Valet parking method and system

Abstract

The invention discloses a valet parking method and system, and relates to the technical field of intelligent driving, and the valet parking method comprises the steps that a vehicle end responds to a connection request sent by a parking lot end, an encryption channel is established with the parking lot end, and a parking lot entrance positioning encryption data packet sent by the parking lot end is received through the encryption channel; when the parking lot entrance positioning encryption data packet is received, the initial pose of the vehicle is set according to the parking lot entrance positioning encryption data packet, and a receiving confirmation message is sent to the parking lot end; acquiring vehicle environment data, and constructing a real-time local map at the entrance of the parking lot based on the initial pose of the vehicle and the vehicle environment data; obtaining a valet parking route map, and matching the real-time local map with the valet parking route map to obtain a route matching result; and the vehicle is controlled to complete valet parking according to the route matching result, and the route matching success rate of the valet parking function can be improved with low cost.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a valet parking method and system. Background Art

[0002] With the rapid development of intelligent driving technology, valet parking technology has provided great convenience for users and significantly improved their driving experience. When using the valet parking function, the vehicle needs to match the route in the parking environment before the function can be activated. The key to route matching lies in the accuracy of simultaneous localization and mapping (SLAM) reconstruction, and the accuracy of SLAM reconstruction depends on the accuracy of initial positioning, and the accuracy of initial positioning depends on the accuracy of the Global Navigation Satellite System (GNSS) and Real-Time Kinematic (RTK). However, in the indoor parking environment, due to the shading of buildings and the multipath effect, the accuracy of the initial SLAM positioning is low, and is restricted by factors such as the characteristics of the vehicle hardware, so it is difficult to directly improve the positioning accuracy.

[0003] The current solution to improve the success rate of route matching for the valet parking function mainly relies on the method of semantic feature matching through visual retrieval after the vehicle enters the geographic fence to improve the success rate of route matching. However, this type of solution is highly dependent on the performance of vehicle sensors and will also generate excessive computing power requirements. Some solutions are also based on detailed information provided by the parking lot in real time, including parking spaces, lanes, and high-precision maps. This type of solution is usually costly, the communication process is complex, and the transmission security has yet to be verified, which makes it challenging in practical applications. Therefore, how to improve the route matching success rate of the valet parking function at a low cost has become an urgent problem to be solved.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present application is to provide a valet parking method and system, aiming to solve the technical problem of how to improve the route matching success rate of the valet parking function at a low cost.

[0006] To achieve the above objectives, the present application proposes a valet parking method, which is applied to a vehicle side and includes:

[0007] In response to a connection request sent by the parking lot end, an encrypted channel is established with the parking lot end to receive a parking lot entrance location encrypted data packet sent by the parking lot end through the encrypted channel;

[0008] When receiving the parking lot entrance positioning encrypted data packet, setting the vehicle initial position according to the parking lot entrance positioning encrypted data packet, and sending a reception confirmation message to the parking lot end;

[0009] Acquire vehicle environment data, and construct a real-time local map of the parking lot entrance based on the initial position of the vehicle and the vehicle environment data;

[0010] Acquire a valet parking route map, and match the real-time local map with the valet parking route map to obtain a route matching result;

[0011] The vehicle is controlled to complete valet parking according to the route matching result.

[0012] In one embodiment, the step of obtaining a valet parking route map and matching the real-time local map with the valet parking route map to obtain a route matching result comprises:

[0013] Obtaining a valet parking route map and extracting parking lot entrance landmarks from the real-time local map;

[0014] Matching the real-time local map with the valet parking route map based on the parking lot entrance marker to obtain a roughly aligned real-time local map;

[0015] The roughly aligned real-time local map is registered with the valet parking route map to obtain a route matching result.

[0016] In one embodiment, the step of registering the roughly aligned real-time local map with the valet parking route map to obtain a route matching result includes:

[0017] Extracting the landmark features of the roughly aligned real-time local map and the corresponding pre-stored features in the valet parking route map;

[0018] The roughly aligned real-time local map and the valet parking route map are registered based on the marker features and the pre-stored features to obtain a route matching result.

[0019] In one embodiment, after the step of obtaining a valet parking route map and matching the real-time local map with the valet parking route map to obtain a route matching result, the method further includes:

[0020] Acquire the vehicle alignment posture of the real-time local map based on the route matching result;

[0021] Acquiring inertial navigation data of the vehicle during driving in the parking lot;

[0022] The vehicle alignment pose is updated according to the inertial navigation data, and the route matching result is updated based on the updated vehicle alignment pose.

[0023] In one embodiment, before the step of responding to the connection request sent by the parking lot end and establishing an encrypted channel with the parking lot end to receive the parking lot entrance location encrypted data packet sent by the parking lot end through the encrypted channel, the step further includes:

[0024] Obtain parking lot entrance camera data and parking lot entrance lidar data;

[0025] Identify the parking lot entrance location according to the parking lot entrance camera data and the parking lot entrance lidar data;

[0026] The vehicle is controlled to enter the parking lot detection area according to the parking lot entrance position, so that when the parking lot end identifies the vehicle in the parking lot detection area, it sends a connection request to the vehicle.

[0027] In one embodiment, the step of responding to the connection request sent by the parking lot end and establishing an encrypted channel with the parking lot end includes:

[0028] In response to the connection request sent by the parking lot terminal, a confirmation response message is sent to the parking lot terminal to establish an initial connection with the parking lot terminal;

[0029] Based on the initial connection, two-way authentication is performed with the parking lot end, and a session key is generated to establish an encrypted channel.

[0030] In one embodiment, when receiving the parking lot entrance positioning encrypted data packet sent by the parking lot end, setting the vehicle initial position according to the parking lot entrance positioning encrypted data packet, and sending a reception confirmation message to the parking lot end, comprises:

[0031] When receiving the parking lot entrance location encrypted data packet sent by the parking lot end, obtaining the session key;

[0032] Decrypting the parking lot entrance location encrypted data packet using the session key to obtain parking lot entrance location information;

[0033] The initial position of the vehicle is set according to the parking lot entrance positioning information, and a reception confirmation message is sent to the parking lot end.

[0034] In one embodiment, after the step of acquiring vehicle environment data and constructing a real-time local map of the parking lot entrance based on the vehicle initial position and the vehicle environment data, the method further includes:

[0035] When the vehicle meets a preset disconnection condition, sending a first disconnection request to the parking lot end, or receiving a second disconnection request sent by the parking lot end;

[0036] closing the encryption channel based on the first disconnection request or the second disconnection request;

[0037] Clears the connection cache data and updates the connection status to idle.

[0038] In addition, to achieve the above purpose, the present application also proposes a valet parking method, which is applied to a parking lot, and the method includes:

[0039] Collect parking lot entrance location information through satellite positioning reference stations;

[0040] Encapsulating the parking lot entrance location information into a parking lot entrance location encrypted data packet conforming to a standard transmission format;

[0041] When a vehicle is identified in the parking lot detection area, a connection request is sent to the vehicle terminal of the vehicle to establish an encrypted channel with the vehicle terminal;

[0042] The parking lot entrance positioning encrypted data packet is sent to the vehicle end through the encrypted channel.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a valet parking system, which includes the vehicle end mentioned above and the parking lot end mentioned above.

[0044] In addition, to achieve the above-mentioned purpose, the present application also proposes a valet parking device, which is applied to a vehicle end and includes:

[0045] A data receiving module, used to respond to a connection request sent by the parking lot end, establish an encrypted channel with the parking lot end, and receive a parking lot entrance location encrypted data packet sent by the parking lot end through the encrypted channel;

[0046] A posture setting module is used to set the vehicle's initial posture according to the parking lot entrance positioning encrypted data packet when receiving the parking lot entrance positioning encrypted data packet, and send a reception confirmation message to the parking lot end;

[0047] A map construction module, used to obtain vehicle environment data and construct a real-time local map of the parking lot entrance based on the vehicle initial position and the vehicle environment data;

[0048] A route matching module, used for obtaining a valet parking route map, and matching the real-time local map with the valet parking route map to obtain a route matching result;

[0049] The parking control module is used to control the vehicle to complete valet parking according to the route matching result.

[0050] In addition, to achieve the above-mentioned purpose, the present application also proposes a valet parking device, which is applied to a parking lot, and the valet parking device includes:

[0051] An information collection module is used to collect parking lot entrance location information through a satellite positioning reference station;

[0052] A data encapsulation module, used to encapsulate the parking lot entrance location information into a parking lot entrance location encrypted data packet conforming to a standard transmission format;

[0053] A channel establishment module, for sending a connection request to a vehicle terminal of the vehicle when a vehicle is identified in a parking lot detection area, so as to establish an encrypted channel with the vehicle terminal;

[0054] A data sending module is used to send the parking lot entrance positioning encrypted data packet to the vehicle end through the encrypted channel.

[0055] In addition, to achieve the above objectives, the present application also proposes a valet parking device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the valet parking method described above.

[0056] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and stores a computer program on the storage medium. When the computer program is executed by a processor, the steps of the valet parking method described above are implemented.

[0057] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, wherein the computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the valet parking method described above are implemented.

[0058] One or more technical solutions proposed in this application have at least the following technical effects:

[0059] The vehicle end responds to the connection request sent by the parking lot end, establishes an encrypted channel with the parking lot end, and receives the parking lot entrance positioning encrypted data packet sent by the parking lot end through the encrypted channel; when receiving the parking lot entrance positioning encrypted data packet, sets the vehicle initial posture according to the parking lot entrance positioning encrypted data packet, and sends a reception confirmation message to the parking lot end; obtains vehicle environmental data, and builds a real-time local map at the parking lot entrance based on the vehicle initial posture and the vehicle environmental data; obtains a valet parking route map, and matches the real-time local map with the valet parking route map to obtain a route matching result; controls the vehicle to complete valet parking according to the route matching result, and introduces external information when initializing the real-time local map, that is, the parking lot entrance positioning encrypted data packet sent by the parking lot end, to provide accurate positioning information to the vehicle at the parking lot entrance, to make up for the lack of vehicle positioning information, thereby improving the overall positioning accuracy, and significantly enhancing the accuracy of SLAM positioning through the improvement of positioning accuracy, thereby improving the success rate of route matching of the valet parking function, and ultimately improving the online rate of the function. The solution provided in this application can reduce excessive reliance on parking lot information. It only requires the encrypted parking lot entrance positioning information provided by the parking lot at the parking lot entrance. It is not only low-cost and has high information communication security, but also can reduce the demand for vehicle perception and computing power occupation, and can effectively improve the accuracy of route matching. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0061] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0062] Figure 1 A flowchart of a first embodiment of the valet parking method for a vehicle provided by the present application;

[0063] Figure 2 A flow chart of a second embodiment of the valet parking method for a vehicle provided by the present application;

[0064] Figure 3 A flowchart diagram of a first embodiment of the valet parking method of the present application applied to a parking lot;

[0065] Figure 4 A simplified flowchart of the valet parking method provided for this application;

[0066] Figure 5 This is a schematic diagram of the module structure of the valet parking device applied to the vehicle side according to an embodiment of the present application;

[0067] Figure 6 This is a schematic diagram of the module structure of a valet parking device applied to a parking lot according to an embodiment of the present application;

[0068] Figure 7 Schematic diagram of the device structure of the hardware operating environment involved in the valet parking method in the embodiment of the present application.

[0069] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0070] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0071] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0072] The main solution of the embodiment of the present application is: the vehicle end responds to the connection request sent by the parking lot end, establishes an encrypted channel with the parking lot end, and receives the parking lot entrance positioning encrypted data packet sent by the parking lot end through the encrypted channel; when receiving the parking lot entrance positioning encrypted data packet, sets the vehicle initial posture according to the parking lot entrance positioning encrypted data packet, and sends a reception confirmation message to the parking lot end; obtains vehicle environmental data, and constructs a real-time local map at the parking lot entrance based on the vehicle initial posture and the vehicle environmental data; obtains a valet parking route map, and matches the real-time local map with the valet parking route map to obtain a route matching result; and controls the vehicle to complete valet parking according to the route matching result.

[0073] In this embodiment, for the convenience of description, the following description is made by taking the identification of the valet parking system as the execution subject.

[0074] The current solution to improve the success rate of valet parking route matching mainly relies on the method of semantic feature matching through visual retrieval after the vehicle enters the geographic fence to improve the success rate of route matching. However, this direction is highly dependent on the performance of vehicle sensors and will also generate excessive computing power requirements. Some patents are also based on detailed information provided by the parking lot in real time, including parking spaces, lanes, and high-precision maps. This type of solution is usually costly, the communication process is complex, and the transmission security has yet to be verified, which makes it challenging in practical applications.

[0075] The present application provides a solution, in which a vehicle side responds to a connection request sent by a parking lot side, establishes an encrypted channel with the parking lot side, and receives a parking lot entrance positioning encrypted data packet sent by the parking lot side through the encrypted channel; upon receiving the parking lot entrance positioning encrypted data packet, sets the vehicle initial posture according to the parking lot entrance positioning encrypted data packet, and sends a reception confirmation message to the parking lot side; obtains vehicle environmental data, and constructs a real-time local map at the parking lot entrance based on the vehicle initial posture and the vehicle environmental data; obtains a valet parking route map, and matches the real-time local map with the valet parking route map to obtain a route matching result; controls the vehicle to complete valet parking according to the route matching result, and provides accurate positioning information to the vehicle at the parking lot entrance by introducing external information, i.e., the parking lot entrance positioning encrypted data packet sent by the parking lot side, when initializing the real-time local map, to make up for the lack of vehicle positioning information, thereby improving the overall positioning accuracy, and significantly enhancing the accuracy of SLAM positioning by improving the positioning accuracy, thereby improving the success rate of route matching of the valet parking function, and ultimately improving the online rate of the function. The solution provided in this application can reduce excessive reliance on parking lot information. It only requires the encrypted parking lot entrance positioning information provided by the parking lot at the parking lot entrance. It is not only low-cost and has high information communication security, but also can reduce the demand for vehicle perception and computing power occupation, and can effectively improve the accuracy of route matching.

[0076] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a valet parking system, etc. The valet parking system is taken as an example to illustrate this embodiment and the following embodiments.

[0077] Based on this, the embodiment of the present application provides a valet parking method, which is applied to the vehicle side, referring to Figure 1 , Figure 1 Schematic diagram of the flow chart of the first embodiment of the valet parking method applied to the vehicle side of the present application.

[0078] In this embodiment, the valet parking method applied to the vehicle side includes steps S10 to S50:

[0079] Step S10, when receiving a connection request sent by the parking lot end, responding to the connection request, establishing an encrypted channel with the parking lot end, so as to receive the parking lot entrance location encrypted data packet sent by the parking lot end through the encrypted channel;

[0080] It should be noted that the solution provided in this application is a valet parking method proposed for indoor parking lots. In the valet parking scenario, the GNSS information at the entrance of the indoor parking lot can be combined to improve the success rate of valet parking online and reduce the influence of building shielding and multipath effects. Among them, the GNSS information at the entrance of the indoor parking lot can be obtained by parsing the parking lot entrance positioning encrypted data packet sent by the parking lot end. In the valet parking scenario, after the owner arrives at the destination, he only needs to start the valet parking function through the mobile phone APP or the system command in the car. The vehicle can autonomously identify the environment, plan the route to enter the indoor parking lot, automatically find an empty parking space, and park safely. When the owner needs to pick up the car, he only needs to summon the vehicle in the same way, and the vehicle will automatically drive back from the parking space to the location specified by the owner.

[0081] It should be understood that before the vehicle arrives at the destination and the valet parking function is officially enabled, it needs to pass through the parking lot detection area at the entrance of the parking lot. The parking lot detection area is located in front of the parking lot entrance gate. After the vehicle enters the parking lot detection area, it needs to stay here for a while for the parking lot end to detect. When the vehicle arrives at the parking lot detection area, it will receive a connection request sent by the parking lot end. The connection request is used to inform the vehicle that a communication request can be initiated. After the vehicle end receives the connection request from the parking lot entrance device through the on-board communication terminal (Telematics Box, T-box), it will respond to the connection request and establish an encrypted channel with the parking lot end to receive the parking lot entrance positioning encrypted data packet sent by the parking lot end through the encrypted channel to ensure data communication security.

[0082] In addition, it should be noted that the parking lot entrance positioning encrypted data packet is obtained by encrypting the GNSS information at the entrance of the indoor parking lot by the parking lot end. The GNSS information at the entrance of the indoor parking lot is the accurate parking lot entrance positioning information determined by the reference coordinates collected by the parking lot end through the GNSS reference station arranged in the outdoor area near the parking lot entrance. Specifically, the parking lot entrance positioning encrypted data is encapsulated data in the GB / T32960 format. The GB / T32960 protocol is a Chinese national standard that specifies the data transmission format and interaction process when the vehicle communicates with external equipment (such as parking lot equipment). The parking lot entrance positioning encrypted data includes terminal ID information, parking lot entrance positioning information, and status data. Among them, the terminal ID information is the ID of the designated parking lot entrance equipment, which is used to identify the location source; the parking lot entrance positioning information contains simulated GNSS data such as longitude, latitude, and altitude; the status data contains positioning accuracy, signal strength, timestamp, checksum, and serial number, etc., to ensure data integrity and transmission order.

[0083] In a feasible implementation, step S10 may include: responding to a connection request sent by the parking lot end, sending a confirmation response message to the parking lot end, and establishing an initial connection with the parking lot end; performing two-way authentication with the parking lot end based on the initial connection, and generating a session key to establish an encrypted channel.

[0084] It should be noted that after the vehicle receives the connection request from the parking lot entrance device through the T-box, it can identify the source of the connection request through the unique ID carried by the connection request (such as the ID of the parking lot entrance device), respond to the connection request, and send a confirmation response message to the parking lot according to the GB / T32960 protocol, and carry its own terminal ID and authentication information in the confirmation response message as the basis for connection verification. After completing the GB / T32960 basic connection, the vehicle immediately initiates the TLS handshake process to the parking lot. The TLS handshake includes certificate verification, key negotiation and other processes. During the certificate verification process, the two parties will exchange their respective valid digital certificates to verify each other's identity, ensuring that both connected parties are trusted devices to complete two-way authentication. After authentication, the two parties conduct key negotiation. During the key negotiation process, a series of encryption algorithms and key exchange protocols will be used to negotiate a session key known only to both parties. The session key will be used for data encryption and decryption in the subsequent communication process to complete the establishment of an encrypted channel and ensure the security and privacy of data transmission.

[0085] In a feasible implementation, before step S10, it may also include: acquiring parking lot entrance camera data and parking lot entrance lidar data; identifying the parking lot entrance location based on the parking lot entrance camera data and the parking lot entrance lidar data; and controlling the vehicle to enter the parking lot detection area based on the parking lot entrance location, so that when the parking lot end identifies the vehicle in the parking lot detection area, it sends a connection request to the vehicle.

[0086] It should be noted that the parking lot entrance camera data is the image data of the parking lot entrance collected by the vehicle-mounted camera, and the parking lot entrance lidar data is the point cloud data of the parking lot entrance obtained by scanning the surrounding environment by the vehicle-mounted lidar when approaching the parking lot entrance. The computer vision algorithm can identify the parking lot entrance sign, the shape, color and text information of the gate according to the image data at the parking lot entrance, and the lidar point cloud data analysis can identify the outline and position of the gate according to the parking lot entrance lidar data to perceive the physical obstacles of the gate. Combining the parking lot entrance camera data and the parking lot entrance lidar data can accurately identify the parking lot entrance gate location information, and then determine the parking lot entrance location. After obtaining the parking lot entrance location, the vehicle side will control the vehicle to enter the parking lot detection area based on the parking lot entrance location, so that when the parking lot side identifies the vehicle in the parking lot detection area, it sends a connection request to the vehicle.

[0087] Step S20, when receiving the parking lot entrance positioning encrypted data packet, setting the vehicle initial position according to the parking lot entrance positioning encrypted data packet, and sending a reception confirmation message to the parking lot end;

[0088] It should be noted that when receiving the encrypted data packet of the parking lot entrance positioning, the vehicle side will parse the data packet to obtain the GNSS information of the parking lot entrance, and send a reception confirmation message to the parking lot side through the T-box to ensure that the data transmission is completed. According to the GNSS information of the parking lot entrance, the initial position information (such as x-coordinate and y-coordinate) and initial direction information (such as heading angle, etc.) of the vehicle can be set to obtain the initial posture of the vehicle. The initial posture of the vehicle can provide an accurate starting reference point for the subsequent SLAM initialization.

[0089] In a feasible implementation, step S20 may include: upon receiving a parking lot entrance positioning encrypted data packet sent by the parking lot end, obtaining a session key; decrypting the parking lot entrance positioning encrypted data packet using the session key to obtain parking lot entrance positioning information; setting the vehicle's initial position according to the parking lot entrance positioning information, and sending a reception confirmation message to the parking lot end.

[0090] It should be understood that when receiving the encrypted data packet of parking lot entrance positioning, the vehicle side will decrypt the data packet according to the session key generated when establishing the encrypted channel, and parse the data packet according to the GB / T 32960 protocol to obtain the parking lot entrance positioning information containing simulated GNSS data such as longitude, latitude, and altitude. Then, the precise position and direction of the vehicle at the parking lot entrance will be calculated based on the simulated GNSS data, the initial position of the vehicle will be obtained, and a reception confirmation message will be sent to the parking lot side through the T-box to ensure that the data transmission is completed.

[0091] Specifically, the vehicle side can analyze the differential signals of the simulated GNSS data based on the RTK positioning system carried by the vehicle, and correct the original GNSS data captured by the vehicle's own GNSS receiver based on these differential signals to obtain a high-precision position correction value. Combined with the preliminary position information calculated by the vehicle's GNSS receiver, the vehicle's precise position and direction at the entrance of the parking lot can be calculated.

[0092] Step S30, acquiring vehicle environment data, and constructing a real-time local map of the parking lot entrance based on the vehicle initial position and the vehicle environment data;

[0093] It should be noted that the vehicle environment data can be obtained by scanning the environment at the entrance of the parking lot through on-board sensors (such as laser radar, camera, ultrasound, etc.), which can specifically include point cloud data generated by the laser radar, visual images captured by the camera, and distance information detected by the ultrasonic sensor. By processing the vehicle environment data, key features and landmarks in the parking lot entrance environment can be extracted to obtain feature markers of the vehicle's surrounding environment. Based on these feature markers and the initial position of the vehicle, the vehicle's position in the local map and the update of the map can be calculated through the on-board SLAM algorithm, and a real-time local map of the parking lot entrance can be constructed to initialize the real-time SLAM map and provide accurate navigation information for the vehicle.

[0094] Step S40, obtaining a valet parking route map, and matching the real-time local map with the valet parking route map to obtain a route matching result;

[0095] It should be noted that after the vehicle has built a real-time local map of the parking lot entrance, the valet parking function will be activated. When the valet parking function is activated, the predetermined valet parking route map will be obtained first, and the real-time local map will be matched with the valet parking route map to obtain the route matching result. After the route is successfully matched, the valet parking function will be used to control the vehicle's indoor parking lot driving. Among them, the valet parking route map is a high-precision route map generated when the vehicle arrives at the parking lot entrance based on the pre-collected indoor parking lot map data and real-time acquired dynamic data such as parking space occupancy status. The pre-collected indoor parking lot map data includes the parking space location information, driving channel location information, traffic sign location information, and entrance and exit location information of the indoor parking lot.

[0096] In a feasible implementation, step S40 may include steps S41 to S43:

[0097] Step S41, obtaining a valet parking route map, and extracting parking lot entrance landmarks of the real-time local map;

[0098] It should be noted that, according to the real-time local map constructed at the parking lot entrance, parking lot entrance landmarks such as parking lot entrance signs, gates, and ramps can be extracted. The parking lot entrance landmarks are fixed landmarks of the indoor parking lot.

[0099] Step S42, matching the real-time local map with the valet parking route map based on the parking lot entrance marker to obtain a roughly aligned real-time local map;

[0100] It should be understood that the real-time local map and the valet parking route map can be roughly matched based on the parking lot entrance markers of the indoor parking lot. The real-time local map can be adjusted according to the characteristics and positions of the parking lot entrance markers through feature point recognition and spatial alignment technology to obtain the real-time local map after coarse alignment. Coarse alignment can narrow the map error range and reduce the difficulty of matching between the SLAM map and the valet parking route.

[0101] Step S43, registering the roughly aligned real-time local map with the valet parking route map to obtain a route matching result.

[0102] It should be understood that after obtaining the roughly aligned real-time local map, the vehicle side will finely align the roughly aligned real-time local map with the valet parking route map through geometric correction and feature point optimization to obtain an accurate route matching result.

[0103] In a feasible implementation, step S43 may include: extracting the landmark features of the roughly aligned real-time local map and the corresponding pre-stored features in the valet parking route map; and aligning the roughly aligned real-time local map with the valet parking route map based on the landmark features and the pre-stored features to obtain a route matching result.

[0104] It should be noted that after obtaining the roughly aligned real-time local map, it is necessary to further extract the landmark features of the real-time local map (such as ground landmarks, pillars, walls, etc.) and obtain the corresponding pre-stored features in the valet parking route map. According to the correspondence between the landmark features and the pre-stored features, the real-time local map after the rough alignment and the valet parking route map can be accurately registered using computer vision and image matching technology. By calculating the geometric relationship and spatial position between the feature points, the alignment between the maps is adjusted and optimized to obtain an accurate route matching result.

[0105] Specifically, the three-dimensional coordinates of the key feature points of the corresponding landmark features and pre-stored features can be extracted from the SLAM local map (i.e., the real-time local map) and the valet parking high-precision map, and the spatial geometric relationships between these feature points, such as position, distance, and angle, can be calculated based on spatial registration algorithms such as the ICP algorithm. The optimal rotation and translation parameters can be found through optimization techniques (such as the least squares method) to minimize the error between the two groups of feature points, thereby achieving precise alignment between the two maps and obtaining a route matching result.

[0106] In a feasible implementation, after step S40, it may also include: obtaining the vehicle alignment posture of the real-time local map based on the route matching result; obtaining inertial navigation data of the vehicle during driving in the parking lot; updating the vehicle alignment posture according to the inertial navigation data, and updating the route matching result based on the updated vehicle alignment posture.

[0107] It should be noted that after the vehicle enters the parking lot, the vehicle alignment posture in the real-time SLAM (i.e., real-time local map) data will be updated through a fusion algorithm (such as extended Kalman filtering) combined with inertial navigation data during the vehicle's driving process, so that the SLAM and the valet parking route map remain synchronized and the continuity of positioning is maintained. Among them, the vehicle alignment posture is the posture data of the vehicle in the real-time SLAM obtained after the position and direction data of the vehicle's initial posture are updated according to the route matching results after the real-time SLAM matches the valet parking map. The inertial navigation data is the acceleration and angular velocity data of the vehicle that is continuously collected by the inertial measurement unit equipped with the vehicle. The vehicle's instantaneous speed and direction changes can be calculated based on the inertial navigation data, thereby obtaining the vehicle's posture (position and direction) estimation and updating the vehicle alignment posture.

[0108] Specifically, the vehicle alignment posture updated according to the inertial navigation data is combined with the position data of the real-time SLAM and input into the extended Kalman filter algorithm. The short-term high-precision data of the inertial navigation system can be used to correct the drift that may occur in the SLAM system in the short term. At the same time, the long-term stability of the real-time SLAM is used to correct the cumulative error of the inertial navigation system, so as to achieve more accurate and continuous vehicle positioning and update the route matching results. When the vehicle is driving in the indoor parking lot, the vehicle side will continuously adjust the relative position of the real-time local map and the valet parking route map to maintain high-precision registration, and optimize the path selection by gradually reducing the matching error between the two, so as to ensure that the registration of the vehicle with the pre-stored route is always kept within the allowable error range.

[0109] Step S50: controlling the vehicle to complete valet parking according to the route matching result.

[0110] It should be understood that the vehicle side can obtain the precise position and path information of the vehicle in the parking lot based on the route matching results, generate navigation instructions for the vehicle based on the precise position and the path information, and automatically adjust the vehicle's driving direction and speed according to the navigation instructions, guide the vehicle along the matched path, and control the vehicle to park in the destination parking space after the vehicle reaches the destination parking space on the route to complete the valet parking process.

[0111] The present embodiment provides a valet parking method applied to a vehicle side, wherein the vehicle side responds to a connection request sent by a parking lot side, establishes an encrypted channel with the parking lot side, and receives a parking lot entrance positioning encrypted data packet sent by the parking lot side through the encrypted channel; upon receiving the parking lot entrance positioning encrypted data packet, sets the vehicle initial posture according to the parking lot entrance positioning encrypted data packet, and sends a reception confirmation message to the parking lot side; obtains vehicle environment data, and constructs a real-time local map at the parking lot entrance based on the vehicle initial posture and the vehicle environment data; obtains a valet parking route map, and matches the real-time local map with the valet parking route map to obtain a route matching result; controls the vehicle to complete valet parking according to the route matching result, and provides accurate positioning information to the vehicle at the parking lot entrance by introducing external information, i.e., the parking lot entrance positioning encrypted data packet sent by the parking lot side, when initializing the real-time local map, to make up for the lack of vehicle positioning information, thereby improving the overall positioning accuracy, and significantly enhancing the accuracy of SLAM positioning by improving the positioning accuracy, thereby improving the success rate of route matching of the valet parking function, and ultimately improving the online rate of the function. The solution provided in this application can reduce excessive reliance on parking lot information. It only requires the encrypted parking lot entrance positioning information provided by the parking lot at the parking lot entrance. It is not only low-cost and has high information communication security, but also can reduce the demand for vehicle perception and computing power occupation, and can effectively improve the accuracy of route matching.

[0112] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 After step S30, the valet parking method further includes steps S31 to S33:

[0113] Step S31, when the vehicle meets a preset disconnection condition, sending a first disconnection request to the parking lot end, or receiving a second disconnection request sent by the parking lot end;

[0114] It should be noted that the preset disconnection condition includes a first disconnection condition and a second disconnection condition, wherein the first disconnection condition is that the vehicle detects that the vehicle is about to complete SLAM initialization or the vehicle has entered the parking lot, and the second disconnection condition is that the parking lot equipment (such as a gate) detects that the vehicle has successfully passed through the gate. When the vehicle meets the first disconnection condition, the vehicle will send a disconnection request to the parking lot through the T-box, that is, the first disconnection request. When the vehicle meets the second disconnection condition, the vehicle will receive a disconnection request sent by the parking lot, that is, the second disconnection request.

[0115] It should be understood that the device initiating the disconnection will send a disconnection request in accordance with the GB / T 32960 protocol to notify the other party that it is ready to disconnect. The message content of the disconnection request includes information such as the device ID, timestamp, and disconnection reason. If the T-box on the vehicle side initiates the disconnection, it will send the first disconnection request to the parking lot side with the vehicle side ID, timestamp, and disconnection reason. If the parking lot equipment on the parking lot side initiates the disconnection, the second disconnection request received by the vehicle side will carry the parking lot side ID, timestamp, and disconnection reason.

[0116] Step S32: closing the encryption channel based on the first disconnection request or the second disconnection request;

[0117] It should be noted that if the device receiving the disconnect request is the parking lot end, after the vehicle end sends the first disconnect request to the parking lot end, it will receive the first confirmation response message sent by the parking lot end, and the first confirmation response message includes the first disconnect status identifier and the first timestamp. The vehicle end will confirm the disconnection with the parking lot end based on the first disconnect status identifier and the first timestamp, and stop sending and receiving data, and completely close the encrypted channel through the TLS protocol shutdown notification. If the device receiving the disconnect request is the vehicle end, after receiving the second disconnect request sent by the parking lot end, the vehicle end will send a second confirmation response message to the parking lot end, and the second confirmation response message includes the second disconnect status identifier and the second timestamp, and after receiving the confirmation disconnect message sent by the parking lot end, it will disconnect from the parking lot end based on the second disconnect status identifier and the second timestamp, and stop sending and receiving data, and completely close the encrypted channel through the TLS protocol shutdown notification.

[0118] In addition, it should be noted that after the vehicle sends the first disconnection request to the parking lot, if it does not receive the first confirmation response message from the parking lot within a certain period of time, the timeout disconnection mechanism will be triggered and the connection will be automatically terminated. The timeout disconnection ensures that the connection can be safely disconnected even in abnormal situations. Similarly, after the vehicle receives the second disconnection request sent by the parking lot, if it does not send the second confirmation response message to the parking lot within a certain period of time, the timeout disconnection mechanism of the parking lot will also be triggered and the connection will be terminated by the parking lot.

[0119] It should be understood that after the device that receives the disconnect request confirms that the source of the message and the information are correct, it will send a confirmation response message according to the protocol. The confirmation response message can simply contain a disconnection status identifier and a timestamp to ensure that both parties disconnect synchronously. After both parties confirm the disconnection, any data sending or receiving is stopped to prevent data loss or mistransmission. After the data transmission stops, both parties disconnect the encrypted channel through the "close notification" instruction of the TLS protocol. The close notification ensures that the encrypted channel is completely closed to avoid data leakage or invalid connections. After the parking lot closes the encrypted channel, the cached data and session status related to the connection will be cleaned up to ensure that no redundant information is retained.

[0120] Step S33, clear the connection cache data and update the connection state to an idle state.

[0121] It should be understood that after the encrypted channel is closed on the vehicle side, the cached data and session status related to the connection will be cleared to ensure that no redundant information is retained, and the connection status will be updated to "unconnected" or "idle" through the T-box so that the next connection request can be established normally.

[0122] This embodiment provides a valet parking method applied to the vehicle side. When the vehicle meets a preset disconnection condition, a first disconnection request is sent to the parking lot side, or a second disconnection request is received from the parking lot side; the encrypted channel is closed based on the first disconnection request or the second disconnection request; the connection cache data is cleared, and the connection state is updated to an idle state. By closing the encrypted channel in time when communication is no longer needed, data leakage or unauthorized access can be effectively prevented. By clearing the connection cache data to avoid the residual of sensitive information, resources can be released while improving data security, providing better connection management for other devices or users.

[0123] In addition, the present application embodiment provides a valet parking method, which is applied to the parking lot. Figure 3 , Figure 3 Schematic diagram of the flow chart of the first embodiment of the valet parking method applied to a parking lot of the present application.

[0124] In this embodiment, the driving behavior recognition method applied to the vehicle side includes steps S101 to S104:

[0125] Step S101, collecting parking lot entrance positioning information through a satellite positioning reference station;

[0126] It should be noted that the satellite positioning reference station is a GNSS reference station arranged in the outdoor area near the parking lot entrance, which is used to provide high-precision coordinate reference for the surrounding area. A traverse measurement point is arranged between the indoor parking lot entrance and the satellite positioning reference station. The parking lot end can use precise traverse measurement to transfer the reference coordinates at the base station to the parking lot entrance to obtain accurate parking lot entrance positioning information. The parking lot entrance positioning information contains simulated GNSS data such as longitude, latitude, and altitude.

[0127] Step S102, encapsulating the parking lot entrance location information into a parking lot entrance location encrypted data packet conforming to a standard transmission format;

[0128] It should be noted that after obtaining the parking lot entrance positioning information, the parking lot end will encapsulate the GNSS data into a standard transmission format according to the GB / T32960 protocol to obtain the parking lot entrance positioning encrypted data packet. The parking lot entrance positioning encrypted data packet includes terminal ID information, parking lot entrance positioning information, and status data. Among them, the terminal ID information is the ID of the designated parking lot entrance device, which is used to identify the location source; the parking lot entrance positioning information contains simulated GNSS data such as longitude, latitude, and altitude; the status data includes positioning accuracy, signal strength, timestamp, checksum, and serial number, etc., to ensure data integrity and transmission order.

[0129] Step S103, when a vehicle is identified in the parking lot detection area, a connection request is sent to the vehicle end of the vehicle to establish an encrypted channel with the vehicle end;

[0130] It should be understood that the parking lot detection area is located in front of the parking lot entrance gate. After entering the parking lot detection area, the vehicle needs to stay here for a while for the parking lot end to detect. When the vehicle approaches the parking lot entrance and enters the parking lot detection area, the parking lot end will detect the presence of the vehicle through the reflected signal detected by the infrared or ultrasonic sensor. In addition, the parking lot end can also identify the vehicle outline, license plate and other information through the camera installed at the gate to confirm that the vehicle has arrived at the parking lot detection area.

[0131] It should be noted that when a vehicle is identified in the parking lot detection area, the parking lot end will send a broadcast signal through the parking lot entrance equipment (such as a gate or access point) to send a connection request to the vehicle end of the vehicle, informing the vehicle that it can initiate a communication request to establish an encrypted channel with the vehicle end. The connection request should carry necessary information such as the parking lot entrance device ID in accordance with the GB / T 32960 protocol requirements so that the vehicle end can identify and confirm it.

[0132] In addition, it should be understood that after the vehicle responds to the connection request, it will send a confirmation response message to the parking lot according to the GB / T32960 protocol, and carry its own terminal ID and authentication information in the confirmation response message as a basis for connection verification. After completing the GB / T32960 basic connection, the parking lot will receive the TLS handshake process initiated by the vehicle. The TLS handshake includes certificate verification, key negotiation and other processes. During the certificate verification process, the two parties will exchange their respective valid digital certificates to verify each other's identity, ensuring that both connected parties are trusted devices to complete two-way authentication. After authentication, the two parties conduct key negotiation. During the key negotiation process, a series of encryption algorithms and key exchange protocols will be used to negotiate a session key known only to both parties. The session key will be used for data encryption and decryption in the subsequent communication process to complete the establishment of an encrypted channel and ensure the security and privacy of data transmission.

[0133] Step S104, sending the parking lot entrance location encrypted data packet to the vehicle end through the encrypted channel.

[0134] It should be understood that after the establishment of the TLS encrypted channel, the parking lot side will send a parking lot entrance positioning encrypted data packet to the vehicle side through the GB / T32960 protocol, providing vehicles arriving at the parking lot detection area with accurate GNSS information of the parking lot entrance, so as to assist the vehicle in SLAM initialization and map matching, and improve the online rate of the vehicle's valet parking function.

[0135] This embodiment provides a valet parking method applied to a parking lot end, which collects parking lot entrance positioning information through a satellite positioning reference station; encapsulates the parking lot entrance positioning information into a parking lot entrance positioning encrypted data packet that complies with a standard transmission format; when a vehicle is identified in a parking lot detection area, sends a connection request to the vehicle end of the vehicle to establish an encrypted channel with the vehicle end; sends the parking lot entrance positioning encrypted data packet to the vehicle end through the encrypted channel, and provides accurate GNSS information of the parking lot entrance to vehicles arriving at the parking lot detection area while ensuring the security of data communication, so as to assist the vehicle in SLAM initialization and map matching, thereby improving the online rate of the valet parking function of vehicles in indoor parking lots.

[0136] For example, to help understand the implementation process of the valet parking method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 4 , Figure 4 A brief flow chart of a valet parking method is provided, specifically:

[0137] Based on the location reference provided by the external base station, the parking lot end uses the wire measurement method to obtain accurate location information at the parking lot end and obtain the GNSS information at the parking lot entrance. The parking lot end converts the positioning information into the GNSS information format and encapsulates it into the GB / T 32960 format to establish a GNSS information library at the parking lot entrance. The mutual perception and recognition of the vehicle and the parking lot entrance are achieved through vehicle identification of the parking lot entrance and vehicle detection at the parking lot entrance. The initial communication between the parking lot entrance equipment and the vehicle is triggered, and the connection between the parking lot end and the vehicle end and the TLS encryption channel are established based on the GB / T 32960 protocol to establish a communication connection between the vehicle and the parking lot entrance. Through data encryption transmission and data reception and verification, the parking lot end sends accurate positioning information to the vehicle end at the parking lot entrance. After the vehicle end receives the parking lot entrance GNSS information, it initializes the initial position of the SLAM vehicle based on the parking lot entrance GNSS information, and continuously obtains the surrounding environment data to build a real-time local map at the parking lot entrance. After obtaining the real-time local map at the parking lot entrance, the vehicle end completes the route matching through high-precision matching, real-time positioning, and real-time posture correction. When the vehicle meets the preset disconnection conditions, the vehicle side or the parking lot side initiates a disconnection request, and successively confirms the disconnection, closes the TLS encryption channel, releases resources and clears the connection status, using the timeout mechanism as an alternative disconnection solution to disconnect the vehicle from the parking lot entrance.

[0138] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the valet parking method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0139] In addition, to achieve the above-mentioned purpose, the present application also proposes a valet parking system, which includes the vehicle end mentioned above and the parking lot end mentioned above.

[0140] Since the present valet parking system adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0141] This application also provides a valet parking device, please refer to Figure 5 The valet parking device is applied to the vehicle side, and the valet parking device applied to the vehicle side includes:

[0142] The data receiving module 10 is used to respond to the connection request sent by the parking lot end, establish an encrypted channel with the parking lot end, and receive the parking lot entrance location encrypted data packet sent by the parking lot end through the encrypted channel;

[0143] A posture setting module 20, which is used to set the initial posture of the vehicle according to the parking lot entrance positioning encrypted data packet when receiving the parking lot entrance positioning encrypted data packet, and send a reception confirmation message to the parking lot end;

[0144] A map construction module 30, for acquiring vehicle environment data, and constructing a real-time local map of the parking lot entrance based on the vehicle initial position and the vehicle environment data;

[0145] A route matching module 40 is used to obtain a valet parking route map, and match the real-time local map with the valet parking route map to obtain a route matching result;

[0146] The parking control module 50 is used to control the vehicle to complete valet parking according to the route matching result.

[0147] This application also provides a valet parking device, please refer to Figure 6 The valet parking device is applied to a parking lot, and the valet parking device applied to a parking lot includes:

[0148] The information collection module 60 is used to collect parking lot entrance positioning information through a satellite positioning reference station;

[0149] A data encapsulation module 70, used to encapsulate the parking lot entrance location information into a parking lot entrance location encrypted data packet conforming to a standard transmission format;

[0150] The channel establishment module 80 is used to send a connection request to the vehicle end of the vehicle when a vehicle is identified in the parking lot detection area, so as to establish an encrypted channel with the vehicle end;

[0151] The data sending module 90 is used to send the parking lot entrance positioning encrypted data packet to the vehicle end through the encrypted channel.

[0152] The valet parking device provided by the present application adopts the valet parking method in the above embodiment, which can solve the technical problem of how to improve the route matching success rate of the valet parking function at a low cost. Compared with the prior art, the beneficial effects of the valet parking device provided by the present application are the same as the beneficial effects of the valet parking method provided by the above embodiment, and other technical features in the valet parking device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0153] The present application provides a valet parking device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the valet parking method in the above-mentioned embodiment 1.

[0154] Reference below Figure 7 , which shows a schematic diagram of the structure of a valet parking device suitable for implementing the embodiment of the present application. The valet parking device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The valet parking device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0155] like Figure 7 As shown, the valet parking device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the valet parking device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the valet parking device to communicate with other devices wirelessly or by wire to exchange data. Although the valet parking device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0156] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0157] The valet parking device provided by the present application adopts the valet parking method in the above embodiment, which can solve the technical problem of how to improve the route matching success rate of the valet parking function at a low cost. Compared with the prior art, the beneficial effects of the valet parking device provided by the present application are the same as the beneficial effects of the valet parking method provided by the above embodiment, and the other technical features in the valet parking device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0158] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0159] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0160] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the valet parking method in the above-mentioned embodiment.

[0161] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0162] The computer-readable storage medium may be included in the valet parking device; or may exist independently without being assembled into the valet parking device.

[0163] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the valet parking device, the valet parking device: responds to a connection request sent by the parking lot end, establishes an encrypted channel with the parking lot end, and receives a parking lot entrance positioning encrypted data packet sent by the parking lot end through the encrypted channel; upon receiving the parking lot entrance positioning encrypted data packet, sets the vehicle initial posture according to the parking lot entrance positioning encrypted data packet, and sends a reception confirmation message to the parking lot end; obtains vehicle environmental data, and constructs a real-time local map at the parking lot entrance based on the vehicle initial posture and the vehicle environmental data; obtains a valet parking route map, and matches the real-time local map with the valet parking route map to obtain a route matching result; and controls the vehicle to complete valet parking according to the route matching result.

[0164] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0165] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0166] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0167] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned valet parking method, and can solve the technical problem of how to improve the route matching success rate of the valet parking function at a low cost. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the valet parking method provided in the above-mentioned embodiment, and will not be repeated here.

[0168] The present application also provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, the steps of the valet parking method as described above are implemented.

[0169] The computer program product provided by the present application can solve the technical problem of how to improve the route matching success rate of the valet parking function at a low cost. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the valet parking method provided by the above embodiment, which will not be repeated here.

[0170] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A valet parking method, characterized in that: The valet parking method is applied to the vehicle side, and the method includes: In response to a connection request sent by the parking lot end, an encrypted channel is established with the parking lot end to receive a parking lot entrance location encrypted data packet sent by the parking lot end through the encrypted channel; When receiving the parking lot entrance positioning encrypted data packet, setting the vehicle initial position according to the parking lot entrance positioning encrypted data packet, and sending a reception confirmation message to the parking lot end; Acquire vehicle environment data, and construct a real-time local map of the parking lot entrance based on the initial position of the vehicle and the vehicle environment data; Acquire a valet parking route map, and match the real-time local map with the valet parking route map to obtain a route matching result; The vehicle is controlled to complete valet parking according to the route matching result.

2. The method according to claim 1, characterized in that The step of obtaining a valet parking route map, and matching the real-time local map with the valet parking route map to obtain a route matching result comprises: Obtaining a valet parking route map and extracting parking lot entrance landmarks from the real-time local map; Matching the real-time local map with the valet parking route map based on the parking lot entrance marker to obtain a roughly aligned real-time local map; The roughly aligned real-time local map is registered with the valet parking route map to obtain a route matching result.

3. The method according to claim 2, characterized in that The step of registering the roughly aligned real-time local map with the valet parking route map to obtain a route matching result comprises: Extracting the landmark features of the roughly aligned real-time local map and the corresponding pre-stored features in the valet parking route map; The roughly aligned real-time local map and the valet parking route map are registered based on the marker features and the pre-stored features to obtain a route matching result.

4. The method according to claim 1, characterized in that After the step of acquiring the valet parking route map and matching the real-time local map with the valet parking route map to obtain a route matching result, the method further includes: Acquire the vehicle alignment posture of the real-time local map based on the route matching result; Acquiring inertial navigation data of the vehicle during driving in the parking lot; The vehicle alignment pose is updated according to the inertial navigation data, and the route matching result is updated based on the updated vehicle alignment pose.

5. The method according to claim 1, characterized in that Before the step of responding to the connection request sent by the parking lot end and establishing an encrypted channel with the parking lot end to receive the parking lot entrance location encrypted data packet sent by the parking lot end through the encrypted channel, the step further includes: Obtain parking lot entrance camera data and parking lot entrance lidar data; Identify the parking lot entrance location according to the parking lot entrance camera data and the parking lot entrance lidar data; The vehicle is controlled to enter the parking lot detection area according to the parking lot entrance position, so that when the parking lot end identifies the vehicle in the parking lot detection area, it sends a connection request to the vehicle.

6. The method according to claim 1, characterized in that The step of responding to the connection request sent by the parking lot end and establishing an encrypted channel with the parking lot end comprises: In response to the connection request sent by the parking lot terminal, a confirmation response message is sent to the parking lot terminal to establish an initial connection with the parking lot terminal; Based on the initial connection, two-way authentication is performed with the parking lot end, and a session key is generated to establish an encrypted channel.

7. The method according to claim 1, characterized in that The step of setting the vehicle initial position according to the parking lot entrance positioning encrypted data packet when receiving the parking lot entrance positioning encrypted data packet sent by the parking lot end, and sending a reception confirmation message to the parking lot end comprises: When receiving the parking lot entrance location encrypted data packet sent by the parking lot end, obtaining the session key; Decrypting the parking lot entrance location encrypted data packet using the session key to obtain parking lot entrance location information; The initial position of the vehicle is set according to the parking lot entrance positioning information, and a reception confirmation message is sent to the parking lot end.

8. The method according to any one of claims 1 to 7, characterized in that After the step of acquiring the vehicle environment data and constructing a real-time local map of the parking lot entrance based on the vehicle initial position and the vehicle environment data, the method further includes: When the vehicle meets a preset disconnection condition, sending a first disconnection request to the parking lot end, or receiving a second disconnection request sent by the parking lot end; closing the encryption channel based on the first disconnection request or the second disconnection request; Clears the connection cache data and updates the connection status to idle.

9. A valet parking method, characterized in that: The valet parking method is applied to a parking lot, and the method comprises: Collect parking lot entrance location information through satellite positioning reference stations; Encapsulating the parking lot entrance location information into a parking lot entrance location encrypted data packet conforming to a standard transmission format; When a vehicle is identified in the parking lot detection area, a connection request is sent to the vehicle terminal of the vehicle to establish an encrypted channel with the vehicle terminal; The parking lot entrance positioning encrypted data packet is sent to the vehicle end through the encrypted channel.

10. A valet parking system, characterized in that: The valet parking system comprises: a vehicle end and a parking lot end, wherein the vehicle end performs the steps of the valet parking method according to any one of claims 1 to 8, and the parking lot end performs the steps of the valet parking method according to claim 9.

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