Parking space recommendation method and device, electronic equipment and storage medium

Abstract

The invention relates to the field of vehicle control, in particular to a parking space recommendation method and device, electronic equipment and a storage medium. According to the method provided by the invention, firstly, when the original parking space is unavailable, a plurality of candidate effective parking spaces can be automatically obtained from the parking environment where the vehicle is located, and even if a user is not in the vehicle, the vehicle can actively find other available parking spaces without manual operation of the user. And secondly, difference data is obtained by comparing parameters of the vehicle and the candidate parking space, and then a parking path is planned and parking efficiency data is obtained, so that when the target parking space is occupied or parking fails, the vehicle can quickly perform path planning according to a new candidate parking space condition. And finally, the parking efficiency data and the accessibility data are utilized to determine the first effective parking space and send the first effective parking space to the client, so that the user can know the optimal parking space information through the client even if the user is not in the vehicle, and the problem that the user cannot control the vehicle to find other available parking spaces in time when the user is not in the vehicle is effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a method, device, electronic equipment and storage medium for recommending a parking space. Background Art

[0002] When the vehicle drives along the path to the target parking space, if it finds that the target parking space is occupied by other vehicles and the user is not in the vehicle at this time, it is impossible to control the vehicle in time to find other available parking spaces. In addition, when the vehicle fails to park in the parking space selected by the user, it is also difficult for the user to directly control the vehicle if he is not in the vehicle. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a parking space recommendation method, device, electronic device and storage medium to solve the problem that when a vehicle drives to the vicinity of a target parking space and finds that it is occupied or fails to park in the parking space and the user is not in the vehicle, the vehicle cannot be controlled in time to find other available parking spaces.

[0004] In a first aspect, an embodiment of the present invention provides a method for recommending a parking space, the method comprising:

[0005] Acquire an original parking space reached by the vehicle when the vehicle travels along the memorized driving path, and when the original parking space is unavailable, acquire a plurality of candidate valid parking spaces from the parking environment where the vehicle is located;

[0006] Comparing the vehicle parameters of the vehicle with the parking space parameters of the candidate valid parking space to obtain difference data between the vehicle and the candidate valid parking space;

[0007] planning a parking path between the vehicle and each of the candidate valid parking spaces based on the difference data, and acquiring parking efficiency data of the candidate valid parking spaces based on the parking path;

[0008] A first valid parking space is determined from a plurality of candidate valid parking spaces by using the parking efficiency data of the candidate valid parking spaces and the accessibility data of the candidate valid parking spaces in the parking environment, and parking space information of the first valid parking space is sent to a client associated with the vehicle.

[0009] Furthermore, the acquiring a plurality of candidate valid parking spaces from the parking environment where the vehicle is located includes:

[0010] Acquire a plurality of available candidate parking spaces from the parking environment;

[0011] Calculating the distance between each of the candidate parking spaces and the location of the vehicle;

[0012] A preset number of candidate parking spaces are selected from a plurality of candidate parking spaces in an ascending order of the distances as the candidate valid parking spaces.

[0013] Furthermore, the comparing the vehicle parameters of the vehicle and the parking space parameters of the candidate valid parking space to obtain difference data between the vehicle and the candidate valid parking space includes:

[0014] Acquiring vehicle size parameters and vehicle position parameters of the vehicle, and acquiring parking space size parameters and parking space position parameters of the candidate valid parking space;

[0015] Comparing the vehicle size parameters with the parking space size parameters to obtain size difference data;

[0016] Comparing the vehicle position parameter with the parking space position parameter to obtain distance difference data;

[0017] The difference data is constructed based on the size difference data and the distance difference data.

[0018] Further, the difference data includes size difference data and distance difference data;

[0019] The planning of a parking path between the vehicle and each of the candidate valid parking spaces based on the difference data includes:

[0020] obtaining a vehicle parking parameter of the vehicle;

[0021] Planning a straight-line driving path of the vehicle to each of the candidate valid parking spaces using the vehicle parking parameters and the distance difference data;

[0022] Planning a turning path for the vehicle to each of the candidate valid parking spaces using the vehicle parking parameters and the size difference data;

[0023] A parking path between the vehicle and each of the candidate valid parking spaces is constructed based on the straight driving path and the turning driving path.

[0024] Furthermore, the acquiring the parking efficiency data of the candidate valid parking space based on the parking path includes:

[0025] Acquire a first planning step number corresponding to the straight driving path and a second planning step number corresponding to the turning driving path;

[0026] Determining the number of path planning steps of the parking path by using the first planning number of steps and the second planning number of steps;

[0027] Obtaining a preset parking speed of the vehicle;

[0028] calculating a parking time using the parking speed and the length of the parking path;

[0029] The number of path planning steps and the parking time are used as parking efficiency data of the parking path.

[0030] Furthermore, before determining the first valid parking space from a plurality of candidate valid parking spaces by using the parking efficiency data of the candidate valid parking spaces and the accessibility data of the candidate valid parking spaces in the parking environment, the method further includes:

[0031] detecting environmental data of the parking environment to obtain an environmental type of the parking environment;

[0032] Obtaining a plurality of candidate accessibility indicators corresponding to the environment type, and obtaining a parking preference pre-configured by a user;

[0033] obtaining a target accessibility index matching the parking preference from a plurality of candidate accessibility indexes;

[0034] Reachability data corresponding to the target reachability indicator is extracted from the environmental data.

[0035] Furthermore, after sending the parking space information of the first valid parking space to the client associated with the vehicle, the method further includes:

[0036] receiving a parking instruction from the client;

[0037] In response to the parking instruction, controlling the vehicle to perform a parking operation according to a parking path corresponding to the first valid parking space, and detecting whether a parking space state of the first valid parking space changes;

[0038] If the parking space state of the first valid parking space changes, selecting a second valid parking space from the remaining candidate valid parking spaces, wherein the remaining candidate valid parking spaces are other valid parking spaces among the plurality of candidate valid parking spaces except the first valid parking space;

[0039] The vehicle is controlled to perform a parking operation according to a parking path corresponding to the second valid parking space.

[0040] In a second aspect, an embodiment of the present invention provides a parking space recommendation device, the device comprising:

[0041] an acquisition module, configured to acquire an original parking space reached by the vehicle when the vehicle travels along the memorized driving path, and when the original parking space is unavailable, acquire a plurality of candidate valid parking spaces from the parking environment where the vehicle is located;

[0042] A comparison module, used for comparing the vehicle parameters of the vehicle and the parking space parameters of the candidate valid parking space to obtain difference data between the vehicle and the candidate valid parking space;

[0043] a planning module, configured to plan a parking path between the vehicle and each of the candidate valid parking spaces based on the difference data, and to obtain parking efficiency data of the candidate valid parking spaces based on the parking path;

[0044] A processing module is used to determine a first valid parking space from multiple candidate valid parking spaces by using the parking efficiency data of the candidate valid parking spaces and the accessibility data of the candidate valid parking spaces in the parking environment, and send the parking space information of the first valid parking space to a client associated with the vehicle.

[0045] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, computer instructions being stored in the memory, and the processor executing the method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0046] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method of the first aspect or any corresponding embodiment thereof.

[0047] The method provided in the embodiment of the present application, first, when the original parking space is unavailable, can automatically obtain multiple candidate valid parking spaces from the parking environment where the vehicle is located. Even if the user is not in the vehicle, the vehicle can actively find other available parking spaces without the need for manual operation by the user. Secondly, by comparing the parameters of the vehicle and the candidate parking spaces to obtain difference data, the parking path is planned and the parking efficiency data is obtained, so that when the target parking space is occupied or fails to park, the vehicle can quickly plan the path according to the new candidate parking space. Finally, the first valid parking space is determined using the parking efficiency data and accessibility data and sent to the client, so that the user can understand the best parking space information through the client even if he is not in the car, which provides a basis for the vehicle to automatically select a new suitable parking space, thereby effectively solving the problem that the user cannot promptly control the vehicle to find other available parking spaces when he is not in the car. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 is a flowchart of a method for recommending a parking space according to some embodiments of the present invention;

[0050] Figure 2 is a flowchart of a method for recommending a parking space according to some embodiments of the present invention;

[0051] Figure 3 is a structural block diagram of a parking space recommendation device according to an embodiment of the present invention;

[0052] Figure 4 It is a schematic diagram of the hardware structure of the electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0054] According to an embodiment of the present invention, a method, device, electronic device and storage medium for recommending a parking space are provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0055] In this embodiment, a method, device, electronic device and storage medium for recommending a parking space are provided. Figure 1 is a flow chart of a method for recommending a parking space according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0056] Step S101, obtaining an original parking space reached by the vehicle when traveling according to the memorized driving route, and when the original parking space is unavailable, obtaining a plurality of candidate valid parking spaces from the parking environment where the vehicle is located.

[0057] In the embodiment of the present application, when the vehicle travels along the memorized driving route, it will accurately reach the original parking space according to the pre-stored information. During this process, the vehicle will continue to use its own ultrasonic radar and surround view camera and other equipment to detect the target parking space. Once it detects that the target parking space is unavailable, the parking system will immediately start the parking space recommendation service. First, the N candidate valid parking spaces closest to the vehicle's position will be selected from the parking environment where the vehicle is located.

[0058] Specifically, N candidate valid parking spaces are obtained in the following ways: On the one hand, ultrasonic radar is used to continuously emit ultrasonic waves and receive reflected waves. Based on the time difference and intensity of the reflected waves, the spatial conditions within a certain range around the vehicle are detected to identify possible vacant parking spaces. At the same time, the surround view camera captures the vehicle's surroundings from multiple angles, and uses image recognition technology to analyze the parking space signs, lines, and parking status of surrounding vehicles in the picture to further determine potential valid parking spaces.

[0059] On the other hand, combined with the vehicle's positioning system data, the current location of the vehicle is used as the center to search for locations that meet the valid parking space standards within a certain radius. These standards may include the size of the parking space being able to accommodate the vehicle, the parking space not being seriously blocked by obstacles, etc. Through comprehensive detection and analysis of the parking environment, the N valid parking spaces closest to the vehicle are screened out.

[0060] In the embodiment of the present application, obtaining multiple candidate valid parking spaces from the parking environment where the vehicle is located includes the following steps A1-A3:

[0061] Step A1: Acquire multiple available candidate parking spaces from a parking environment.

[0062] Specifically, the ultrasonic radar on the vehicle continuously transmits ultrasonic signals and receives the reflected signals. The ultrasonic radar detects the distance and shape of objects around the vehicle by measuring the time difference between the transmitted and received signals, as well as the change in signal strength. The surround view camera captures the vehicle's surroundings from different angles to obtain all-round image information. These cameras usually cover the front, rear, left, and right directions of the vehicle, and can capture the positions of parking spaces, obstacles, and other vehicles around the vehicle.

[0063] Analyze the ultrasonic radar data to identify possible free space areas. When the ultrasonic radar detects a weak reflected signal in a certain area at a long distance, it may mean that there are no obstacles in the area and it may be an empty parking space. Use image recognition technology to process the images taken by the surround view camera. By identifying the parking space marking lines, color characteristics, and the parking status of surrounding vehicles, the candidate parking spaces in an available state are determined. For example, if the image shows an area with clear parking space markings and no other vehicles completely occupying the area, then this area can be identified as a candidate parking space in an available state.

[0064] Step A2, calculating the distance between each candidate parking space and the vehicle location.

[0065] Specifically, the vehicle's positioning system (such as GPS) can provide the vehicle's approximate geographic coordinates. Combined with the vehicle's inertial measurement unit (IMU) and other sensor data, the vehicle's specific position and orientation in the parking environment can be further accurately determined. By sensing and analyzing the vehicle's surroundings, such as using data from ultrasonic radar and surround-view cameras, the vehicle's position can be corrected in real time to improve position accuracy.

[0066] For each candidate parking space, the following method can be used to calculate the distance to the vehicle: If the candidate parking space is detected by ultrasonic radar, the straight-line distance between the vehicle and the candidate parking space can be calculated based on the round-trip time of the ultrasonic signal and the propagation speed of the sound wave. For candidate parking spaces identified by surround-view cameras, the relative distance between the vehicle and the candidate parking space can be calculated using the geometric relationship in the image and the known camera parameters. For example, the distance between the vehicle and the parking space can be estimated based on the position of the parking space in the image and the viewing angle of the camera.

[0067] Step A3: selecting a preset number of candidate parking spaces from a plurality of candidate parking spaces in order of distance from small to large as candidate valid parking spaces.

[0068] Specifically, the calculated distances between each candidate parking space and the vehicle are sorted, and according to a preset number (for example, the five closest parking spaces are selected), the parking spaces with the shortest distances are selected from the sorted candidate parking space list as candidate valid parking spaces.

[0069] Step S102 , comparing the vehicle parameters of the vehicle and the parking space parameters of the candidate valid parking space to obtain difference data between the vehicle and the candidate valid parking space.

[0070] In the embodiment of the present application, comparing the vehicle parameters of the vehicle and the parking space parameters of the candidate valid parking space to obtain difference data between the vehicle and the candidate valid parking space includes the following steps B1-B4:

[0071] Step B1, obtaining vehicle size parameters and vehicle position parameters of the vehicle, and obtaining parking space size parameters and parking space position parameters of candidate valid parking spaces.

[0072] Specifically, the vehicle size parameters of the vehicle may be the length, width and height of the vehicle. The vehicle position parameters may be the positioning of the vehicle in the parking environment. In addition, the ultrasonic radar, laser radar, camera and other sensors installed on the vehicle are used to detect objects and spaces in the surrounding environment. The size parameters of the candidate valid parking spaces may be detected by these sensors. At the same time, the sensors installed on the vehicle may be used to detect the distance and direction between the vehicle and the surrounding objects, thereby determining the position of the vehicle in the parking lot. The position parameters of the candidate valid parking spaces may be detected by these sensors.

[0073] Step B2, comparing the vehicle size parameters and the parking space size parameters to obtain size difference data.

[0074] Specifically, for the length, width and height of the vehicle, the difference with the size of the parking space is calculated respectively. For example, the difference between the length of the vehicle and the length of the parking space is ΔL=Lp-Ls, where Lp is the length of the parking space and Ls is the length of the vehicle. Similarly, the width difference ΔW=Wp-Ws and the height difference ΔH=Hp-Hs can be calculated. According to the calculated size difference, the degree of difference between the length, width and height of the vehicle and the parking space is analyzed. For example, if the length of the vehicle is much longer than the length of the parking space, it may exceed the range of the parking space when parking, resulting in parking failure. On the contrary, if the length of the vehicle is much shorter than the length of the parking space, there may be a large space margin when parking, but it may also cause the vehicle's position in the parking space to be unstable.

[0075] Step B3, comparing the vehicle position parameters and the parking space position parameters to obtain distance difference data.

[0076] Specifically, the distance and direction angle between the vehicle and the parking space can be calculated using the vehicle position parameters and the parking space position parameters. According to the calculated distance, the degree of distance difference between the vehicle and the parking space is analyzed. If the distance is far, it means that the vehicle needs to travel a long distance to reach the parking space, which may affect the efficiency of parking. For example, if the straight-line distance between the vehicle and the parking space is large, it will take a long time and energy to reach the parking space when parking. On the contrary, if the straight-line distance between the vehicle and the parking space is small, the parking space can be reached faster when parking, but more precise manipulation may also be required to successfully park.

[0077] Step B4, constructing difference data based on the size difference data and the distance difference data.

[0078] Specifically, the obtained size difference data and distance difference data are integrated to construct a comprehensive difference data set. This data set may include difference values ​​between the vehicle and the parking space in terms of length, width, height, and distance, as well as corresponding direction angles and other information. The integrated difference data is formatted for subsequent analysis and processing. For example, the difference data may be stored in the form of a matrix or vector, where each element represents a specific difference value.

[0079] The method provided in the embodiment of the present application first obtains the size and position parameters of the vehicle and the candidate valid parking space, which can fully grasp the basic situation of the vehicle and the parking space, and provide an accurate data basis for subsequent analysis. Next, the size difference data is obtained by comparing the size parameters of the vehicle and the parking space, which helps to determine whether the vehicle can be parked in the parking space smoothly, and avoid parking failures or scratches due to size mismatch. By comparing the position parameters of the vehicle and the parking space to obtain the distance difference data, the distance relationship between the vehicle and each candidate parking space can be understood, providing a basis for selecting the optimal parking space. Finally, based on the size difference data and the distance difference data, comprehensive difference data is constructed, so that the system can more comprehensively evaluate the degree of adaptation between the vehicle and the candidate parking space, thereby recommending the most suitable parking space for the vehicle, improving the efficiency and safety of parking, and also providing users with a more convenient parking experience.

[0080] Step S103 : planning a parking path between the vehicle and each candidate valid parking space based on the difference data, and acquiring parking efficiency data of the candidate valid parking space based on the parking path.

[0081] In the embodiment of the present application, planning a parking path between the vehicle and each candidate valid parking space based on the difference data includes the following steps C1-C4:

[0082] Step C1, obtaining the parking parameters of the vehicle.

[0083] Specifically, it is of great significance to obtain the vehicle's parking parameters such as turning radius, length, and width. These parameters play a key role in the vehicle's driving and parking in different scenarios. The turning radius determines the amount of space required for the vehicle to turn, affecting the vehicle's maneuverability in narrow roads or parking lots. The length and width parameters are related to the clearance between the vehicle and the surrounding environment during driving and whether it can be parked smoothly in a parking space.

[0084] Step C2, using the vehicle parking parameters and the distance difference data to plan a straight-line driving path from the vehicle to each candidate valid parking space.

[0085] Specifically, the current position of the vehicle and the position of the candidate valid parking space can be determined by the positioning system (such as GPS) on the vehicle. At the same time, the position coordinates of each candidate parking space can be determined based on the position parameters of the candidate valid parking space obtained previously. For example, the current position coordinates of the vehicle are (X1, Y1), and the position coordinates of a candidate parking space are (X2, Y2). Using the distance difference data, the straight-line distance between the vehicle and each candidate parking space is calculated according to the distance formula between two points.

[0086] Step C3, using the vehicle parking parameters and the size difference data to plan a turning path for the vehicle to each candidate valid parking space.

[0087] Specifically, based on the size difference data of the vehicle and the size parameters of the candidate parking space, it is determined whether the vehicle needs to turn when entering the parking space. If the length or width of the vehicle is greater than the corresponding size of the parking space, or the angle between the vehicle and the parking space needs to be adjusted, then a turning path needs to be planned. For example, if the length of the vehicle is L and the length of the parking space is Lp, when L>Lp, the vehicle may need to adjust its position by turning to park in the parking space.

[0088] Determine the minimum turning radius of the vehicle based on the vehicle's performance parameters. Calculate the angle the vehicle needs to turn based on the relative position of the vehicle and the parking space. For example, if the minimum turning radius of the vehicle is R and the angle between the vehicle and the parking space is α, then the path length and time required for the turn can be calculated based on the trigonometric function relationship.

[0089] Considering the dynamic characteristics of the vehicle during the turning process, such as centrifugal force, tire friction, etc., a smooth turning path is planned. The turning path can be represented by shapes such as arcs or curves to ensure that the vehicle does not lose control or collide with surrounding objects during the turning process. For example, starting from the current position of the vehicle, an arc is drawn with a minimum turning radius R so that the vehicle can drive along the arc to a suitable position to enter the candidate parking space.

[0090] Step C4: constructing a parking path between the vehicle and each candidate valid parking space based on the straight driving path and the turning driving path.

[0091] Specifically, the planned straight driving path and the planned turning driving path are integrated to form a continuous parking path. Ensure that the transition between straight driving and turning driving is natural and smooth, without sudden changes in direction or speed fluctuations. For example, if the vehicle needs to drive a straight distance first, then make a 90-degree turn, and then drive straight into the parking space, then connecting these two straight driving path segments and one turning driving path segment will form a complete parking path.

[0092] The method provided in the embodiment of the present application, first, plans a straight-line driving path using vehicle parameters and distance difference data, which can ensure that the vehicle approaches the candidate valid parking space in the most direct and efficient way, reducing unnecessary driving distance and time consumption. At the same time, planning a turning driving path in combination with vehicle parameters and size difference data can fully consider the size restrictions of the vehicle and the actual situation of the parking space, avoiding collisions or failure to enter the parking space smoothly during the turning process. A complete parking path is constructed based on the straight-line driving path and the turning driving path, so that the vehicle can perform precise driving operations according to its own characteristics and parking space conditions during the parking process, improve the success rate and efficiency of parking, and bring users a more convenient and safe parking experience.

[0093] In the embodiment of the present application, obtaining parking efficiency data of candidate valid parking spaces based on the parking path includes the following steps D1-D5:

[0094] Step D1, obtaining a first planning step number corresponding to a straight driving path and a second planning step number corresponding to a turning driving path.

[0095] Specifically, a straight-line driving path is usually simpler, mainly considering the starting point, end point, and possible intermediate nodes of the vehicle during the straight-line driving process. The straight-line driving path is divided into certain distance intervals, and each interval can be regarded as a step. For example, if the length of the straight-line driving path is 10 meters, and every 2 meters is set as a step, then the first planning step of the straight-line driving path may be 5 steps.

[0096] The turning path is relatively complex and needs to consider factors such as the vehicle's turning radius, turning angle, and driving speed. The turning process can be divided into multiple small stages, and each stage is considered a step. For example, if the vehicle makes a 90-degree turn, the turning process can be divided into 3 stages based on the turning radius and speed, so the second planning step of the turning path may be 3 steps.

[0097] Step D2, using the first planning step number and the second planning step number to determine the path planning step number of the parking path.

[0098] Specifically, the first planned number of steps of the straight driving path and the second planned number of steps of the turning driving path are accumulated to obtain the total planned number of steps of the parking path.

[0099] Step D3, obtaining the preset parking speed of the vehicle.

[0100] Specifically, the parking speed of the vehicle is usually pre-set and can be obtained through the vehicle's control system or sensor. For example, the parking speed is 5 kilometers per hour. The parking speed may be affected by factors such as the vehicle model, environmental conditions, and driver settings. In actual applications, the parking speed needs to be appropriately adjusted according to factors such as the congestion level of the parking lot and the ground conditions. For example, if the parking lot is crowded, the parking speed can be reduced to 3 kilometers per hour to ensure safety.

[0101] Step D4, calculating the parking time using the parking speed and the length of the parking path.

[0102] Specifically, according to the planning of the parking path, the length of the entire parking path is calculated. This includes the length of the straight path and the arc length of the turning path. For example, if the length of the straight path is 10 meters and the arc length of the turning path is 5 meters, then the total length of the parking path is 10+5=15 meters. Using the parking speed and the length of the parking path, the parking time is calculated by the formula of time=distance÷speed.

[0103] Step D5: taking the number of path planning steps and the parking time as parking efficiency data of the parking path.

[0104] Specifically, the determined number of path planning steps and the calculated parking time are organized into a set of data as parking efficiency data of the parking path. For example, for a candidate valid parking space, the parking efficiency data of the parking path can be expressed as (number of path planning steps: 8 steps, parking time: 10.7 seconds).

[0105] The method provided in the embodiment of the present application can, first of all, analyze the complexity of operations under different driving conditions in detail by respectively obtaining the first planning steps of the straight driving path and the second planning steps of the turning driving path. Combining the two to determine the total path planning steps of the parking path can intuitively reflect the complexity of the entire parking process, which is helpful to evaluate the difficulty of parking and possible risks in advance. At the same time, the parking speed pre-set by the vehicle is obtained, and the parking time is calculated in combination with the path length of the parking path, providing users with a clear expectation of the parking time. Using the path planning steps and parking time as parking efficiency data, multiple factors can be comprehensively considered to evaluate the parking efficiency of different candidate parking spaces, so as to recommend the best parking plan to users, improve the accuracy and efficiency of parking, and also enhance the user's parking experience.

[0106] Step S104 , using the parking efficiency data of the candidate valid parking spaces and the accessibility data of the candidate valid parking spaces in the parking environment, a first valid parking space is determined from the multiple candidate valid parking spaces, and the parking space information of the first valid parking space is sent to a client associated with the vehicle.

[0107] In an embodiment of the present application, before determining the first valid parking space from multiple candidate valid parking spaces by using the parking efficiency data of the candidate valid parking spaces and the accessibility data of the candidate valid parking spaces in the parking environment, the method also includes: detecting the environmental data of the parking environment to obtain the environmental type of the parking environment; obtaining multiple candidate accessibility indicators corresponding to the environmental type, and obtaining the parking preferences pre-configured by the user; obtaining a target accessibility indicator that matches the parking preference from the multiple candidate accessibility indicators; and extracting accessibility data corresponding to the target accessibility indicator from the environmental data.

[0108] Specifically, first, the vehicle can detect the characteristics of the parking environment through its own sensors. For example, the air pressure sensor can be used to determine whether the vehicle is in an underground parking lot (usually the air pressure in the underground parking lot is different from that on the ground). The light sensor on the vehicle can help distinguish between open-air parking lots and underground parking lots. The light intensity in open-air parking lots is usually higher. Alternatively, the strength and stability of the global positioning system (GPS) signal can also assist in determining the type of environment the vehicle is in. For example, when parking in outdoor parking lots and on the roadside, the GPS signal is relatively strong and stable, while in underground parking lots it may be subject to a certain degree of interference.

[0109] The data from various sensors are analyzed to determine the type of parking environment. If the air pressure is low, the light is weak, and the GPS signal is unstable, it may be judged as an underground parking lot; if the light is strong, the space is open, and there are no obvious buildings around, it may be an open-air parking lot; if the vehicle is parked in a designated parking space next to the road, it is roadside parking, etc.

[0110] Secondly, for different types of environments, corresponding candidate accessibility indicators are pre-set. For example, in an underground parking lot, candidate accessibility indicators may include the distance to the elevator, the distance to the parking lot exit, the distance to the vent, etc. In an open-air parking lot, it may include the distance to the mall entrance, the distance to the public transportation station, etc. In outdoor parking lots and roadside parking, it includes the distance to nearby landmark buildings, the distance to the main road, etc. These accessibility indicators are set to measure the convenience and accessibility of parking spaces from different angles.

[0111] Users can pre-configure their parking preferences through the vehicle's interactive interface or mobile phone application. For example, some users may pay more attention to the distance from the elevator so that they can reach their destination quickly; some users may be more concerned about the distance from the parking lot exit so that they can leave more conveniently; and some users may want to park near the intersection to make it easier to find the vehicle.

[0112] Then, the user's parking preference is matched with candidate accessibility indicators in different environment types. For example, if the user's parking preference is closest to the elevator, then in the underground parking environment, the distance to the elevator becomes the target accessibility indicator. If the user's preference is closest to the parking exit, then the distance to the parking exit is determined as the target accessibility indicator in various environment types.

[0113] Finally, the sensors and positioning system on the vehicle are used to extract specific data corresponding to the target accessibility indicator from the environmental data of the parking environment. For example, if the target accessibility indicator is the closest distance to the elevator, the vehicle will determine this accessibility data by measuring the straight-line distance between itself and the elevator. If the target accessibility indicator is the closest distance to the parking lot exit, the vehicle will use the positioning system and map data to calculate the distance to the parking lot exit.

[0114] In the embodiment of the present application, the calculated parking efficiency data of each candidate valid parking space is obtained, including the number of path planning steps and the parking time. For example, the parking efficiency data of parking space A may be that the number of path planning steps is 10 and the parking time is 20 seconds; the parking efficiency data of parking space B may be that the number of path planning steps is 8 and the parking time is 15 seconds, etc.

[0115] According to the detection results of the parking environment, the accessibility data of each candidate valid parking space is determined. If the parking environment is an underground parking lot, the accessibility data may be the distance from the elevator. For example, parking space C is 10 meters away from the elevator, parking space D is 15 meters away from the elevator, and so on.

[0116] The evaluation is based on the principle of recommending the best parking space based on the least number of path planning steps, the shortest parking time, and the closest distance to the elevator. First, select the set of parking spaces with the least number of path planning steps. In this set, find the subset of parking spaces with the shortest parking time. Finally, in this subset, determine the parking space closest to the elevator as the best parking space, labeled "n".

[0117] If a parking space has a relatively small number of path planning steps but a long parking time, then this parking space is labeled "n+1". For example, the number of path planning steps for a parking space is more than that of the "n" parking space, but it is still in a relatively small range, and the parking time is longer than that of the "n" parking space. For parking spaces with relatively more path planning steps but short parking time, the number is "n+2". That is, the number of path planning steps for this parking space is more than that of the "n" parking space and the "n+1" parking space, but the parking time is relatively short. The parking space with the most path planning steps and the longest parking time is labeled "n+3", and so on to label each parking space.

[0118] After comprehensively considering parking efficiency and accessibility, the first valid parking space is determined to be the parking space numbered "n". This parking space performs best in terms of path planning steps, parking time, and accessibility, and best meets the needs of users. The specific information of the first valid parking space is sorted out, including the location coordinates, number, accessibility data (such as the distance from the elevator), and parking efficiency data (path planning steps and parking time) of the parking space. The sorted parking space information is sent to the client associated with the vehicle through the connection method between the vehicle and the client, such as Bluetooth, wireless network, etc.

[0119] The method provided in the embodiment of the present application, first, when the original parking space is unavailable, can automatically obtain multiple candidate valid parking spaces from the parking environment where the vehicle is located. Even if the user is not in the vehicle, the vehicle can actively find other available parking spaces without the need for manual operation by the user. Secondly, by comparing the parameters of the vehicle and the candidate parking spaces to obtain difference data, the parking path is planned and the parking efficiency data is obtained, so that when the target parking space is occupied or fails to park, the vehicle can quickly plan the path according to the new candidate parking space. Finally, the first valid parking space is determined using the parking efficiency data and accessibility data and sent to the client, so that the user can understand the best parking space information through the client even if he is not in the car, which provides a basis for the vehicle to automatically select a new suitable parking space, thereby effectively solving the problem that the user cannot promptly control the vehicle to find other available parking spaces when he is not in the car.

[0120] Figure 2 is a flow chart of a method for recommending a parking space according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0121] Step S201, receiving a parking instruction from a client.

[0122] In an embodiment of the present application, the control system of the vehicle establishes a connection with a client (such as a mobile phone application or a vehicle-mounted display) via Bluetooth, Wi-Fi or other wireless communication methods. Ensure that the connection is stable so that instructions can be received in real time. When the client sends a parking instruction, the communication module of the vehicle receives the instruction signal. The instruction is usually transmitted in a specific data format, and the control system of the vehicle parses the instruction and determines that it is a parking instruction. For example, the instruction may include a specific identification code indicating that a parking operation is started.

[0123] Step S202, in response to the parking instruction, controlling the vehicle to perform a parking operation according to the parking path corresponding to the first valid parking space, and detecting whether the parking space state of the first valid parking space changes.

[0124] In the embodiment of the present application, after the control system of the vehicle receives the parking instruction, the automatic parking system is activated. The system includes components such as sensors, controllers and actuators, which are responsible for controlling the driving and parking operations of the vehicle. The automatic parking system controls the steering, acceleration and braking operations of the vehicle according to the parking path corresponding to the first valid parking space determined in advance, so that the vehicle drives along the planned path to the first valid parking space. For example, the vehicle is first controlled to drive a straight distance, and then the turning operation is performed according to the requirements of the turning driving path, gradually approaching the first valid parking space.

[0125] Sensors on the vehicle (such as ultrasonic radar, surround view camera, etc.) continuously monitor the status of the first valid parking space. These sensors can detect whether the parking space is occupied by other vehicles, whether there are obstacles, etc. For example, ultrasonic radar can measure the distance between the vehicle and surrounding objects by emitting ultrasonic waves and receiving reflected waves, thereby determining whether the parking space is occupied. If changes in the intensity and time of the reflected waves are detected, it may mean that the status of the parking space has changed.

[0126] Step S203: if the parking space state of the first valid parking space changes, a second valid parking space is selected from the remaining candidate valid parking spaces, wherein the remaining candidate valid parking spaces are other valid parking spaces among the plurality of candidate valid parking spaces except the first valid parking space.

[0127] In an embodiment of the present application, if the sensor detects that the state of the first valid parking space has changed, such as being occupied by another vehicle or an obstacle appearing, the vehicle's control system will receive a corresponding signal and determine that the state of the parking space has indeed changed.

[0128] A second valid parking space is selected from the remaining candidate valid parking spaces. The selection can be made based on previously calculated parking efficiency data and accessibility data. For example, firstly, parking spaces with relatively few path planning steps, short parking time and good accessibility are selected. Then, an optimal parking space is selected from these parking spaces as the second valid parking space. An evaluation criterion similar to that for selecting the first valid parking space can be used.

[0129] Step S204: Control the vehicle to perform a parking operation according to the parking path corresponding to the second valid parking space.

[0130] In the embodiment of the present application, the automatic parking system replans the parking path according to the selected second valid parking space. This process is similar to planning the parking path for the first valid parking space, but the current position and state of the vehicle need to be considered. The vehicle is controlled to drive to the second valid parking space according to the new parking path. The system will adjust the vehicle's steering, acceleration, braking and other operations according to the new path requirements to ensure that the vehicle is safely and accurately parked in the second valid parking space.

[0131] The method provided in the embodiment of the present application, first, provides a convenient operation mode for users by receiving parking instructions from the client. Users can easily start the parking process on the client without having to perform complicated operations in the car. After responding to the parking instruction, the vehicle is controlled to perform the parking operation according to the parking path of the first valid parking space, which can efficiently guide the vehicle to the best parking space and improve the accuracy and efficiency of parking. At the same time, the parking status of the first valid parking space is continuously detected to ensure the flexibility of the parking process. If the status of the first valid parking space changes, the second valid parking space is selected from the remaining candidate valid parking spaces in a timely manner, thereby avoiding parking failures due to parking spaces being occupied, etc., and improving the success rate and reliability of parking. This dynamic adjustment method adapts to the complex and changeable parking environment and brings users a more stable and reliable parking experience.

[0132] In this embodiment, a parking space recommendation device is also provided, which is used to implement the above embodiments and preferred implementations, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0133] This embodiment provides a parking space recommendation device, such as Figure 3 As shown, including:

[0134] The acquisition module 301 is used to acquire the original parking space reached by the vehicle when driving according to the memorized driving path, and when the original parking space is unavailable, acquire multiple candidate valid parking spaces from the parking environment where the vehicle is located;

[0135] A comparison module 302 is used to compare the vehicle parameters of the vehicle and the parking space parameters of the candidate valid parking space to obtain difference data between the vehicle and the candidate valid parking space;

[0136] A planning module 303, for planning a parking path between the vehicle and each candidate valid parking space based on the difference data, and obtaining parking efficiency data of the candidate valid parking space based on the parking path;

[0137] The processing module 304 is used to determine a first valid parking space from multiple candidate valid parking spaces by using the parking efficiency data of the candidate valid parking spaces and the accessibility data of the candidate valid parking spaces in the parking environment, and send the parking space information of the first valid parking space to the client associated with the vehicle.

[0138] In an embodiment of the present application, the acquisition module 301 is used to obtain multiple candidate parking spaces in an available state from a parking environment; calculate the distance between each candidate parking space and the location of the vehicle; and select a preset number of candidate parking spaces from the multiple candidate parking spaces as candidate valid parking spaces in order of distance from small to large.

[0139] In the embodiment of the present application, the comparison module 302 is used to obtain the vehicle size parameters and the vehicle position parameters of the vehicle, and to obtain the parking space size parameters and the parking space position parameters of the candidate valid parking space; to compare the vehicle size parameters and the parking space size parameters to obtain size difference data; to compare the vehicle position parameters and the parking space position parameters to obtain distance difference data; and to construct difference data based on the size difference data and the distance difference data.

[0140] In the embodiment of the present application, the difference data includes size difference data and distance difference data;

[0141] In the embodiment of the present application, the planning module 303 is used to obtain the vehicle parking parameters of the vehicle; plan the straight-line driving path from the vehicle to each candidate valid parking space using the vehicle parking parameters and the distance difference data; plan the turning driving path from the vehicle to each candidate valid parking space using the vehicle parking parameters and the size difference data; and construct the parking path between the vehicle and each candidate valid parking space based on the straight-line driving path and the turning driving path.

[0142] In the embodiment of the present application, the planning module 303 is used to obtain a first planning step number corresponding to a straight driving path and a second planning step number corresponding to a turning driving path; determine the path planning step number of a parking path using the first planning step number and the second planning step number; obtain a parking speed preset for the vehicle; calculate the parking time using the parking speed and the path length of the parking path; and use the path planning step number and the parking time as parking efficiency data for the parking path.

[0143] In an embodiment of the present application, the device also includes: a detection module, which is used to detect environmental data of a parking environment and obtain the environmental type of the parking environment; obtain multiple candidate accessibility indicators corresponding to the environmental type, and obtain a parking preference pre-configured by the user; obtain a target accessibility indicator that matches the parking preference from multiple candidate accessibility indicators; and extract accessibility data corresponding to the target accessibility indicator from the environmental data.

[0144] In an embodiment of the present application, the device also includes: an execution module, which is used to receive a parking instruction from a client; in response to the parking instruction, control the vehicle to perform a parking operation according to a parking path corresponding to a first valid parking space, and detect whether the parking space status of the first valid parking space has changed; if the parking space status of the first valid parking space has changed, select a second valid parking space from the remaining candidate valid parking spaces, wherein the remaining candidate valid parking spaces are other valid parking spaces among multiple candidate valid parking spaces except the first valid parking space; control the vehicle to perform a parking operation according to the parking path corresponding to the second valid parking space.

[0145] See also Figure 4 , Figure 4 is a schematic diagram of the structure of an electronic device provided by an optional embodiment of the present invention, such as Figure 4 As shown, the electronic device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 4 A processor 10 is taken as an example.

[0146] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0147] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0148] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the use of an electronic device based on the presentation of a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0149] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0150] The electronic device further comprises a communication interface 30 for the electronic device to communicate with other devices or a communication network.

[0151] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0152] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for recommending a parking space, characterized in that: The method comprises: Acquire an original parking space reached by the vehicle when the vehicle travels along the memorized driving path, and when the original parking space is unavailable, acquire a plurality of candidate valid parking spaces from the parking environment where the vehicle is located; Comparing the vehicle parameters of the vehicle with the parking space parameters of the candidate valid parking space to obtain difference data between the vehicle and the candidate valid parking space; planning a parking path between the vehicle and each of the candidate valid parking spaces based on the difference data, and acquiring parking efficiency data of the candidate valid parking spaces based on the parking path; A first valid parking space is determined from a plurality of candidate valid parking spaces by using the parking efficiency data of the candidate valid parking spaces and the accessibility data of the candidate valid parking spaces in the parking environment, and parking space information of the first valid parking space is sent to a client associated with the vehicle.

2. The method according to claim 1, characterized in that The acquiring a plurality of candidate valid parking spaces from the parking environment where the vehicle is located comprises: Acquire a plurality of available candidate parking spaces from the parking environment; Calculating the distance between each of the candidate parking spaces and the location of the vehicle; A preset number of candidate parking spaces are selected from a plurality of candidate parking spaces in an ascending order of the distances as the candidate valid parking spaces.

3. The method according to claim 1, characterized in that The comparing the vehicle parameters of the vehicle and the parking space parameters of the candidate valid parking space to obtain difference data between the vehicle and the candidate valid parking space includes: Acquiring vehicle size parameters and vehicle position parameters of the vehicle, and acquiring parking space size parameters and parking space position parameters of the candidate valid parking space; Comparing the vehicle size parameters with the parking space size parameters to obtain size difference data; Comparing the vehicle position parameter with the parking space position parameter to obtain distance difference data; The difference data is constructed based on the size difference data and the distance difference data.

4. The method according to claim 3, characterized in that: The difference data includes size difference data and distance difference data; The planning of a parking path between the vehicle and each of the candidate valid parking spaces based on the difference data includes: obtaining a vehicle parking parameter of the vehicle; Planning a straight-line driving path of the vehicle to each of the candidate valid parking spaces using the vehicle parking parameters and the distance difference data; Planning a turning path for the vehicle to each of the candidate valid parking spaces using the vehicle parking parameters and the size difference data; A parking path between the vehicle and each of the candidate valid parking spaces is constructed based on the straight driving path and the turning driving path.

5. The method according to claim 4, characterized in that The acquiring the parking efficiency data of the candidate valid parking space based on the parking path includes: Acquire a first planning step number corresponding to the straight driving path and a second planning step number corresponding to the turning driving path; Determining the number of path planning steps of the parking path by using the first planning number of steps and the second planning number of steps; Obtaining a preset parking speed of the vehicle; calculating a parking time using the parking speed and the length of the parking path; The number of path planning steps and the parking time are used as parking efficiency data of the parking path.

6. The method according to claim 1, characterized in that Before determining a first valid parking space from a plurality of candidate valid parking spaces by using the parking efficiency data of the candidate valid parking spaces and the accessibility data of the candidate valid parking spaces in the parking environment, the method further includes: detecting environmental data of the parking environment to obtain an environmental type of the parking environment; Obtaining a plurality of candidate accessibility indicators corresponding to the environment type, and obtaining a parking preference pre-configured by a user; obtaining a target accessibility index matching the parking preference from a plurality of candidate accessibility indexes; Reachability data corresponding to the target reachability indicator is extracted from the environmental data.

7. The method according to claim 1, characterized in that After sending the parking space information of the first valid parking space to the client associated with the vehicle, the method further includes: receiving a parking instruction from the client; In response to the parking instruction, controlling the vehicle to perform a parking operation according to a parking path corresponding to the first valid parking space, and detecting whether a parking space state of the first valid parking space changes; If the parking space state of the first valid parking space changes, selecting a second valid parking space from the remaining candidate valid parking spaces, wherein the remaining candidate valid parking spaces are other valid parking spaces among the plurality of candidate valid parking spaces except the first valid parking space; The vehicle is controlled to perform a parking operation according to a parking path corresponding to the second valid parking space.

8. A parking space recommendation device, characterized in that: The device comprises: an acquisition module, configured to acquire an original parking space reached by the vehicle when the vehicle travels along the memorized driving path, and when the original parking space is unavailable, acquire a plurality of candidate valid parking spaces from the parking environment where the vehicle is located; A comparison module, used for comparing the vehicle parameters of the vehicle and the parking space parameters of the candidate valid parking space to obtain difference data between the vehicle and the candidate valid parking space; a planning module, configured to plan a parking path between the vehicle and each of the candidate valid parking spaces based on the difference data, and to obtain parking efficiency data of the candidate valid parking spaces based on the parking path; A processing module is used to determine a first valid parking space from multiple candidate valid parking spaces by using the parking efficiency data of the candidate valid parking spaces and the accessibility data of the candidate valid parking spaces in the parking environment, and send the parking space information of the first valid parking space to a client associated with the vehicle.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 7.

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