Parking guiding method, device and equipment based on vehicle-infrastructure cooperation and storage medium

Abstract

A parking guidance method, apparatus and device based on vehicle-road cooperation, and a computer readable storage medium, the method comprising: broadcasting collected parking space information to surrounding vehicles through a standard protocol set PAM to receive a parking request of a target vehicle; and generating parking guidance information according to the parking request, and sending the parking guidance information to an APP bound with the target vehicle so as to perform parking guidance on the target vehicle, thereby solving the influence of the operation state of a sensor, the shielding of the surrounding environment and the sight range of a driver in the prior art, and improving the parking guidance accuracy of the target vehicle. The technical problem that the driver cannot quickly and accurately find the wanted free parking space is solved, the situation that the driver is blocked by an environment building, the sight range of the driver and part of the parking space are occupied, and consequently the free parking space cannot be quickly found is avoided, and the parking efficiency is remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation, and specifically to a parking guidance method, device, equipment and computer-readable storage medium based on vehicle-road collaboration. Background Art

[0002] With the increasing development of intelligent transportation technology and the improvement of transportation infrastructure, parking guidance in parking lots has become an indispensable part of road traffic service. In parking lots, the driver's field of vision is blocked by the environment and the limited field of vision, so he cannot find an empty parking space smoothly, so that the driver circles back and forth in the parking lot, and finds that the parking space is occupied or the parking space has been parked when parking, causing unnecessary time loss. At present, parking lots mainly install geomagnetic sensors or radar sensors in parking spaces to sense the occupancy and vacancy of parking spaces, and display them through lights on the top of the parking spaces. This method can inform the driver of the vacancy of nearby parking spaces, but it is greatly affected by the operating status of the sensor, the surrounding environment and the driver's field of vision, and cannot allow the driver to quickly and accurately find the vacant parking space he wants. Summary of the invention

[0003] The present application provides a parking guidance method, device, equipment and computer-readable storage medium based on vehicle-road collaboration, which can solve the technical problem in the prior art that the driver cannot quickly and accurately find the vacant parking space he wants due to the influence of the operating status of the sensor, the obstruction of the surrounding environment and the driver's field of vision.

[0004] In a first aspect, an embodiment of the present application provides a parking guidance method based on vehicle-road collaboration, and the parking guidance method based on vehicle-road collaboration includes:

[0005] The collected parking space information is broadcasted to surrounding vehicles through the standard protocol set PAM to receive parking requests from target vehicles;

[0006] Parking guidance information is generated according to the parking request, and the parking guidance information is sent to an APP bound to the target vehicle to provide parking guidance for the target vehicle.

[0007] In combination with the first aspect, in one implementation, generating parking guidance information according to the parking request, and sending the parking guidance information to an APP bound to the target vehicle to guide the target vehicle to park, includes:

[0008] Acquire vehicle information carried in the parking request, wherein the vehicle information includes current location information, size or model of the target vehicle;

[0009] Determine an empty parking sign ID that matches the target vehicle according to the size or model of the target vehicle;

[0010] Generate path information according to the empty parking sign ID and the current location information of the target vehicle;

[0011] Sending the path information to the APP bound to the target vehicle to guide the path of the target vehicle;

[0012] When it is detected that the target vehicle is within the range of the parking space, parking guidance is performed on the target vehicle.

[0013] In combination with the first aspect, in one implementation, generating path information according to the empty parking sign ID and the current position information of the target vehicle includes:

[0014] Determining the guide node where the target vehicle is located in the preset map information according to the current position information of the target vehicle;

[0015] According to the empty parking mark ID, the relative position and parking angle of the empty parking space are obtained;

[0016] Determining a guide node where the empty parking space is located in the preset map information according to the relative position and the parking space angle of the empty parking space;

[0017] Path information is generated based on the guide node where the target vehicle is located in the preset map information and the guide node where the empty parking space is located in the preset map information.

[0018] In combination with the first aspect, in one implementation, generating parking guidance information according to the parking request, and sending the parking guidance information to an APP bound to the target vehicle to guide the target vehicle to park, includes:

[0019] Obtaining vehicle information and an empty parking sign ID carried in the parking request, wherein the vehicle information includes the current location information, size or model of the target vehicle;

[0020] According to the empty parking sign ID, obtaining parking space information of the empty parking sign ID, wherein the parking space information includes the length and width of the parking space;

[0021] determining whether the parking request meets parking requirements according to the parking space information and the vehicle information;

[0022] If it is determined that the parking request does not meet the parking requirements, an empty parking identification ID that meets the parking requirements is pushed;

[0023] According to the empty parking mark ID that meets the parking requirements, parking guidance information is generated, and the parking guidance information is sent to an APP bound to the target vehicle to guide the target vehicle to park.

[0024] In combination with the first aspect, in one implementation, broadcasting the collected empty parking space information to surrounding vehicles via the standard protocol set PAM includes:

[0025] Collect all parking space information and road information of the parking lot, wherein the parking information includes the parking space identification ID, occupancy status, parking space locking information and parking space length and width, and the road information includes the length, width, lane attributes and number of lanes of the road, and the lane attributes include left turn, right turn and straight ahead;

[0026] Generate map information of the parking lot according to the road information and the parking space information;

[0027] Determining whether there is an empty parking space in the map information according to the identification ID, occupancy status and parking space locking information of the parking space;

[0028] If it is determined that there is vacant parking space information in the map information, the vacant parking space information is broadcast to surrounding vehicles through the standard protocol set PAM.

[0029] In combination with the first aspect, in one implementation, after the target vehicle performs parking guidance, the method further includes:

[0030] Determine whether the body outline of the target vehicle is completely within the empty parking space through the preset roadside equipment RSU;

[0031] If it is determined that the body outline of the target vehicle is entirely within the empty parking space, marking the empty parking space as occupied;

[0032] If it is determined that the body outline of the target vehicle is not entirely within the empty parking space, the occupied target empty parking space and the occupied space information are obtained, the empty parking space is marked as occupied, the target empty parking space is marked as free, and the occupied space information is recorded.

[0033] In combination with the first aspect, in one implementation, after determining whether the body outline of the target vehicle is completely within the empty parking space through the preset roadside equipment RSU, the method further includes:

[0034] If it is determined that the body outline of the target vehicle is not entirely within the empty parking space, the target vehicle is again guided to park so that the driver and passengers can make timely corrections to the target vehicle so that the body outline of the target vehicle is entirely within the empty parking space.

[0035] In a second aspect, an embodiment of the present application provides a parking guidance device based on vehicle-road collaboration, characterized in that the parking guidance device based on vehicle-road collaboration includes:

[0036] The collection and receiving module is used to broadcast the collected parking space information to surrounding vehicles through the standard protocol set PAM to receive parking requests from target vehicles;

[0037] A generation and guidance module is used to generate parking guidance information according to the parking request, and send the parking guidance information to an APP bound to the target vehicle to guide the target vehicle to park.

[0038] In conjunction with the second aspect, in one implementation, a parking guidance device based on vehicle-road collaboration includes:

[0039] The collection and receiving module is used to broadcast the collected parking space information to surrounding vehicles through the standard protocol set PAM to receive parking requests from target vehicles;

[0040] A generation and guidance module is used to generate parking guidance information according to the parking request, and send the parking guidance information to an APP bound to the target vehicle to guide the target vehicle to park.

[0041] In the third aspect, an embodiment of the present application provides a parking guidance device based on vehicle-road collaboration, wherein the parking guidance device based on vehicle-road collaboration comprises a processor, a memory, and a parking guidance program based on vehicle-road collaboration stored on the memory and executable by the processor, wherein when the parking guidance program based on vehicle-road collaboration is executed by the processor, the steps of the parking guidance method based on vehicle-road collaboration as described above are implemented.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a parking guidance program based on vehicle-road collaboration is stored. When the parking guidance program based on vehicle-road collaboration is executed by a processor, the steps of the parking guidance method based on vehicle-road collaboration as described above are implemented.

[0043] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0044] The collected parking space information is broadcasted to surrounding vehicles through the standard protocol set PAM to receive parking requests from target vehicles; parking guidance information is generated according to the parking request, and the parking guidance information is sent to an APP bound to the target vehicle to guide the target vehicle in parking. This solves the technical problem in the prior art that the driver cannot quickly and accurately find the vacant parking space he wants due to the influence of the operating state of the sensor, the surrounding environment obstruction and the driver's field of vision. This avoids the situation where the driver cannot quickly find the vacant parking space due to obstruction by environmental buildings, the driver's field of vision, and some parking spaces being occupied, thereby significantly improving parking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a flowchart of a first embodiment of a parking guidance method based on vehicle-road collaboration of the present application;

[0046] Figure 2 This is a flow chart of a second embodiment of a parking guidance method based on vehicle-road collaboration of the present application;

[0047] Figure 3 This is a functional module diagram of an embodiment of a parking guidance device based on vehicle-road collaboration of the present application;

[0048] Figure 4 This is a schematic diagram of the hardware structure of the parking guidance device based on vehicle-road collaboration involved in the embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] First, some technical terms in the present application are explained to facilitate those skilled in the art to understand the present application.

[0051] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0052] In a first aspect, an embodiment of the present application provides a parking guidance method based on vehicle-road collaboration.

[0053] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the parking guidance method based on vehicle-road collaboration of this application. Figure 1 As shown, the parking guidance method based on vehicle-road collaboration includes:

[0054] Step S10: broadcasting the collected parking space information to surrounding vehicles via the standard protocol set PAM to receive parking requests from target vehicles;

[0055] Exemplarily, parking space information is collected, and the parking space information includes ID, occupied status, and locked status. The collected parking space information is broadcast to surrounding vehicles through the standard protocol set PAM to receive parking requests from target vehicles. For example, the parking space information of the parking lot is configured through the cloud management platform or the local RSU end, and the parking lot information is broadcast to surrounding vehicles through the standard protocol set PAM (Parking Area Map) through the RSU. The on-board device OBU can obtain a piece of parking space information broadcast by the RSU, and send a parking request through the locking and occupation status information of the parking space. For example, when the user finds that there are still unlocked and occupied parking spaces, he sends a parking request through the vehicle-side APP.

[0056] Specifically, the collected empty parking space information is broadcasted to surrounding vehicles via the standard protocol set PAM, including: collecting all parking space information and road information in the parking lot, wherein the parking information includes the identification ID, occupancy status, parking space locking information and length and width of the parking space, and the road information includes the length, width, lane attributes and number of lanes of the road, and the lane attributes include left turn, right turn and straight ahead; generating map information of the parking lot based on the road information and the parking space information; determining whether there is an empty parking space in the map information based on the identification ID, occupancy status and parking space locking information of the parking space; if it is determined that there is empty parking space information in the map information, broadcasting the empty parking space information to surrounding vehicles via the standard protocol set PAM.

[0057] Demonstration, roadside equipment RSU (RTK version) calibration, obtain the installation longitude and latitude coordinates of the roadside equipment RSU, and complete the calibration configuration of the high-precision positioning base station. Broadcast differential data and RTCM version number according to the RTCM standard. Collect parking space information, collect all parking spaces in the parking lot, including the longitude and latitude and altitude information of the upper left vertex, upper right vertex, lower left vertex, and lower right vertex of the parking space. The edge connected by the upper left corner and the upper right corner of the parking space is the entrance of the parking space; generate the parking space identification ID, occupancy status, parking space locking information, and parking space length and width; collect the longitude and latitude and altitude information of the entrance area and exit area of ​​the parking lot; collect the road information of the parking lot, including the length, width, lane attributes (left turn, right turn, straight), and number of lanes of the road, and generate the map node of the parking lot (two sequential nodes determine a directed road section). After obtaining the key element information of the parking space, configure the parking space information of the parking lot through the cloud management platform or the local RSU end, and broadcast the parking lot information to surrounding vehicles through the standard protocol set PAM (Parking Area Map) through the RSU.

[0058] Step S20: Generate parking guidance information according to the parking request, and send the parking guidance information to the APP bound to the target vehicle to provide parking guidance to the target vehicle.

[0059] Exemplarily, when receiving the parking request information sent by the target vehicle, determine whether the parking lot has vacancies. If it is determined that there are no vacancies in the parking lot, generate parking guidance information. If it is determined that there are vacancies in the parking lot, obtain the location information and the ID of the vacant parking space carried in the parking request to generate guidance information, and the guidance information includes the driving path. Send the parking guidance information to the APP bound to the target vehicle to guide the target vehicle to park. For example, the target vehicle can be guided to the ID of the vacant parking space by voice and image, and parking guidance can also be performed.

[0060] Specifically, generating parking guidance information according to the parking request, and sending the parking guidance information to the APP bound to the target vehicle to guide the target vehicle in parking, includes: obtaining vehicle information carried in the parking request, wherein the vehicle information includes the current location information, size or model of the target vehicle; determining an empty parking sign ID that matches the target vehicle according to the size or model of the target vehicle; generating path information according to the empty parking sign ID and the current location information of the target vehicle; sending the path information to the APP bound to the target vehicle to guide the target vehicle in path; and when the target vehicle is detected to appear within the range of the parking space, guiding the target vehicle in parking.

[0061] Exemplarily, the vehicle information carried by the parking request is obtained, wherein the vehicle information includes the current location information, size or model of the target vehicle. After the size or model of the target vehicle is obtained, the target vehicle is matched to determine the empty parking sign ID that matches the target vehicle. According to the current location information of the target vehicle, the guide node of the target vehicle in the preset map information is determined; according to the empty parking sign ID, the relative position and parking angle of the empty parking space are obtained; according to the relative position and parking angle of the empty parking space, the guide node of the empty parking space in the preset map information is determined; based on the guide node of the target vehicle in the preset map information and the guide node of the empty parking space in the preset map information, path information is generated. The path information is sent to the APP bound to the target vehicle to guide the path of the target vehicle; when the target vehicle is detected to appear within the range of the parking space, the target vehicle is guided to park. For example, left, right, forward, backward, and the angle of the steering wheel.

[0062] Specifically, generating parking guidance information according to the parking request, and sending the parking guidance information to the APP bound to the target vehicle to guide the target vehicle in parking, includes: obtaining vehicle information and an empty parking sign ID carried in the parking request, wherein the vehicle information includes the current location information, size or model of the target vehicle; obtaining parking space information of the empty parking sign ID according to the empty parking sign ID, wherein the parking space information includes the length and width of the parking space; determining whether the parking request meets the parking requirements according to the parking space information and the vehicle information; if it is determined that the parking request does not meet the parking requirements, pushing the empty parking sign ID that meets the parking requirements; generating parking guidance information according to the empty parking sign ID that meets the parking requirements, and sending the parking guidance information to the APP bound to the target vehicle to guide the target vehicle in parking.

[0063] Exemplarily, the vehicle information and empty parking mark ID carried in the parking request are obtained, wherein the vehicle information includes the current location information, size or model of the target vehicle; the empty parking mark ID is when the collected parking space information is broadcast to surrounding vehicles through the standard protocol set PAM, and the parking space information includes multiple empty parking mark IDs, as well as the location information and environmental information of each empty parking mark ID, such as the latitude and longitude information of the empty parking mark ID, whether the surrounding parking spaces are parked with vehicles, whether they are close to the load-bearing columns, etc. When the user selects any empty parking mark ID, the selected empty parking mark ID and the current location information, size or model of the vehicle are used to generate a parking request. According to the empty parking mark ID, the parking space information of the empty parking mark ID is obtained, wherein the parking space information includes the length and width of the parking space. According to the obtained length and width of the parking space and the size or model of the target vehicle, it is determined whether the parking request meets the parking requirements. For example, if the size of the target vehicle is greater than the length and width of the parking space, it is determined that the parking request does not meet the parking requirements; if the size of the target vehicle is less than or equal to the length and width of the parking space, it is determined that the parking request meets the parking requirements. If it is determined that the parking request does not meet the parking requirements, push the empty parking sign ID that meets the parking requirements. According to the current position information of the target vehicle, determine the guide node where the target vehicle is located in the preset map information; according to the empty parking sign ID, obtain the relative position and parking angle of the empty parking space; according to the relative position and parking angle of the empty parking space, determine the guide node where the empty parking space is located in the preset map information; based on the guide node where the target vehicle is located in the preset map information and the guide node where the empty parking space is located in the preset map information, generate path information. Send the path information to the APP bound to the target vehicle to guide the target vehicle on the path; when the target vehicle is detected to appear within the range of the parking space, guide the target vehicle to park. For example, left, right, forward, backward, and the angle of the steering wheel.

[0064] For example, it includes cloud management platform, entrance and exit gates, roadside equipment RSU, vehicle-mounted equipment OBU and vehicle-side APP.

[0065] The cloud management platform can obtain information about relevant roadside equipment, including the name, model, IP, location, online status, operating status, etc. of the roadside equipment, and can perform unified and centralized management of roadside equipment in the cloud.

[0066] The entrance and exit barriers include: when a vehicle enters the marked parking lot entrance and exit area, it receives control information from the cloud management platform to realize the lifting and lowering operations.

[0067] The roadside equipment RSU (RTK version) includes: RTK high-precision positioning module, high-precision positioning information collection and analysis; RSU function configuration module, configuration of related application functions, such as differential data service, parking guidance service, etc.; roadside terminal V2X wireless communication module, used to send its own configured RTCM differential data information and parking space vacancy information to other nearby vehicles through V2X, and receive parking lot entry and parking lot exit requests sent by the vehicle's on-board equipment OBU; roadside equipment processing unit module, used to construct parking space information and RTK differential data information and broadcast them to surrounding vehicles through the wireless communication module, and mark the parking space status as occupied or idle; cloud reporting and receiving module, used to report device information to the cloud management platform so that the platform can supervise the device status, etc., and receive instructions from the platform and information issued;

[0068] The on-board equipment OBU includes: an inertial navigation positioning module, which is used to obtain the vehicle status information in real time, including speed, heading angle, position, etc., but the positioning performance is poor, only at the meter level; an on-board terminal V2X wireless communication module, which is used to send the vehicle's own status data to the roadside equipment RSU through V2X, and receive PAM (Parking Area Map) messages and RTCM differential data messages broadcast by the surrounding roadside equipment RSU; an on-board equipment processing unit module, which uses the vehicle motion status collected by the inertial navigation positioning module for comprehensive analysis and processing based on the collected PAM information and the vehicle's own vehicle request information to determine whether to trigger the parking guidance service of the parking lot for the vehicle, and combines the received RTCM data with the vehicle status data output by the inertial navigation positioning to improve the vehicle's own positioning accuracy after fusion to the centimeter level; an application electronic control system is used to collect vehicle data in the vehicle CAN bus, and to feed back the processed information of the vehicle to the user through a display screen or sound.

[0069] The vehicle-side APP includes: receiving relevant service information provided by the on-board device OBU, and providing the parking guidance scene HMI display and corresponding voice reminders of the parking lot equipped with roadside equipment.

[0070] In this embodiment, the collected parking space information is broadcast to surrounding vehicles through the standard protocol set PAM to receive the parking request of the target vehicle; parking guidance information is generated according to the parking request, and the parking guidance information is sent to the APP bound to the target vehicle to guide the target vehicle to park, thereby solving the technical problem in the prior art that the driver cannot quickly and accurately find the vacant parking space he wants due to the influence of the operating state of the sensor, the surrounding environment obstruction and the driver's field of vision, and avoiding the situation that the driver cannot quickly find the vacant parking space due to the obstruction of the surrounding buildings, the driver's field of vision, and the occupation of some parking spaces, thereby significantly improving the parking efficiency.

[0071] In one embodiment, referring to Figure 2 , Figure 2 This is a flow chart of the second embodiment of the parking guidance method based on vehicle-road collaboration of this application. Figure 2 As shown, the parking guidance method based on vehicle-road collaboration includes:

[0072] Step S21: broadcasting the collected parking space information to surrounding vehicles via the standard protocol set PAM to receive parking requests from target vehicles;

[0073] Exemplarily, parking space information is collected, and the parking space information includes ID, occupied status, and locked status. The collected parking space information is broadcast to surrounding vehicles through the standard protocol set PAM to receive parking requests from target vehicles. For example, the parking space information of the parking lot is configured through the cloud management platform or the local RSU end, and the parking lot information is broadcast to surrounding vehicles through the standard protocol set PAM (Parking Area Map) through the RSU. The on-board device OBU can obtain a piece of parking space information broadcast by the RSU, and send a parking request through the locking and occupancy status information of the parking space.

[0074] Specifically, the collected empty parking space information is broadcasted to surrounding vehicles via the standard protocol set PAM, including: collecting all parking space information and road information in the parking lot, wherein the parking information includes the identification ID, occupancy status, parking space locking information and length and width of the parking space, and the road information includes the length, width, lane attributes and number of lanes of the road, and the lane attributes include left turn, right turn and straight ahead; generating map information of the parking lot based on the road information and the parking space information; determining whether there is an empty parking space in the map information based on the identification ID, occupancy status and parking space locking information of the parking space; if it is determined that there is empty parking space information in the map information, broadcasting the empty parking space information to surrounding vehicles via the standard protocol set PAM.

[0075] Demonstration, roadside equipment RSU (RTK version) calibration, obtain the installation longitude and latitude coordinates of the roadside equipment RSU, and complete the calibration configuration of the high-precision positioning base station. Broadcast differential data and RTCM version number according to the RTCM standard. Collect parking space information, collect all parking spaces in the parking lot, including the longitude and latitude and altitude information of the upper left vertex, upper right vertex, lower left vertex, and lower right vertex of the parking space. The edge connected by the upper left corner and the upper right corner of the parking space is the entrance of the parking space; generate the parking space identification ID, occupancy status, parking space locking information, and parking space length and width; collect the longitude and latitude and altitude information of the entrance area and exit area of ​​the parking lot; collect the road information of the parking lot, including the length, width, lane attributes (left turn, right turn, straight), and number of lanes of the road, and generate the map node of the parking lot (two sequential nodes determine a directed road section). After obtaining the key element information of the parking space, configure the parking space information of the parking lot through the cloud management platform or the local RSU end, and broadcast the parking lot information to surrounding vehicles through the standard protocol set PAM (Parking Area Map) through the RSU.

[0076] Step S22: Generate parking guidance information according to the parking request, and send the parking guidance information to the APP bound to the target vehicle to provide parking guidance for the target vehicle.

[0077] Exemplarily, when receiving the parking request information sent by the target vehicle, determine whether the parking lot has vacancies. If it is determined that there are no vacancies in the parking lot, generate parking guidance information. If it is determined that there are vacancies in the parking lot, obtain the location information and the ID of the vacant parking space carried in the parking request to generate guidance information, and the guidance information includes the driving path. Send the parking guidance information to the APP bound to the target vehicle to guide the target vehicle to park. For example, the target vehicle can be guided to the ID of the vacant parking space by voice and image, and parking guidance can also be performed.

[0078] Specifically, generating parking guidance information according to the parking request, and sending the parking guidance information to the APP bound to the target vehicle to guide the target vehicle in parking, includes: obtaining vehicle information carried in the parking request, wherein the vehicle information includes the current location information, size or model of the target vehicle; determining an empty parking sign ID that matches the target vehicle according to the size or model of the target vehicle; generating path information according to the empty parking sign ID and the current location information of the target vehicle; sending the path information to the APP bound to the target vehicle to guide the target vehicle in path; and when the target vehicle is detected to appear within the range of the parking space, guiding the target vehicle in parking.

[0079] Exemplarily, the vehicle information carried by the parking request is obtained, wherein the vehicle information includes the current location information, size or model of the target vehicle. After the size or model of the target vehicle is obtained, the target vehicle is matched to determine the empty parking sign ID that matches the target vehicle. According to the current location information of the target vehicle, the guide node of the target vehicle in the preset map information is determined; according to the empty parking sign ID, the relative position and parking angle of the empty parking space are obtained; according to the relative position and parking angle of the empty parking space, the guide node of the empty parking space in the preset map information is determined; based on the guide node of the target vehicle in the preset map information and the guide node of the empty parking space in the preset map information, path information is generated. The path information is sent to the APP bound to the target vehicle to guide the target vehicle on the path; when the target vehicle is detected to appear within the range of the parking space, the target vehicle is guided to park. For example, left, right, forward, backward, and the angle of the steering wheel.

[0080] Specifically, generating parking guidance information according to the parking request, and sending the parking guidance information to the APP bound to the target vehicle to guide the target vehicle in parking, includes: obtaining vehicle information and an empty parking sign ID carried in the parking request, wherein the vehicle information includes the current location information, size or model of the target vehicle; obtaining parking space information of the empty parking sign ID according to the empty parking sign ID, wherein the parking space information includes the length and width of the parking space; determining whether the parking request meets the parking requirements according to the parking space information and the vehicle information; if it is determined that the parking request does not meet the parking requirements, pushing the empty parking sign ID that meets the parking requirements; generating parking guidance information according to the empty parking sign ID that meets the parking requirements, and sending the parking guidance information to the APP bound to the target vehicle to guide the target vehicle in parking.

[0081] Exemplarily, the vehicle information and empty parking mark ID carried by the parking request are obtained, wherein the vehicle information includes the current position information, size or model of the target vehicle; the parking space information of the empty parking mark ID is obtained according to the empty parking mark ID, wherein the parking space information includes the length and width of the parking space. According to the obtained length and width of the parking space and the size or model of the target vehicle, it is determined whether the parking request meets the parking requirements. For example, if the size of the target vehicle is larger than the length and width of the parking space, it is determined that the parking request does not meet the parking requirements; if the size of the target vehicle is less than or equal to the length and width of the parking space, it is determined that the parking request meets the parking requirements. If it is determined that the parking request does not meet the parking requirements, the empty parking mark ID that meets the parking requirements is pushed. According to the current position information of the target vehicle, the guide node where the target vehicle is located in the preset map information is determined; according to the empty parking mark ID, the relative position and parking angle of the empty parking space are obtained; according to the relative position and parking angle of the empty parking space, the guide node where the empty parking space is located in the preset map information is determined; based on the guide node where the target vehicle is located in the preset map information and the guide node where the empty parking space is located in the preset map information, path information is generated. The path information is sent to the APP bound to the target vehicle to guide the target vehicle along the path; when the target vehicle is detected to be within the range of the parking space, the target vehicle is guided to park, for example, left, right, forward, backward, and the angle of the steering wheel.

[0082] Step S23: judging whether the body outline of the target vehicle is completely within the empty parking space through the preset roadside equipment RSU;

[0083] Step S24: if it is determined that the body outline of the target vehicle is entirely within the empty parking space, marking the empty parking space as occupied;

[0084] Step S25: If it is determined that the body outline of the target vehicle is not entirely within the empty parking space, obtain the occupied target empty parking space and the occupied space information, mark the empty parking space as occupied, mark the target empty parking space as free, and record the occupied space information.

[0085] Exemplarily, the target vehicle information including the vehicle width, the installation position information of the vehicle-mounted device OBU in the vehicle, etc. is broadcast to the roadside device RSU, and the roadside device RSU determines whether the body outline is completely within the empty parking space. If it is determined that the body outline of the target vehicle is completely within the empty parking space, the empty parking space is marked as occupied. If it is determined that the body outline of the target vehicle is not completely within the empty parking space, the occupied target empty parking space and the occupied space information are obtained, the empty parking space is marked as occupied, the target empty parking space is marked as idle, and the occupied space information is recorded. Alternatively, if it is determined that the body outline of the target vehicle is not completely within the empty parking space, the target vehicle is guided to park again, so that the driver and passengers can make timely corrections to the target vehicle to ensure that the body outline of the target vehicle is completely within the empty parking space.

[0086] In this embodiment, by digitizing the vacant status of parking spaces, drivers can easily obtain parking space information beyond visual range through wireless communication. After the target vehicle is successfully parked, the parking space information is updated in time, which greatly reduces the time the driver spends looking for vacant parking spaces and avoids the situation where the driver is unable to quickly find vacant parking spaces due to obstruction by surrounding buildings, line of sight, or partial occupation of parking spaces, thereby significantly improving parking efficiency.

[0087] On the second aspect, an embodiment of the present application also provides a parking guidance device based on vehicle-road collaboration.

[0088] In one embodiment, referring to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of a parking guidance device based on vehicle-road collaboration in this application. Figure 3 As shown, the parking guidance device based on vehicle-road collaboration includes:

[0089] The collection and receiving module 10 is used to broadcast the collected parking space information to surrounding vehicles through the standard protocol set PAM to receive the parking request of the target vehicle;

[0090] The generating and guiding module 20 is used to generate parking guidance information according to the parking request, and send the parking guidance information to the APP bound to the target vehicle to guide the target vehicle to park.

[0091] Furthermore, in one embodiment, the generating and guiding module 20 is used to:

[0092] Acquire vehicle information carried in the parking request, wherein the vehicle information includes current location information, size or model of the target vehicle;

[0093] Determine an empty parking sign ID that matches the target vehicle according to the size or model of the target vehicle;

[0094] Generate path information according to the empty parking sign ID and the current location information of the target vehicle;

[0095] Sending the path information to the APP bound to the target vehicle to guide the path of the target vehicle;

[0096] When it is detected that the target vehicle is within the range of the parking space, parking guidance is performed on the target vehicle.

[0097] Furthermore, in one embodiment, the parking guidance device based on vehicle-road collaboration also includes a new module for:

[0098] Determining the guide node where the target vehicle is located in the preset map information according to the current position information of the target vehicle;

[0099] According to the empty parking mark ID, the relative position and parking angle of the empty parking space are obtained;

[0100] Determining a guide node where the empty parking space is located in the preset map information according to the relative position and the parking space angle of the empty parking space;

[0101] Path information is generated based on the guide node where the target vehicle is located in the preset map information and the guide node where the empty parking space is located in the preset map information.

[0102] Furthermore, in one embodiment, the generating and guiding module 20 is used to:

[0103] Obtaining vehicle information and an empty parking sign ID carried in the parking request, wherein the vehicle information includes the current location information, size or model of the target vehicle;

[0104] According to the empty parking sign ID, obtaining parking space information of the empty parking sign ID, wherein the parking space information includes the length and width of the parking space;

[0105] determining whether the parking request meets parking requirements according to the parking space information and the vehicle information;

[0106] If it is determined that the parking request does not meet the parking requirements, an empty parking identification ID that meets the parking requirements is pushed;

[0107] According to the empty parking mark ID that meets the parking requirements, parking guidance information is generated, and the parking guidance information is sent to an APP bound to the target vehicle to guide the target vehicle to park.

[0108] Furthermore, in one embodiment, the collection and receiving module 10 is used to:

[0109] Collect all parking space information and road information of the parking lot, wherein the parking information includes the parking space identification ID, occupancy status, parking space locking information and parking space length and width, and the road information includes the length, width, lane attributes and number of lanes of the road, and the lane attributes include left turn, right turn and straight ahead;

[0110] Generate map information of the parking lot according to the road information and the parking space information;

[0111] Determining whether there is an empty parking space in the map information according to the identification ID, occupancy status and parking space locking information of the parking space;

[0112] If it is determined that there is vacant parking space information in the map information, the vacant parking space information is broadcast to surrounding vehicles through the standard protocol set PAM.

[0113] Furthermore, in one embodiment, the parking guidance device based on vehicle-road collaboration also includes a new module for:

[0114] Determine whether the body outline of the target vehicle is completely within the empty parking space through the preset roadside equipment RSU;

[0115] If it is determined that the body outline of the target vehicle is entirely within the empty parking space, marking the empty parking space as occupied;

[0116] If it is determined that the body outline of the target vehicle is not entirely within the empty parking space, the occupied target empty parking space and the occupied space information are obtained, the empty parking space is marked as occupied, the target empty parking space is marked as free, and the occupied space information is recorded.

[0117] Furthermore, in one embodiment, the parking guidance device based on vehicle-road collaboration also includes a new module for:

[0118] If it is determined that the body outline of the target vehicle is not entirely within the empty parking space, the target vehicle is again guided to park so that the driver and passengers can make timely corrections to the target vehicle so that the body outline of the target vehicle is entirely within the empty parking space.

[0119] Among them, the functional implementation of each module in the above-mentioned parking guidance device based on vehicle-road collaboration corresponds to the various steps in the above-mentioned parking guidance method embodiment based on vehicle-road collaboration, and its functions and implementation processes will not be repeated here one by one.

[0120] On the third aspect, an embodiment of the present application provides a parking guidance device based on vehicle-road collaboration. The parking guidance device based on vehicle-road collaboration can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0121] Reference Figure 4 , Figure 4 Schematic diagram of the hardware structure of the parking guidance device based on vehicle-road collaboration involved in the embodiment of the present application. In the embodiment of the present application, the parking guidance device based on vehicle-road collaboration may include a processor, a memory, a communication interface and a communication bus.

[0122] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0123] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the parking guidance device based on vehicle-road collaboration, and the interface used to realize the interconnection between the parking guidance device based on vehicle-road collaboration and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0124] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0125] The processor may be a general-purpose processor, which may call the parking guidance program based on vehicle-road collaboration stored in the memory and execute the parking guidance method based on vehicle-road collaboration provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the parking guidance program based on vehicle-road collaboration is called may refer to the various embodiments of the parking guidance method based on vehicle-road collaboration of the present application, which will not be described in detail here.

[0126] Those skilled in the art will understand that Figure 4The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0127] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0128] The computer-readable storage medium of the present application stores a parking guidance program based on vehicle-road collaboration, wherein when the parking guidance program based on vehicle-road collaboration is executed by a processor, the steps of the parking guidance method based on vehicle-road collaboration as described above are implemented.

[0129] Among them, the method implemented when the parking guidance program based on vehicle-road collaboration is executed can refer to the various embodiments of the parking guidance method based on vehicle-road collaboration in this application, and will not be repeated here.

[0130] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0131] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0132] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0133] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. The “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0134] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0135] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0136] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A parking guidance method based on vehicle-road collaboration, characterized in that: The parking guidance method based on vehicle-road collaboration includes: The collected parking space information is broadcasted to surrounding vehicles through the standard protocol set PAM to receive parking requests from target vehicles; Parking guidance information is generated according to the parking request, and the parking guidance information is sent to an APP bound to the target vehicle to provide parking guidance for the target vehicle.

2. The parking guidance method based on vehicle-road collaboration as claimed in claim 1, characterized in that: The generating parking guidance information according to the parking request, and sending the parking guidance information to an APP bound to the target vehicle to guide the target vehicle to park, includes: Acquire vehicle information carried in the parking request, wherein the vehicle information includes current location information, size or model of the target vehicle; Determine an empty parking sign ID that matches the target vehicle according to the size or model of the target vehicle; Generate path information according to the empty parking sign ID and the current location information of the target vehicle; Sending the path information to the APP bound to the target vehicle to guide the path of the target vehicle; When it is detected that the target vehicle is within the range of the parking space, parking guidance is performed on the target vehicle.

3. The parking guidance method based on vehicle-road collaboration as claimed in claim 2, characterized in that: The generating path information according to the empty parking mark ID and the current position information of the target vehicle includes: Determining the guide node where the target vehicle is located in the preset map information according to the current position information of the target vehicle; According to the empty parking mark ID, the relative position and parking angle of the empty parking space are obtained; Determining a guide node where the empty parking space is located in the preset map information according to the relative position and the parking space angle of the empty parking space; Path information is generated based on the guide node where the target vehicle is located in the preset map information and the guide node where the empty parking space is located in the preset map information.

4. The parking guidance method based on vehicle-road collaboration as claimed in claim 1, characterized in that: The generating parking guidance information according to the parking request, and sending the parking guidance information to an APP bound to the target vehicle to guide the target vehicle to park, includes: Obtaining vehicle information and an empty parking sign ID carried in the parking request, wherein the vehicle information includes the current location information, size or model of the target vehicle; According to the empty parking sign ID, obtaining parking space information of the empty parking sign ID, wherein the parking space information includes the length and width of the parking space; determining whether the parking request meets parking requirements according to the parking space information and the vehicle information; If it is determined that the parking request does not meet the parking requirements, an empty parking identification ID that meets the parking requirements is pushed; According to the empty parking mark ID that meets the parking requirements, parking guidance information is generated, and the parking guidance information is sent to an APP bound to the target vehicle to guide the target vehicle to park.

5. The parking guidance method based on vehicle-road collaboration as claimed in claim 1, characterized in that: The collected empty parking space information is broadcasted to surrounding vehicles via the standard protocol set PAM, including: Collect all parking space information and road information of the parking lot, wherein the parking information includes the parking space identification ID, occupancy status, parking space locking information and parking space length and width, and the road information includes the length, width, lane attributes and number of lanes of the road, and the lane attributes include left turn, right turn and straight ahead; Generate map information of the parking lot according to the road information and the parking space information; Determining whether there is an empty parking space in the map information according to the identification ID, occupancy status and parking space locking information of the parking space; If it is determined that there is vacant parking space information in the map information, the vacant parking space information is broadcast to surrounding vehicles through the standard protocol set PAM.

6. The parking guidance method based on vehicle-road collaboration as claimed in claim 1, characterized in that: After the target vehicle performs parking guidance, the method further includes: Determine whether the body outline of the target vehicle is completely within the empty parking space through the preset roadside equipment RSU; If it is determined that the body outline of the target vehicle is entirely within the empty parking space, marking the empty parking space as occupied; If it is determined that the body outline of the target vehicle is not entirely within the empty parking space, the occupied target empty parking space and the occupied space information are obtained, the empty parking space is marked as occupied, the target empty parking space is marked as free, and the occupied space information is recorded.

7. The parking guidance method based on vehicle-road collaboration as claimed in claim 6, characterized in that: After judging whether the body outline of the target vehicle is completely within the empty parking space by the preset roadside equipment RSU, the method further includes: If it is determined that the body outline of the target vehicle is not entirely within the empty parking space, the target vehicle is again guided to park so that the driver and passengers can make timely corrections to the target vehicle so that the body outline of the target vehicle is entirely within the empty parking space.

8. A parking guidance device based on vehicle-road collaboration, characterized in that: The parking guidance device based on vehicle-road collaboration includes: The collection and receiving module is used to broadcast the collected parking space information to surrounding vehicles through the standard protocol set PAM to receive parking requests from target vehicles; A generation and guidance module is used to generate parking guidance information according to the parking request, and send the parking guidance information to an APP bound to the target vehicle to guide the target vehicle to park.

9. A parking guidance device based on vehicle-road collaboration, characterized in that: The parking guidance device based on vehicle-road collaboration includes a processor, a memory, and a parking guidance program based on vehicle-road collaboration stored in the memory and executable by the processor, wherein when the parking guidance program based on vehicle-road collaboration is executed by the processor, the steps of the parking guidance method based on vehicle-road collaboration as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a parking guidance program based on vehicle-road collaboration, wherein when the parking guidance program based on vehicle-road collaboration is executed by a processor, the steps of the parking guidance method based on vehicle-road collaboration as described in any one of claims 1 to 7 are implemented.

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