during the synchronous search for an available parking space by vehicle 20 and robot 30, vehicle 20 acquires the real-time location information of robot 30 and displays it on the central control screen. At the same time, vehicle 20 acquires the first environmental perception information perceived by its perception system and the second environmental perception information perceived by robot 30's perception system, performs real-time modeling, forms an environmental rendering map, and displays the distance relationship between vehicle 20 and robot 30 on the central control screen so that users can intuitively view the real-time position relationship between robot 30 and vehicle 20.

[0074] As an example, users can establish a near-field communication connection between the client (such as the owner's APP) and the vehicle 20 via touch in the Bluetooth connection function of the vehicle control and vehicle equipment section of the cockpit software system 201. The near-field communication connection between the vehicle 20 and the robot 30 can also be disconnected in the cockpit software system 201.

[0075] Step S105: If it is detected that the vehicle has found the first available parking space and has not received a second available parking space from the robot, then record the first time point when the vehicle found the first available parking space and start timing from the first time point.

[0076] As an example, please refer to Figure 2 If vehicle 20 is detected to have found the first available parking space (e.g., parking space 11) in parking area 1, but has not yet received a notification from robot 30 that a second available parking space is available, it indicates that robot 30 has not yet found a second available parking space. At this time, the first time point when vehicle 20 finds the first available parking space can be recorded and denoted as t1.

[0077] Step S106: If a second available parking space is received from the robot within a first preset time period, then a target parking space is determined based on the first and second available parking spaces.

[0078] Starting from the first time point t1, if the robot 30 receives a second available parking space (such as parking space 41) within the first preset time period, then the target parking space is determined based on the first and second available parking spaces.

[0079] The first preset duration can be flexibly set according to the actual situation. For example, it can be set to 60 seconds, 90 seconds, etc. This application embodiment does not impose specific limitations on this.

[0080] The technical solution provided in this application embodiment, when the vehicle is in smart parking mode, controls the vehicle and robot to synchronously search for vacant parking spaces in the parking area of ​​the parking lot. With the assistance of the robot, the distance limitation of the vehicle's own judgment of the environment can be effectively removed, and the vehicle's perception of the external environment can be extended, thereby improving the efficiency of searching for vacant parking spaces and the accuracy of identifying vacant parking spaces. At the same time, it further enriches the interaction between people and vehicles, making the interaction between people and vehicles more flexible and diversified, and making the user's car use experience in parking scenarios better.

[0081] In some embodiments, after recording the first time point when the vehicle finds the first available parking space, and starting the timer from the first time point, the method further includes:

[0082] If no second available parking space is received from the robot within the first preset time period, it is determined whether the first available parking space meets the vehicle's parking needs.

[0083] If the first available parking space meets the vehicle's parking needs, then the first available parking space is designated as the target parking space, and a stop parking space search command is sent to the robot, so that the robot executes the stop parking space search command and stops searching for the second available parking space.

[0084] Parking requirements include at least the following: ① The vehicle can be fully parked in an empty parking space, meaning the size (length and width) of the empty parking space must be larger than the size (length and width) of the vehicle; ② It is convenient for people inside the vehicle to get out of the vehicle after it is parked in the empty parking space, meaning the reserved door opening angle is greater than the minimum door opening angle (to facilitate people inside the vehicle to get out of the vehicle normally).

[0085] If the cockpit software system 201 does not receive a second available parking space from the robot 30 within a first preset time period, it can acquire an image of the surrounding environment of the first available parking space using an onboard camera. Then, it analyzes this image to determine the size of the first available parking space (including its length and width). Next, it compares the length of the first available parking space with the length and width of the vehicle 20. If the length and width of the first available parking space are both greater than the length and width of the vehicle 20, it further analyzes the parking conditions and obstacles of adjacent parking spaces in front, behind, to the left, and right of the first available parking space to determine if the reserved door opening angle after parking the vehicle 20 in the first available parking space is greater than the minimum door opening angle. If the reserved door opening angle is greater than the minimum door opening angle, the first available parking space meets the vehicle's parking requirements and is designated as the target parking space. At the same time, a stop parking space search command can be sent to robot 30, which includes the location of the first available parking space. Upon receiving this command, robot 30 stops searching for a second available parking space and navigates back to the location of the first available parking space.

[0086] By using the above method, when a vehicle finds a first available parking space that meets the vehicle's parking needs, a command to stop searching for a parking space is promptly issued to the robot, which helps save the cost of the robot continuing to search for a second available parking space.

[0087] In some embodiments, after determining whether the first vacant parking space meets the vehicle's parking needs, the method further includes:

[0088] If the first available parking space does not meet the vehicle's parking needs, the vehicle will continue to move within the parking area to find a third available parking space.

[0089] If a second available parking space is received from the robot before the vehicle finds a third available parking space, and the second available parking space meets the vehicle's parking needs, then the second available parking space is identified as the target parking space, and the vehicle is controlled to stop moving within the parking space area to search for a third available parking space.

[0090] If the first available parking space does not meet the parking requirements ① or ② mentioned above, then it can be determined that the first available parking space does not meet the parking requirements of the vehicle. At this time, the cockpit software system 201 continues to control the vehicle 20 to move within the parking space area to find a third available parking space.

[0091] If the cockpit software system 201 receives a second available parking space from the robot 30 before detecting that the vehicle 20 has found a third available parking space, and confirms that the second available parking space meets the parking requirements ① and ② mentioned above, then the second available parking space reported by the robot 30 is designated as the target parking space, and the vehicle 20 is controlled to stop searching for a third available parking space. Furthermore, the robot 30 can send voice prompts to the vehicle 20 via the robot voice assistant 307 to remind the user to drive the vehicle 20 to the second available parking space as soon as possible. While waiting for the vehicle 20 to reach the second available parking space, the robot 30 can display preset lighting effects (such as a constant green light) through the lighting system 308 to facilitate user identification and quick location of the robot 30 and the second available parking space. The preset lighting effects can be customized by the user according to their needs. Different colors and states of lighting effects can be set for different states. For example, the lighting system 308 may display a red breathing light while the robot 30 is searching for an available parking space, and then display a constant green light after finding the second available parking space.

[0092] If the cockpit software system 201 receives a second available parking space from the robot 30 before detecting that the vehicle 20 has found a third available parking space, and determines that the second available parking space meets the above-mentioned parking requirement condition ① but does not meet condition ②; or meets the above-mentioned parking requirement condition ② but does not meet condition ①, then the parking space image of the second available parking space can be displayed on the central control screen of the vehicle 20, and voice or text prompts can be entered (informing the user that there is a problem with getting out of the car when the robot 30 parks the vehicle in the second available parking space). If the system receives a confirmation operation entered by the user through the in-vehicle voice assistant 207 or the central control screen, then the second available parking space is determined as the target parking space. If a cancellation operation is received from the user via the in-vehicle voice assistant 207 or the central control screen, or if no user feedback is received after a preset waiting time (which can be flexibly set according to actual conditions, for example, 10 seconds, 15 seconds, etc.), the vehicle 20 will continue to be controlled to find the third available parking space. At the same time, a parking space search command will be issued to the robot 30. The robot 30 will execute the parking space search command and continue to move within the parking space area to search for the fourth available parking space.

[0093] In this way, the robot and the vehicle cooperate to search for available parking spaces in the parking area, which can greatly improve the efficiency of finding available parking spaces and the accuracy of identifying available parking spaces, thereby improving the user's parking experience.

[0094] In some embodiments, the method further includes:

[0095] If the robot returns a second available parking space, and no vehicle is detected finding a first available parking space in the parking area, then record the second time point when the robot returns to the second available parking space, and start timing from the second time point;

[0096] If a vehicle is detected to have found a first available parking space in the parking area within the second preset time period, then a target parking space is determined based on the first and second available parking spaces.

[0097] If the cockpit software system 201 receives the second available parking space returned by the robot 30, and the vehicle 20 has not yet found the first available parking space in the parking area, the second time point when the robot 30 returns to the second available parking space is recorded as t2.

[0098] Starting from the first time point t2, if vehicle 20 is detected to have found the first available parking space in the parking area within the second preset time period, then the target parking space is determined based on the first and second available parking spaces.

[0099] The second preset duration can be flexibly set according to the actual situation. For example, it can be set to 60 seconds, 90 seconds, etc. This application embodiment does not impose specific limitations on this.

[0100] If the cockpit software system 201 does not detect that the vehicle 20 has found a first available parking space in the parking area within the second preset time period, it then determines whether the second available parking space meets the parking needs of the vehicle 20; if the second available parking space meets the parking needs of the vehicle 20, it then determines the second available parking space as the target parking space.

[0101] In some embodiments, determining a target parking space based on a first vacant parking space and a second vacant parking space includes:

[0102] Collect the vehicle's second real-time location, as well as the historical parking preference information of the vehicle's current driver;

[0103] The first parking cost is determined based on the second real-time location, the location of the first parking space corresponding to the first vacant parking space, and historical parking preference information.

[0104] The second parking cost is determined based on the second real-time location, the location of the second available parking space, and historical parking preference information.

[0105] If the first parking cost is less than the second parking cost, then the first vacant parking space is designated as the target parking space;

[0106] If the cost of the first parking space is greater than the cost of the second parking space, then the second available parking space will be designated as the target parking space.

[0107] If the first parking cost equals the second parking cost, then the first or second vacant parking space is determined as the target parking space.

[0108] The second real-time location refers to the location reached by vehicle 20 when it finds the first available parking space.

[0109] Historical parking preference information can be parking space preferences set by the user (such as the current driver) through the cockpit software system, such as parking spaces near elevator entrances, parking spaces near parking lot exits / entrances, or shortest parking distances. Alternatively, it can be determined by collecting and analyzing the user's (such as the current driver's) parking navigation records and parking locations over past time periods (e.g., the past month, the past six months, the past year, etc.).

[0110] As an example, users can customize their parking preferences through the cockpit software system 201 and send the settings to the robot 30. Subsequently, the vehicle 20 and the robot 30 can search for available parking spaces based on the user's parking preferences to better meet the user's personalized parking needs, thereby improving the user's parking experience.

[0111] Based on the second real-time location, the location of the first parking space corresponding to the first vacant parking space, and historical parking preference information, the first parking cost is determined. Specifically, the cockpit software system 201 can first determine the shortest parking path for the vehicle 20 to move from the first real-time location to the location of the first vacant parking space based on the first real-time location, the location of the first parking space, and the spatial layout map of the parking lot. Then, according to the preset scoring items and the correspondence between scores, the first score corresponding to the shortest parking path and the second score corresponding to each historical parking preference are determined. Finally, the sum of the first score and the second score is calculated to obtain the first parking cost.

[0112] As an example, the correspondence between the preset scoring items and scores is shown in Table 1 below.

[0113] Table 1

[0114]

[0115] In Table 1 above, D1 < D2; Score1 < Score2 < Score3; D3 < D4; Score4 < Score5 < Score6; D5 < D6; Score7 < Score8 < Score9. D1 to D6 are all greater than 0, and Score1 to Score9 are all greater than 0.

[0116] In one example, assuming historical parking preference information includes parking space proximity to elevator entrance, parking space proximity to parking lot exit / entrance, and shortest parking distance, the calculated shortest parking distance S1 from the second real-time location to the first parking space is D1≤S1<D2, therefore its first score is Score2. The calculated distance S2 between the first vacant parking space and the parking lot elevator entrance is S2<D3, and the distance S3 between the first vacant parking space and the parking lot exit / entrance is S3≥D6, so the second score is Score4+Score9. The first parking cost is the sum of the first and second scores, which is Score2+Score4+Score9.

[0117] Understandably, the second parking cost can be calculated using the method described above, which will not be repeated here.

[0118] If the first parking cost is less than the second parking cost, the first vacant parking space is designated as the target parking space. If the first parking cost is greater than the second parking cost, the second vacant parking space is designated as the target parking space. If the first parking cost is equal to the second parking cost, either the first vacant parking space or the second vacant parking space is designated as the target parking space.

[0119] In some embodiments, determining a target parking space based on a first vacant parking space and a second vacant parking space includes:

[0120] Establish a second real-time communication connection between the vehicle and the corresponding parking system of the parking lot;

[0121] Obtain recommended available parking spaces from the parking system based on historical parking space data corresponding to the parking lot;

[0122] Determine the target parking space based on the recommended available parking spaces, the first available parking space, and the second available parking space.

[0123] Vehicle 20 may also include a 4G / 5G module. When the cockpit software system 201 detects that vehicle 20 has entered a parking lot, it can establish a second real-time communication connection (which can be a 4G / 5G mobile communication connection) with the parking system corresponding to that parking lot via the 4G / 5G module. Upon successfully establishing the second real-time communication connection with the parking system, the cockpit software system 201 of vehicle 20 can send a request to the parking system to obtain recommended available parking spaces. When the parking system receives this request, it retrieves historical parking space data, analyzes the historical parking space data, determines recommended available parking spaces, and pushes the information to the cockpit software system 201.

[0124] Historical parking space data includes parking lot spatial layout data twins, distribution of vacant parking spaces, vacant parking space vacancy periods, and vehicle type compatibility of vacant parking spaces.

[0125] The parking system analyzes historical parking space data to determine recommended available parking spaces, specifically including:

[0126] The parking system obtains vehicle model information, expected parking time period, and user's historical parking preference information; based on this historical parking space data, vehicle model information, expected parking time period, and user's historical parking preference information, it filters out at least one recommended vacant parking space and pushes it to the cockpit software system.

[0127] Specifically, based on the historical parking space data, vehicle model information, expected parking time period, and the user's historical parking preference information, at least one recommended vacant parking space is selected. This includes: determining at least one currently vacant parking space based on the distribution of vacant parking spaces; selecting at least one candidate vacant parking space based on vehicle model information and the vehicle model compatibility of the currently vacant parking space; and selecting a recommended vacant parking space from the candidate vacant parking spaces based on the expected parking time period and the user's historical parking preference information.

[0128] As an example, please combine Figure 2 Assuming that, based on the location of available parking spaces, the currently available parking spaces include spaces 11, 13, 18, 24, 33, 34, 37, 41, 45, and 47. Vehicle 20 is a Type A vehicle, and currently available parking spaces 11, 13, 18, 41, 45, and 47 are Type A vehicles, while currently available parking spaces 24, 33, 34, and 37 are Type B vehicles, then currently available parking spaces 11, 13, 18, 41, 45, and 47 can be identified as candidate available parking spaces. Assume the desired parking period is 13:00–15:00, and the user's historical parking preference is near the parking lot exit / entrance. Currently, the available parking space 11 is available from 12:00–16:00, and its distance from the parking space to the parking lot exit / entrance is y1 meters; the currently available parking space 13 is available from 10:00–12:00, and its distance from the parking space to the parking lot exit / entrance is y2 meters; the currently available parking space 18 is available from 11:00–12:00, and its distance from the parking space to the parking lot exit / entrance is y3 meters; the currently available parking space 41… The available time period is 9:00 to 17:00, and the distance between the parking space and the parking lot exit / entrance is y4 meters; the currently available parking space 45 has an available time period of 7:00 to 10:00, and the distance between the parking space and the parking lot exit / entrance is y5 meters; the currently available parking space 47 has an available time period of 19:00 to 22:00, and the distance between the parking space and the parking lot exit / entrance is y6 meters. Therefore, the parking space whose available time period overlaps with or completely covers the desired parking time period and has the shortest distance to the parking lot exit / entrance can be identified as the recommended available parking space. If y1 < y4, then the currently available parking space 11 can be identified as the recommended available parking space.

[0129] After the target parking space is determined, the vehicle 20, robot 30, or parking system can update the database of the cloud information platform to ensure the accuracy and timeliness of the data recorded in the database.

[0130] As an example, please refer to Figure 7 The parking system can analyze data from the database of the cloud-based information platform and determine recommended available parking spaces. The specific process for the parking system to determine the recommended parking space list is as follows:

[0131] 1) Retrieve a historical parking space data list from the cloud information platform; this list should include at least the parking space vacancy periods and the compatibility (or correspondence) between parking spaces and vehicle models. 2) Retrieve user vehicle information; this information should include at least the vehicle model and the desired parking time period. 3) Retrieve the current time. 4) Call the parking space recommendation function. 5) Iterate through the historical parking space data list to find currently available parking spaces. 6) Determine the compatibility between the vehicle model corresponding to the currently available parking space and the vehicle model. 7) If the vehicle model corresponding to the currently available parking space matches the vehicle model (e.g., if the vehicle model corresponding to the currently available parking space is Type A and the vehicle model waiting to park is also Type A), then the vehicle model corresponding to the currently available parking space is considered to be compatible. 8) Add the currently available parking space to the parking space recommendation list. 9) Push the parking space recommendation list to the vehicle.

[0132] As an example, please refer to Figure 8 After determining the target parking space, the A* (A*) algorithm or Dijkstra's algorithm can be used to find a parking navigation route from the second real-time location of vehicle 20 to the target parking space. The specific process is as follows:

[0133] 1) Initialization, including creating the starting node (i.e., the path's starting point, which can be the vehicle's second real-time location), initializing the open list, and initializing the closed list. 2) Add the starting node to the open list. 3) While loop: Check if the open list is empty. 4) Retrieve the current processing node with the lowest total cost from the open list. 5) Determine if the current processing node is the target node. 6) If it is the target node, generate and output the parking navigation route based on the starting node, target node, and final node (the target location of the target parking space). 7) If the current processing node is not the target node, add it to the closed list. 8) Obtain all neighbor nodes of the current processing node. 9) Determine if each neighbor node is the target node. 10) If a neighbor node is the target node, skip it and return to step 3). 11) If a neighbor node is not the target node, calculate its temporary cost. 12) Determine if the neighbor node is in the open list. 13) If the neighbor node is in the open list, compare the temporary cost of the neighbor node with its total cost, update the total cost of the neighbor node based on the comparison result, and return to step 8). 14) If the neighbor node is not in the open list, calculate the heuristic cost of the neighbor node. 15) Create a new neighbor node. 16) Add the new neighbor node to the open list and return to step 8).

[0134] Besides the difficulty of finding parking spaces, locating one's vehicle upon returning to the parking lot also presents challenges. Current technology primarily relies on the vehicle's camera to record its parking location and send it to the owner's app, or to record the vehicle's POI (Point of Interest) location and send it to the app. Users then locate their vehicles by viewing the parking location or POI on the app. However, due to unstable signal strength and inaccurate location tracking in indoor parking lots, especially underground ones, relying solely on the app to find the vehicle often results in significant time consumption, leading to very low efficiency and a poor user experience.

[0135] This application embodiment uses a robot to record the location of the target parking space where the vehicle is parked, as well as its departure location when following the user out of the parking lot and into the departure area. Based on the location of the target parking space and the departure location, an departure navigation route is generated and stored. When guiding the user back to find their vehicle and enter the departure area, the stored departure navigation route is invoked, guiding the user to quickly find their vehicle. This effectively solves the problems of difficulty in finding the car upon return, low efficiency in finding the car, and poor user experience.

[0136] In some embodiments, after determining the target parking space based on the first vacant parking space and the second vacant parking space, the method further includes:

[0137] If the target parking space is the first available parking space, a return command is sent to the robot. The return command includes the location of the first parking space corresponding to the first available parking space.

[0138] When the robot moves to the first parking space, a first recording instruction is issued to the robot so that the robot records the position of the first parking space;

[0139] A second recording instruction is issued to the robot, which includes a departure area, so that when the current driver of the vehicle leaves the parking lot and enters the departure area, the robot records the departure position and generates and stores an offline car-finding navigation route based on the first parking space position and the departure position; wherein, the departure position is within the departure area; the departure area is an area formed by taking the target parking space position corresponding to the target parking space where the vehicle is parked as the center and having a radius of a preset distance.

[0140] As an example, please refer to Figure 9 If the target parking space is the first available parking space found by vehicle 20, then the cockpit software system 20 can issue a return command to robot 30. Upon receiving the return command, robot 30 generates a return path based on its current position and the location of the first available parking space, and moves to the first available parking space according to this path. When robot 30 reaches the first parking space, the cockpit software system 20 can issue a first record command to robot 30. Upon receiving this first record command, robot 30 records the location of the first parking space (e.g., ...). Figure 9 (Point Q). Afterwards, when the user parks vehicle 20 in the first available parking space and gets out to leave, the cockpit software system 20 can issue a second recording command to robot 30. Robot 30 then follows the user as they leave the parking lot and enter the departure area (e.g., ...). Figure 9 When recording the exit position (as shown in the dashed box in the image), the exit position is recorded. Figure 9 Point P in the diagram). Robot 30 records the position along the way from the first parking space (e.g., point P). Figure 9 Move point Q to the exit position (e.g.) Figure 9 The path nodes of point P in the map are used to generate and store offline car-finding navigation routes based on these path nodes, the location of the first parking space, and the departure location.

[0141] The preset distance can be flexibly set according to actual conditions. Specifically, it can be a user-defined setting or an automatic setting by the cockpit software system. For example, the cockpit software system can automatically set the preset distance to the distance between the first parking space and the parking lot exit, or it can automatically set it to the near-field communication distance that the first parking space can cover (such as any value from 0 to 30 meters).

[0142] When a user needs to return to find vehicle 20, robot 30 obtains the user's return starting point position and, based on this return starting point position and departure position (e.g., ...), determines the user's return starting point position and, according to the departure position, determines the user's departure position. Figure 9 The robot generates a return route (point P in the diagram) and moves from the starting point to the departure point according to this route. Users can follow the robot to the departure point (e.g., point P in the diagram). Figure 9 Point P in the diagram). When robot 30 moves to the departure position (e.g., point P in the diagram). Figure 9 When the vehicle reaches point P in the parking lot, the previously stored offline car-finding navigation route is invoked, and the vehicle moves from the departure position to the first parking space position according to the offline car-finding navigation route (e.g., ...). Figure 9 (Q point). Users can continue to follow robot 30 from the exit position (e.g., Figure 9 (Point P in the diagram) walk to the first parking space (e.g., ...) Figure 9 (At point Q), find your vehicle.

[0143] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0144] In summary, the technical solution provided in this application can realize the interconnection between intelligent vehicles and intelligent in-vehicle robots. Through mutual cooperation with the robot, the distance limitation of the vehicle's own judgment of the environment can be removed, so that the vehicle's perception distance of the external environment can be extended to a greater distance. This can help users find suitable vacant parking spaces in a more flexible, efficient and convenient way, thereby improving the problems of low parking space search efficiency and inaccurate identification of vacant parking spaces during the parking process, and enhancing the user's parking experience.

[0145] In addition, when returning to find their vehicle, the robot can retrieve the departure navigation route recorded and stored when following the user out of the parking lot, guiding the user to quickly and accurately find their parking location, thereby improving the user's car-finding experience in parking scenarios.

[0146] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0147] Figure 10 This is a schematic diagram of a device for a vehicle and a robot to collaboratively find parking spaces, provided in an embodiment of this application. Figure 10 As shown, the device for the vehicle and robot to collaborate in finding parking spaces includes:

[0148] The identification module 1001 is configured to establish a first real-time communication connection between the vehicle and the robot paired with it if it is detected that the vehicle has entered the parking lot and the vehicle's smart parking mode is on.

[0149] The first determining module 1002 is configured to determine the first real-time location of the vehicle in the parking lot, and the parking space area of ​​the parking lot;

[0150] The first control module 1003 is configured to control the vehicle to move from a first real-time location to a parking space area, and to move within the parking space area to find a first available parking space.

[0151] The sending module 1004 is configured to send a parking space search command to the robot, so that the robot can execute the parking space search command and move within the parking space area to find a second available parking space.

[0152] The first recording module 1005 is configured to record the first time point when the vehicle finds the first vacant parking space and start timing from the first time point if it is detected that the vehicle has found the first vacant parking space and has not received the second vacant parking space returned by the robot.

[0153] The second determining module 1006 is configured to determine a target parking space based on the first and second available parking spaces if it receives a second available parking space sent by the robot within a first preset time period. In some embodiments, the above-described apparatus further includes:

[0154] The judgment module is configured to determine whether the first available parking space meets the vehicle's parking requirements if no second available parking space is received from the robot within a first preset time period.

[0155] The third determining module is configured to determine the first vacant parking space as the target parking space if the first vacant parking space meets the parking needs of the vehicle, and send a stop parking space search command to the robot so that the robot executes the stop parking space search command and stops searching for the second vacant parking space.

[0156] In some embodiments, the above-described apparatus further includes:

[0157] The second control module is configured to control the vehicle to continue moving within the parking area to find a third available parking space if the first available parking space does not meet the vehicle's parking needs.

[0158] The fourth determination module is configured to, if it receives a second available parking space returned by the robot before the vehicle finds a third available parking space, and the second available parking space meets the vehicle's parking requirements, then determine the second available parking space as the target parking space and control the vehicle to stop moving within the parking space area to find a third available parking space.

[0159] In some embodiments, the above-described apparatus further includes:

[0160] The second recording module is configured to record the second time point when the robot returns to the second available parking space and no vehicle is detected to have found the first available parking space in the parking area, and to start timing from the second time point;

[0161] The fifth determining module is configured to determine the target parking space based on the first and second vacant parking spaces if the vehicle is detected to have found a first vacant parking space in the parking area within a second preset time period.

[0162] In some embodiments, the second determining module or the fifth determining module described above may include:

[0163] The data acquisition unit is configured to acquire the vehicle's second real-time location and the historical parking preference information corresponding to the vehicle's current driver.

[0164] The first determining unit is configured to determine the first parking cost based on the second real-time location, the location of the first parking space corresponding to the first vacant parking space, and historical parking preference information;

[0165] The second determining unit is configured to determine the second parking cost based on the second real-time location, the location of the second parking space corresponding to the second vacant parking space, and historical parking preference information;

[0166] The third determining unit is configured to determine the first vacant parking space as the target parking space if the first parking cost is less than the second parking cost;

[0167] The fourth determining unit is configured to determine the second vacant parking space as the target parking space if the first parking cost is greater than the second parking cost;

[0168] The fifth determining unit is configured to determine either the first vacant parking space or the second vacant parking space as the target parking space if the first parking cost equals the second parking cost.

[0169] In other embodiments, the second or fifth determining module described above may include:

[0170] The establishment unit is configured to establish a second real-time communication connection between the vehicle and the parking system corresponding to the parking lot.

[0171] The acquisition unit is configured to acquire recommended available parking spaces pushed by the parking system based on the historical parking space data corresponding to the parking lot;

[0172] The sixth determining unit is configured to determine the target parking space based on the recommended vacant parking space, the first vacant parking space, and the second vacant parking space.

[0173] In some embodiments, the above-described apparatus further includes:

[0174] The first instruction issuing module is configured to issue a return instruction to the robot if the target parking space is the first vacant parking space. The return instruction includes the location of the first parking space corresponding to the first vacant parking space.

[0175] The second instruction issuing module is configured to issue a first recording instruction to the robot when the robot moves to the first parking space position, so that the robot records the position of the first parking space.

[0176] The third instruction issuing module is configured to issue a second recording instruction to the robot. The second recording instruction includes a departure area, so that when the robot leaves the parking lot and enters the departure area while following the current driver of the vehicle, it records the departure position and generates and stores an offline car-finding navigation route based on the first parking space position and the departure position. The departure position is within the departure area. The departure area is an area formed by centering on the target parking space position corresponding to the target parking space where the vehicle is parked and having a radius of a preset distance.

[0177] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0178] Figure 11 This is a schematic diagram of the electronic device 11 provided in an embodiment of this application. Figure 11 As shown, the electronic device 11 of this embodiment includes: a processor 1101, a memory 1102, and a computer program 1103 stored in the memory 1102 and executable on the processor 1101. When the processor 1101 executes the computer program 1103, it implements the steps in the various method embodiments described above. Alternatively, when the processor 1101 executes the computer program 1103, it implements the functions of each module / unit in the various device embodiments described above.

[0179] Electronic device 11 may be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 11 may include, but is not limited to, processor 1101 and memory 1102. Those skilled in the art will understand that... Figure 11 This is merely an example of electronic device 11 and does not constitute a limitation on electronic device 11. It may include more or fewer components than shown, or different components.

[0180] The processor 1101 may be a central processing unit (CPU), or other general-purpose processors, 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, discrete hardware components, etc.

[0181] The memory 1102 can be an internal storage unit of the electronic device 11, such as a hard disk or RAM of the electronic device 11. The memory 1102 can also be an external storage device of the electronic device 11, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, FlashCard, etc., equipped on the electronic device 11. The memory 1102 can also include both internal and external storage units of the electronic device 11. The memory 1102 is used to store computer programs and other programs and data required by the electronic device.

[0182] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0183] If integrated modules / units are implemented as software functional units and sold or used as independent products, they can be stored in a readable storage medium (e.g., a computer-readable storage medium). Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0184] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for vehicles and robots to collaboratively find parking spaces, characterized in that, include: If it is detected that a vehicle has entered the parking lot and the vehicle's smart parking mode is enabled, a first real-time communication connection is established between the vehicle and the robot paired with it. Determine the first real-time location of the vehicle in the parking lot, and the parking space area of ​​the parking lot; Control the vehicle to move from the first real-time location to the parking space area, and move within the parking space area to find the first available parking space; A parking space search command is issued to the robot, so that the robot executes the parking space search command and moves within the parking space area to search for a second available parking space; If it is detected that the vehicle has found a first available parking space and has not received a second available parking space from the robot, then the first time point when the vehicle found the first available parking space is recorded, and the timer starts from the first time point; If a second available parking space is received from the robot within a first preset time period, a target parking space is determined based on the first and second available parking spaces. If the target parking space is the first vacant parking space, then a return command is sent to the robot, and the return command includes the location of the first parking space corresponding to the first vacant parking space; When the robot moves to the first parking space position, a first recording instruction is issued to the robot so that the robot records the position of the first parking space; A second recording instruction is issued to the robot, the second recording instruction including a departure area, so that when the robot follows the current driver of the vehicle out of the parking lot and enters the departure area, it records the departure position, and generates and stores an offline car-finding navigation route based on the first parking space position and the departure position; wherein, the departure position is within the departure area; the departure area is an area formed with the target parking space position corresponding to the target parking space where the vehicle is parked as the center and the radius as a preset distance.

2. The method according to claim 1, characterized in that, Record the first time point when the vehicle finds the first available parking space, and after starting the timer from the first time point, the method further includes: If no second available parking space is received from the robot within the first preset time period, it is determined whether the first available parking space meets the parking requirements of the vehicle. If the first available parking space meets the parking needs of the vehicle, then the first available parking space is determined as the target parking space, and a stop parking space search command is sent to the robot, so that the robot executes the stop parking space search command and stops searching for a second available parking space.

3. The method according to claim 2, characterized in that, After determining whether the first available parking space meets the parking needs of the vehicle, the process further includes: If the first available parking space does not meet the parking needs of the vehicle, the vehicle is controlled to continue moving within the parking space area to find a third available parking space. If a second available parking space is received from the robot before the vehicle finds a third available parking space, and the second available parking space meets the vehicle's parking requirements, then the second available parking space is identified as the target parking space, and the vehicle is controlled to stop moving within the parking space area to search for a third available parking space.

4. The method according to claim 1, characterized in that, The method further includes: If the robot returns a second available parking space, and the vehicle does not find a first available parking space in the parking area, then record the second time point when the robot returns to the second available parking space, and start timing from the second time point; If the vehicle finds a first vacant parking space in the parking area within a second preset time period, then a target parking space is determined based on the first and second vacant parking spaces.

5. The method according to claim 1 or 4, characterized in that, Based on the first and second vacant parking spaces, a target parking space is determined, including: Collect the vehicle's second real-time location and the historical parking preference information corresponding to the vehicle's current driver; Based on the second real-time location, the location of the first parking space corresponding to the first vacant parking space, and the historical parking preference information, the first parking cost is determined; The second parking cost is determined based on the second real-time location, the location of the second parking space corresponding to the second vacant parking space, and the historical parking preference information. If the first parking cost is less than the second parking cost, then the first vacant parking space is determined as the target parking space; If the first parking cost is greater than the second parking cost, then the second vacant parking space is determined as the target parking space; If the first parking cost equals the second parking cost, then the first vacant parking space or the second vacant parking space is determined as the target parking space.

6. The method according to claim 1 or 4, characterized in that, Based on the first and second vacant parking spaces, a target parking space is determined, including: Establish a second real-time communication connection between the vehicle and the parking system corresponding to the parking lot; Obtain recommended available parking spaces pushed by the parking system based on the historical parking space data corresponding to the parking lot; The target parking space is determined based on the recommended available parking space, the first available parking space, and the second available parking space.

7. A device for vehicles and robots to collaboratively find parking spaces, characterized in that, include: The identification module is configured to establish a first real-time communication connection between the vehicle and the paired robot if it is detected that the vehicle has entered the parking lot and the vehicle's smart parking mode is enabled. The first determining module is configured to determine the first real-time location of the vehicle in the parking lot, and the parking space area of ​​the parking lot; The first control module is configured to control the vehicle to move from the first real-time location to the parking space area, and to move within the parking space area to find the first available parking space. The issuing module is configured to issue a parking space search command to the robot, so that the robot executes the parking space search command and moves within the parking space area to search for a second available parking space; The first recording module is configured to record the first time point when the vehicle finds the first available parking space and start timing from the first time point if it is detected that the vehicle has found the first available parking space and has not received the second available parking space returned by the robot. The second determining module is configured to: if it receives a second available parking space sent by the robot within a first preset time period, determine a target parking space based on the first and second available parking spaces; if the target parking space is the first available parking space, issue a return command to the robot, the return command including the location of the first parking space corresponding to the first available parking space; when the robot moves to the location of the first parking space, issue a first recording command to the robot to record the location of the first parking space; issue a second recording command to the robot, the second recording command including a departure area, so that when the robot leaves the parking lot following the current driver of the vehicle and enters the departure area, it records the departure location, and generates and stores an offline car-finding navigation route based on the location of the first parking space and the departure location; wherein the departure location is within the departure area; the departure area is an area formed with the location of the target parking space corresponding to the target parking space where the vehicle is parked as the center and a radius of a preset distance.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 6.

9. A readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 6.

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