Valet Parking Methods and Systems

Abstract

This application discloses a valet parking method and system, relating to the field of intelligent driving technology. The valet parking method includes: the vehicle responding to a connection request sent by a parking lot terminal, establishing an encrypted channel with the parking lot terminal to receive encrypted data packets for parking lot entrance positioning sent by the parking lot terminal through the encrypted channel; upon receiving the encrypted data packets for parking lot entrance positioning, setting the vehicle's initial pose based on the encrypted data packets, and sending a reception confirmation message to the parking lot terminal; acquiring vehicle environmental data, and constructing a real-time local map of the parking lot entrance based on the vehicle's initial pose and the vehicle environmental data; acquiring 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 controlling the vehicle to complete valet parking based on the route matching result, which can improve the route matching success rate of the valet parking function at low cost.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to valet parking methods and systems. Background Technology

[0002] With the rapid development of intelligent driving technology, valet parking technology has provided users with great convenience and significantly improved their driving experience. When using the valet parking function, the vehicle needs to perform route matching within the parking lot environment before the function can be activated. The key to route matching lies in the accuracy of Simultaneous Localization and Mapping (SLAM) reconstruction, which in turn depends on the accuracy of the initial positioning. The accuracy of the initial positioning depends on the accuracy of the Global Navigation Satellite System (GNSS) and Real-Time Kinematic (RTK) positioning. However, in indoor parking environments, due to the shading of buildings and the multipath effect, the accuracy of the initial SLAM positioning is low and is constrained by factors such as the characteristics of the vehicle's hardware, making it difficult to directly improve positioning accuracy.

[0003] Current solutions for improving route matching success rates in valet parking primarily rely on visual retrieval and semantic feature matching after the vehicle enters a geofence. However, these solutions are highly dependent on vehicle sensor performance and generate excessive computational demands. Some solutions also utilize real-time detailed information from parking lots, including parking spaces, lanes, and high-precision maps. These solutions are typically costly, involve complex communication processes, and their transmission security remains to be verified, posing challenges for practical applications. Therefore, improving the route matching success rate of valet parking at a low cost is a pressing issue that needs to be addressed.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

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

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

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

[0008] Upon receiving the encrypted data packet for parking lot entrance positioning, the vehicle's initial position is set according to the encrypted data packet for parking lot entrance positioning, and a receipt confirmation message is sent to the parking lot terminal.

[0009] Acquire vehicle environmental data and construct a real-time local map of the parking lot entrance based on the vehicle's initial pose and the vehicle environmental data;

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

[0011] Based on the route matching results, the vehicle is controlled to complete valet parking.

[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 includes:

[0013] Obtain the valet parking route map and extract the parking lot entrance landmarks from the real-time local map;

[0014] The real-time local map is matched with the valet parking route map based on the parking lot entrance sign to obtain a coarsely aligned real-time local map.

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

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

[0017] Extract the marker features of the coarsely aligned real-time local map and the corresponding pre-stored features from the valet parking route map;

[0018] Based on the aforementioned marker features and the pre-stored features, the coarsely aligned real-time local map is registered with the valet parking route map to obtain route matching results.

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

[0020] The vehicle alignment pose of the real-time local map is obtained based on the route matching result.

[0021] Acquire the inertial navigation data of the vehicle while it is driving in the parking lot;

[0022] The vehicle alignment pose is updated based on 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 a connection request sent by the parking lot terminal and establishing an encrypted channel with the parking lot terminal to receive the encrypted data packet for parking lot entrance location sent by the parking lot terminal through the encrypted channel, the method further includes:

[0024] Acquire data from parking lot entrance camera and parking lot entrance LiDAR;

[0025] The location of the parking lot entrance is identified based on the data from the parking lot entrance camera and the parking lot entrance lidar.

[0026] The system controls vehicles to enter the parking lot detection area based on the parking lot entrance location, so that when the parking lot terminal recognizes the vehicle in the parking lot detection area, it sends a connection request to the vehicle.

[0027] In one embodiment, the step of establishing an encrypted channel with the parking lot terminal in response to a connection request includes:

[0028] In response to the connection request sent by the parking lot terminal, an acknowledgment 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 terminal, and a session key is generated to establish an encrypted channel.

[0030] In one embodiment, the step of setting the vehicle's initial pose based on the parking lot entrance positioning encrypted data packet sent by the parking lot terminal, and sending a reception confirmation message to the parking lot terminal upon receiving the parking lot entrance positioning encrypted data packet, includes:

[0031] Upon receiving the encrypted data packet indicating the parking lot entrance location from the parking lot terminal, obtain the session key;

[0032] The parking lot entrance location encryption data packet is decrypted using the session key to obtain the parking lot entrance location information;

[0033] The vehicle's initial position is set according to the parking lot entrance positioning information, and a receipt confirmation message is sent to the parking lot terminal.

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

[0035] When the vehicle meets the preset disconnection conditions, a first disconnection request is sent to the parking lot terminal, or a second disconnection request is received from the parking lot terminal.

[0036] The encrypted channel is closed based on either the first disconnect request or the second disconnect request;

[0037] Clear the connection cache data and update the connection status to idle.

[0038] Furthermore, to achieve the above objectives, this application also proposes a valet parking method, which is applied at a parking lot and includes:

[0039] Parking lot entrance location information is collected via satellite positioning reference stations;

[0040] The parking lot entrance location information is encapsulated into an encrypted parking lot entrance location data packet that conforms to a standard transmission format;

[0041] When a vehicle is detected in the parking lot detection area, a connection request is sent to the vehicle's terminal to establish an encrypted channel with the vehicle.

[0042] The encrypted data packet for locating the parking lot entrance is sent to the vehicle via the encrypted channel.

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

[0044] Furthermore, to achieve the above objectives, this application also proposes a valet parking device, which is applied to the end of a vehicle and includes:

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

[0046] The pose setting module is used to set the initial pose of the vehicle according to the encrypted data packet of the parking lot entrance positioning when it receives the encrypted data packet of the parking lot entrance positioning, and send a receipt confirmation message to the parking lot end.

[0047] The map building module is used to acquire vehicle environmental data and build a real-time local map of the parking lot entrance based on the vehicle's initial pose and the vehicle environmental data.

[0048] The route matching module 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;

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

[0050] Furthermore, to achieve the above objectives, this application also proposes a valet parking device, which is applied at a parking lot end and includes:

[0051] The information acquisition module is used to collect parking lot entrance location information via a satellite positioning reference station;

[0052] The data encapsulation module is used to encapsulate the parking lot entrance location information into an encrypted parking lot entrance location data packet that conforms to a standard transmission format;

[0053] The channel establishment module is used to send a connection request to the vehicle's terminal when a vehicle is detected in the parking lot detection area, so as to establish an encrypted channel with the vehicle terminal;

[0054] The data transmission module is used to send the encrypted data packet of the parking lot entrance location to the vehicle through the encrypted channel.

[0055] In addition, to achieve the above objectives, this application also proposes a valet parking device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the valet parking method as described above.

[0056] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the valet parking method described above.

[0057] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the valet parking method described above.

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

[0059] The vehicle responds to a connection request from the parking lot terminal, establishing an encrypted channel to receive encrypted parking lot entrance location data packets from the parking lot terminal. Upon receiving the encrypted parking lot entrance location data packets, the vehicle sets its initial pose based on the data packets and sends a reception confirmation message to the parking lot terminal. Vehicle environmental data is acquired, and a real-time local map of the parking lot entrance is constructed based on the initial vehicle pose and the environmental data. A valet parking route map is acquired, and the real-time local map is matched with the valet parking route map to obtain a route matching result. Based on the route matching result, the vehicle is controlled to complete valet parking. By introducing external information, namely the encrypted parking lot entrance location data packets sent by the parking lot terminal, during the initialization of the real-time local map, accurate positioning information is provided to the vehicle at the parking lot entrance, compensating for insufficient vehicle positioning information and improving overall positioning accuracy. This improved positioning accuracy significantly enhances the accuracy of SLAM positioning, thereby increasing the success rate of valet parking route matching and ultimately increasing the functionality's availability. The solution provided in this application can reduce the over-reliance on parking lot information. It only requires encrypted parking lot entrance location information provided by the parking lot terminal at the parking lot entrance. This solution is not only low-cost and highly secure in terms of information communication, but also reduces the need for vehicle perception and the consumption of computing power. Furthermore, it can effectively improve the accuracy of route matching. Attached Figure Description

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

[0061] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 A flowchart illustrating a first embodiment of the valet parking method applied to a vehicle in this application;

[0063] Figure 2 This is a flowchart illustrating Embodiment 2 of the valet parking method applied to the vehicle side in this application;

[0064] Figure 3 This is a flowchart illustrating a first embodiment of the valet parking method applied to parking lots in this application.

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

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

[0068] Figure 7 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the valet parking method in this application embodiment.

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

[0070] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0071] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0072] The main solution of this application embodiment is as follows: the vehicle responds to the connection request sent by the parking lot terminal and establishes an encrypted channel with the parking lot terminal to receive the parking lot entrance positioning encrypted data packet sent by the parking lot terminal through the encrypted channel; upon receiving the parking lot entrance positioning encrypted data packet, the vehicle sets its initial pose according to the parking lot entrance positioning encrypted data packet and sends a reception confirmation message to the parking lot terminal; vehicle environmental data is acquired, and a real-time local map of the parking lot entrance is constructed based on the vehicle's initial pose and the vehicle environmental data; a valet parking route map is acquired, and the real-time local map is matched 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.

[0073] In this embodiment, for ease of description, the following description will focus on the valet parking system as the implementing entity.

[0074] Current solutions for improving route matching success rates in valet parking primarily rely on visual retrieval and semantic feature matching after the vehicle enters a geofence. However, this approach is highly dependent on vehicle sensor performance and generates excessively high computational demands. Some patents also utilize detailed real-time information from parking lots, including parking spaces, lanes, and high-precision maps. These solutions are typically costly, involve complex communication processes, and their transmission security remains to be verified, posing challenges for practical applications.

[0075] This application provides a solution whereby the vehicle responds to a connection request sent by the parking lot terminal, establishes an encrypted channel with the parking lot terminal, and receives encrypted data packets for parking lot entrance positioning sent by the parking lot terminal through the encrypted channel. Upon receiving the encrypted data packets, the vehicle sets its initial pose based on the data packets and sends a reception confirmation message to the parking lot terminal. Vehicle environmental data is acquired, and a real-time local map of the parking lot entrance is constructed based on the initial pose and the vehicle environmental data. A valet parking route map is acquired, and the real-time local map is matched with the valet parking route map to obtain a route matching result. Based on the route matching result, the vehicle is controlled to complete valet parking. By introducing external information, namely the encrypted data packets for parking lot entrance positioning sent by the parking lot terminal, during the initialization of the real-time local map, accurate positioning information is provided to the vehicle at the parking lot entrance, compensating for insufficient vehicle positioning information and thus improving overall positioning accuracy. This improved positioning accuracy significantly enhances the accuracy of SLAM positioning, thereby increasing the success rate of valet parking route matching and ultimately increasing the online rate of the function. The solution provided in this application can reduce the over-reliance on parking lot information. It only requires encrypted parking lot entrance location information provided by the parking lot terminal at the parking lot entrance. This solution is not only low-cost and highly secure in terms of information communication, but also reduces the need for vehicle perception and the consumption of computing power. Furthermore, it can effectively improve the accuracy of route matching.

[0076] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or valet parking system capable of performing the above functions. The following description uses a valet parking system as an example to illustrate this embodiment and the subsequent embodiments.

[0077] Based on this, this application provides a valet parking method, which is applied to the vehicle end, as described above. Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the valet parking method applied to a vehicle in this application.

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

[0079] Step S10: Upon receiving a connection request from the parking lot terminal, respond to the connection request and establish an encrypted channel with the parking lot terminal to receive the encrypted data packet of parking lot entrance location sent by the parking lot terminal through the encrypted channel;

[0080] It should be noted that the solution provided in this application is a valet parking method for indoor parking lots. In valet parking scenarios, it can combine GNSS information at the entrance of the indoor parking lot to improve the success rate of valet parking and reduce the impact of building shading and multipath effects. Specifically, the GNSS information at the entrance of the indoor parking lot can be obtained by parsing the encrypted data packet for parking lot entrance positioning sent by the parking lot operator. In the valet parking scenario, after arriving at their destination, the car owner only needs to activate the valet parking function via a mobile app or in-vehicle system command. The vehicle can then autonomously identify the environment, plan a route to enter the indoor parking lot, automatically find an available parking space, and park safely. When the car owner needs to retrieve their vehicle, they only need to summon the vehicle in the same way, and the vehicle will automatically drive from the parking space back to the location designated by the car owner.

[0081] It should be understood that before a vehicle arrives at its destination and the valet parking function is officially activated, it must first pass through the parking lot detection area at the parking lot entrance. The parking lot detection area is located in front of the parking lot entrance gate. After entering the detection area, the vehicle needs to pause briefly for detection by the parking lot system. Upon arrival at the detection area, the vehicle will receive a connection request from the parking lot system. This request informs the vehicle that it can initiate a communication request. After receiving the connection request from the parking lot entrance device through its onboard communication terminal (Telematics Box, T-box), the vehicle will respond to the request and establish an encrypted channel with the parking lot system. This encrypted channel allows the vehicle to receive encrypted parking lot entrance location data packets sent by the parking lot system, ensuring secure data communication.

[0082] Additionally, it should be noted that the encrypted parking lot entrance positioning data packet is obtained by encrypting the GNSS information at the indoor parking lot entrance from the parking lot terminal. The GNSS information at the indoor parking lot entrance is the accurate positioning information of the parking lot entrance determined by the parking lot terminal through reference coordinates collected by GNSS reference stations deployed in the outdoor area near the parking lot entrance. Specifically, the encrypted parking lot entrance positioning data is encapsulated data in GB / T32960 format. The GB / T32960 protocol is a Chinese national standard that specifies the data transmission format and interaction process when vehicles communicate with external devices (such as parking lot equipment). The encrypted parking lot entrance positioning data includes terminal ID information, parking lot entrance positioning information, and status data. The terminal ID information is the ID of the designated parking lot entrance device, used to identify the location source; the parking lot entrance positioning information includes analog GNSS data such as longitude, latitude, and altitude; the status data includes positioning accuracy, signal strength, timestamp, checksum, and serial number to ensure data integrity and transmission order.

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

[0084] It should be noted that after receiving a connection request from the parking lot entrance device via the T-box, the vehicle can identify the source of the connection request using the unique ID carried in the request (such as the parking lot entrance device's ID). Responding to the connection request, the vehicle sends an acknowledgment message back to the parking lot terminal according to the GB / T32960 protocol, including its own terminal ID and authentication information as the basis for connection verification. After completing the GB / T32960 basic connection, the vehicle immediately initiates a TLS handshake process with the parking lot terminal. The TLS handshake includes certificate verification and key negotiation. During certificate verification, both parties exchange their valid digital certificates to verify each other's identities, ensuring that both connected devices are trusted devices and completing mutual authentication. After authentication, both parties negotiate a key, using a series of encryption algorithms and key exchange protocols to negotiate a session key known only to both parties. This session key will be used for data encryption and decryption in subsequent communication to establish an encrypted channel, ensuring the security and privacy of data transmission.

[0085] In one feasible implementation, before step S10, the method may further 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; controlling a vehicle to enter the parking lot detection area based on the parking lot entrance location, so that when the parking lot terminal 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 refers to image data collected by the vehicle-mounted camera at the parking lot entrance, while the parking lot entrance LiDAR data is point cloud data obtained by the vehicle-mounted LiDAR scanning the surrounding environment as it approaches the parking lot entrance. Computer vision algorithms can identify the parking lot entrance signage, the shape, color, and text information of the turnstiles based on the image data. LiDAR point cloud data analysis can identify the contour and position of the turnstiles, perceiving physical obstacles. Combining the parking lot entrance camera data and the parking lot entrance LiDAR data allows for accurate identification of the parking lot entrance turnstile location, thus determining the parking lot entrance location. After obtaining the parking lot entrance location, the vehicle-mounted system will control the vehicle to enter the parking lot detection area based on this location. When the parking lot system detects the vehicle in the detection area, it will send a connection request to the vehicle.

[0087] Step S20: Upon receiving the encrypted data packet for parking lot entrance positioning, set the initial vehicle position according to the encrypted data packet for parking lot entrance positioning, and send a receipt confirmation message to the parking lot terminal.

[0088] It should be noted that upon receiving the encrypted data packet for parking lot entrance positioning, the vehicle-mounted device parses the packet to obtain the GNSS information of the parking lot entrance. It then sends a reception confirmation message to the parking lot terminal via its T-box to ensure data transmission is complete. Based on the GNSS information of the parking lot entrance, the vehicle's initial position information (such as x and y coordinates) and initial orientation information (such as heading angle) can be set, resulting in the vehicle's initial pose. This initial pose provides an accurate starting reference point for subsequent SLAM initialization.

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

[0090] It should be understood that upon receiving the encrypted data packet for parking lot entrance positioning, the vehicle terminal will decrypt the data packet using 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. Based on this simulated GNSS data, the vehicle's precise position and direction at the parking lot entrance will be calculated to obtain the vehicle's initial pose. The vehicle will then send a reception confirmation message to the parking lot terminal via the T-box to ensure data transmission is complete.

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

[0092] Step S30: Obtain vehicle environment data, and construct a real-time local map of the parking lot entrance based on the vehicle's initial pose and the vehicle environment data;

[0093] It should be noted that vehicle environmental data can be obtained by scanning the environment at the parking lot entrance using onboard sensors (such as LiDAR, cameras, and ultrasonic sensors). Specifically, this can include point cloud data generated by LiDAR, visual images captured by cameras, and distance information detected by ultrasonic sensors. By processing the vehicle environmental data, key features and landmarks in the parking lot entrance environment can be extracted, resulting in feature markers of the vehicle's surroundings. Based on these feature markers and the vehicle's initial pose, an onboard SLAM algorithm can calculate the vehicle's position in the local map and update the map, constructing a real-time local map of the parking lot entrance to initialize the real-time SLAM map and provide accurate navigation information for the vehicle.

[0094] Step S40: Obtain the valet parking route map and match the real-time local map with the valet parking route map to obtain the route matching result;

[0095] It should be noted that after the vehicle-side constructs a real-time local map of the parking lot entrance, the valet parking function will be activated. Upon activation, a pre-defined valet parking route map will be retrieved. This map will then be matched with the real-time local map to obtain a route matching result. Only after a successful route match will the valet parking function be used to control the vehicle's movement within the parking lot. The valet parking route map is a high-precision map generated when the vehicle arrives at the parking lot entrance based on pre-collected indoor parking lot map data and real-time dynamic data such as parking space occupancy status. The pre-collected indoor parking lot map data includes parking space location information, driveway location information, traffic sign location information, and entrance / exit location information.

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

[0097] Step S41: Obtain the valet parking route map and extract the parking lot entrance landmarks from the real-time local map;

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

[0099] Step S42: Match the real-time local map with the valet parking route map based on the parking lot entrance sign to obtain a coarsely aligned real-time local map;

[0100] It should be understood that the real-time local map and the valet parking route map can be coarsely matched based on the parking lot entrance signage of the indoor parking lot. Through feature point recognition and spatial alignment technology, the real-time local map can be adjusted according to the characteristics and position of the parking lot entrance signage to obtain a coarsely aligned real-time local map. Coarse alignment can reduce the map error range and reduce the difficulty of matching the SLAM map with the valet parking route.

[0101] Step S43: Register the coarsely aligned real-time local map with the valet parking route map to obtain the route matching result.

[0102] It should be understood that after obtaining the coarsely aligned real-time local map, the vehicle will perform fine registration between the coarsely aligned real-time local map and the valet parking route map through geometric correction and feature point optimization to obtain accurate route matching results.

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

[0104] It should be noted that after obtaining the coarsely aligned real-time local map, the next step is to extract its landmark features (such as ground markings, pillars, walls, etc.) and obtain the corresponding pre-stored features from the valet parking route map. Based on the correspondence between the landmark features and the pre-stored features, computer vision and image matching techniques can be used to precisely register the coarsely aligned real-time local map and the valet parking route map. By calculating the geometric relationships and spatial positions between feature points, the alignment between the maps is adjusted and optimized to obtain accurate route matching results.

[0105] Specifically, the 3D coordinates of key feature points of corresponding landmark features and pre-stored features can be extracted from the SLAM local map (i.e., real-time local map) and the valet parking high-precision map. The spatial geometric relationships between these feature points, such as position, distance and angle, are calculated according to spatial registration algorithms such as ICP algorithm. The optimal rotation and translation parameters are found through optimization techniques (such as least squares method) to minimize the error between the two sets of feature points, thereby achieving accurate alignment between the two maps and obtaining route matching results.

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

[0107] It should be noted that after the vehicle enters the parking lot, during the vehicle's movement, a fusion algorithm (such as extended Kalman filtering) is used to update the vehicle alignment pose in real-time SLAM by combining inertial navigation data and real-time SLAM (i.e., real-time local map) data. This ensures that SLAM and the valet parking route map remain synchronized, maintaining the continuity of localization. Specifically, the vehicle alignment pose is the vehicle's pose data in real-time SLAM obtained by updating the vehicle's initial position and orientation data based on the route matching result after matching the real-time SLAM with the valet parking map. The inertial navigation data consists of the vehicle's acceleration and angular velocity data continuously collected by the vehicle's inertial measurement unit. Based on the inertial navigation data, the vehicle's instantaneous velocity and orientation changes can be calculated, thereby obtaining the vehicle's attitude (position and orientation) estimate and updating the vehicle alignment pose.

[0108] Specifically, the vehicle alignment pose updated based on inertial navigation data is combined with the position data from real-time SLAM and input into the extended Kalman filter algorithm. This allows the use of short-term high-precision data from the inertial navigation system to correct for potential short-term drift in the SLAM system, while the long-term stability of real-time SLAM is used to correct for accumulated errors in the inertial navigation system, achieving more accurate and continuous vehicle positioning and updating route matching results. During vehicle operation in an indoor parking lot, the vehicle continuously adjusts the relative positions of the real-time local map and the valet parking route map to maintain high-precision registration. By gradually reducing the matching error between the two, path selection is optimized to ensure that the registration between the vehicle and the pre-stored route remains within the allowable error range.

[0109] Step S50: Control the vehicle to complete valet parking based on the route matching result.

[0110] It should be understood that the vehicle can obtain the vehicle's precise location and path information in the parking lot based on the route matching results. Based on this precise location and path information, the vehicle can generate navigation instructions and automatically adjust the vehicle's driving direction and speed according to the navigation instructions, guiding the vehicle to drive along the matched path. After the vehicle arrives at the destination parking space, the vehicle can be controlled to park in the destination parking space to complete the valet parking process.

[0111] This embodiment provides a valet parking method applied to the vehicle. The vehicle responds to a connection request sent by the parking lot terminal and establishes an encrypted channel with the parking lot terminal to receive encrypted data packets for parking lot entrance positioning sent by the parking lot terminal through the encrypted channel. Upon receiving the encrypted data packets for parking lot entrance positioning, the vehicle sets its initial pose based on the data packets and sends a reception confirmation message to the parking lot terminal. Vehicle environmental data is acquired, and a real-time local map of the parking lot entrance is constructed based on the vehicle's initial pose and the vehicle environmental data. A valet parking route map is acquired, and the real-time local map is matched with the valet parking route map to obtain a route matching result. The vehicle is controlled to complete valet parking based on the route matching result. By introducing external information, namely the encrypted data packets for parking lot entrance positioning sent by the parking lot terminal, when initializing the real-time local map, accurate positioning information is provided to the vehicle at the parking lot entrance, compensating for the lack of vehicle positioning information, thereby improving the overall positioning accuracy. The improved positioning accuracy significantly enhances the accuracy of SLAM positioning, thereby increasing the success rate of valet parking route matching and ultimately increasing the online rate of the function. The solution provided in this application can reduce the over-reliance on parking lot information. It only requires encrypted parking lot entrance location information provided by the parking lot terminal at the parking lot entrance. This solution is not only low-cost and highly secure in terms of information communication, but also reduces the need for vehicle perception and the consumption of computing power. Furthermore, it can effectively improve the accuracy of route matching.

[0112] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 After step S30, the valet parking method further includes steps S31 to S33:

[0113] Step S31: When the vehicle meets the preset disconnection conditions, send a first disconnection request to the parking lot terminal or receive a second disconnection request sent by the parking lot terminal.

[0114] It should be noted that the preset disconnection conditions include a first disconnection condition and a second disconnection condition. The first disconnection condition is that the vehicle detects that it is about to complete SLAM initialization or that it has entered the parking lot. The second disconnection condition is that the parking lot equipment (such as the turnstile) detects that the vehicle has successfully passed through the turnstile. When the vehicle meets the first disconnection condition, the vehicle sends a disconnection request to the parking lot via its T-box. When the vehicle meets the second disconnection condition, the vehicle receives a disconnection request from the parking lot.

[0115] It should be understood that the device initiating the disconnection will send a disconnection request according to the GB / T 32960 protocol to notify the other party to prepare for disconnection. The message content of the disconnection request includes information such as device ID, timestamp, and disconnection reason. If the T-box on the vehicle side initiates the disconnection, it will send a first disconnection request to the parking lot side carrying information such as vehicle 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 information such as parking lot ID, timestamp, and disconnection reason.

[0116] Step S32: Close the encrypted 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 terminal, after the vehicle terminal sends the first disconnect request to the parking lot terminal, it will receive a first confirmation response message from the parking lot terminal. This first confirmation response message includes a first disconnect status identifier and a first timestamp. The vehicle terminal will confirm the disconnection with the parking lot terminal based on the first disconnect status identifier and the first timestamp, and stop sending and receiving data, completely closing the encrypted channel through the TLS protocol's close notification. If the device receiving the disconnect request is the vehicle terminal, after receiving the second disconnect request from the parking lot terminal, the vehicle terminal will send a second confirmation response message to the parking lot terminal. This second confirmation response message includes a second disconnect status identifier and a second timestamp. After receiving the confirmation disconnect message from the parking lot terminal, the vehicle terminal will disconnect from the parking lot terminal based on the second disconnect status identifier and the second timestamp, and stop sending and receiving data, completely closing the encrypted channel through the TLS protocol's close notification.

[0118] Additionally, it should be noted that if the vehicle does not receive a first confirmation response from the parking lot after sending the first disconnection request to the parking lot within a certain time, a timeout disconnection mechanism will be triggered, automatically terminating the connection. This timeout disconnection ensures a safe disconnection even in abnormal circumstances. Similarly, if the vehicle does not send a second confirmation response to the parking lot after receiving a second disconnection request from the parking lot within a certain time, the parking lot's timeout disconnection mechanism will also be triggered, and the connection will be terminated by the parking lot.

[0119] It should be understood that after receiving a disconnect request and confirming the message source and information are correct, the device will send a confirmation response message according to the protocol. This confirmation response message can simply include a disconnect status identifier and a timestamp to ensure that both parties disconnect synchronously. After both parties confirm the disconnection, any data transmission or reception ceases to prevent data loss or mistransmission. After data transmission stops, both parties disconnect the encrypted channel via the TLS protocol's "close notification" instruction. The close notification ensures the encrypted channel is completely closed, preventing data leakage or invalid connections. After closing the encrypted channel, the parking lot end will clear cached data and session state associated with that connection to ensure no redundant information is retained.

[0120] Step S33: Clear the connection cache data and update the connection status to idle.

[0121] It should be understood that after the encrypted channel is closed on the vehicle side, the cached data and session state related to the connection will be cleared to ensure that no redundant information is retained. The connection status will be updated to "not connected" or "idle" via T-box so that the next connection request can be established normally.

[0122] This embodiment provides a valet parking method applied to the vehicle end. When the vehicle meets the preset disconnection conditions, it sends a first disconnection request to the parking lot end or receives a second disconnection request sent by the parking lot end; based on the first disconnection request or the second disconnection request, it closes the encrypted channel; clears the connection cache data, and updates the connection status to idle state. By closing the encrypted channel in a timely manner when communication is no longer needed, data leakage or unauthorized access can be effectively prevented. By clearing the connection cache data to avoid the residue of sensitive information, data security can be improved while freeing up resources, providing better connection management for other devices or users.

[0123] Furthermore, this application provides a valet parking method, which is applied at a parking lot. Please refer to [link / reference needed]. Figure 3 , Figure 3 This is a flowchart illustrating the first embodiment of the valet parking method applied to parking lots in this application.

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

[0125] Step S101: Collect parking lot entrance location information through a satellite positioning reference station;

[0126] It should be noted that the satellite positioning reference station is an outdoor GNSS reference station deployed near the parking lot entrance to provide high-precision coordinate reference for the surrounding area. Traverse survey points are set up between the indoor parking lot entrance and the satellite positioning reference station. The parking lot end can use precise traverse surveying to transfer the reference coordinates from the base station to the parking lot entrance, obtaining accurate parking lot entrance positioning information. The parking lot entrance positioning information includes simulated GNSS data such as longitude, latitude, and altitude.

[0127] Step S102: Encapsulate the parking lot entrance location information into a parking lot entrance location encrypted data packet that conforms to the standard transmission format;

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

[0129] Step S103: When a vehicle is detected in the parking lot detection area, a connection request is sent to the vehicle's terminal to establish an encrypted channel with the vehicle's terminal.

[0130] It should be understood that the parking lot detection area is located in front of the parking lot entrance gate. After a vehicle enters the detection area, it needs to pause briefly for inspection by the parking lot system. When a vehicle approaches the parking lot entrance and enters the detection area, the parking lot system detects its presence by detecting reflected signals through infrared or ultrasonic sensors. Additionally, the parking lot system can also use cameras installed at the gate to identify the vehicle's outline, license plate, and other information to confirm that the vehicle has arrived at the detection area.

[0131] It should be noted that when a vehicle is detected in the parking lot detection area, the parking lot terminal will broadcast a signal through the parking lot entrance equipment (such as a gate or access point) to send a connection request to the vehicle's terminal, informing the vehicle that it can initiate a communication request to establish an encrypted channel with the vehicle terminal. This connection request should carry necessary information such as the parking lot entrance equipment ID in accordance with the requirements of GB / T 32960 protocol, so that the vehicle terminal can identify and confirm it.

[0132] Furthermore, it should be understood that after the vehicle responds to the connection request, it will send an acknowledgment message back to the parking lot terminal according to the GB / T32960 protocol. This acknowledgment message will include the vehicle's terminal ID and authentication information as the basis for connection verification. After completing the GB / T32960 basic connection, the parking lot terminal will receive a TLS handshake initiated by the vehicle. The TLS handshake includes certificate verification and key negotiation. During certificate verification, both parties exchange their valid digital certificates to verify each other's identities, ensuring that both connected devices are trusted devices and completing mutual authentication. After authentication, both parties negotiate a key, using a series of encryption algorithms and key exchange protocols to negotiate a session key known only to both parties. This session key will be used for data encryption and decryption in subsequent communication to establish an encrypted channel and ensure the security and privacy of data transmission.

[0133] Step S104: Send the parking lot entrance location encrypted data packet to the vehicle through the encrypted channel.

[0134] It should be understood that after the TLS encrypted channel is established, the parking lot terminal will send encrypted data packets for parking lot entrance positioning to the vehicle terminal through the GB / T32960 protocol. This will provide accurate GNSS information of the parking lot entrance to vehicles arriving at the parking lot detection area, thereby helping vehicles to perform SLAM initialization and map matching, and improving the online rate of the vehicle's valet parking function.

[0135] This embodiment provides a valet parking method applied to parking lots. It collects parking lot entrance location information via a satellite positioning reference station; encapsulates this information into an encrypted parking lot entrance location data packet conforming to a standard transmission format; when a vehicle is detected in the parking lot detection area, a connection request is sent to the vehicle's terminal to establish an encrypted channel; the encrypted parking lot entrance location data packet is then sent to the vehicle's terminal through this encrypted channel. This ensures data communication security while providing accurate GNSS information about the parking lot entrance for vehicles arriving in the parking lot detection area, assisting in SLAM initialization and map matching, and improving the online rate of valet parking functionality 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 embodiment one, please refer to... Figure 4 , Figure 4 A simplified flowchart of a valet parking method is provided, specifically:

[0137] Based on location references provided by external base stations, the parking lot terminal uses traverse surveying to obtain accurate location information and GNSS information at the parking lot entrance. The parking lot terminal converts the positioning information into GNSS information format and encapsulates it in GB / T 32960 format to establish a GNSS information database at the parking lot entrance. Mutual perception and identification between vehicles and the parking lot entrance are achieved through vehicle identification of the parking lot entrance and vehicle detection at the parking lot entrance. Initial communication between the parking lot entrance equipment and the vehicle is triggered, establishing a connection and TLS encrypted channel between the parking lot terminal and the vehicle terminal based on the GB / T 32960 protocol, enabling communication between the vehicle and the parking lot entrance. Through encrypted data transmission and data reception and verification, the parking lot terminal sends accurate positioning information to the vehicle terminal at the parking lot entrance. After receiving the GNSS information at the parking lot entrance, the vehicle terminal initializes its initial SLAM vehicle pose based on the GNSS information and continuously acquires surrounding environmental data to construct a real-time local map of the parking lot entrance. After obtaining the real-time local map of the parking lot entrance, the vehicle terminal completes route matching through high-precision matching, real-time positioning, and real-time attitude correction. When the vehicle meets the preset disconnection conditions, the vehicle or parking lot initiates a disconnection request and successively confirms the disconnection, closes the TLS encrypted channel, releases resources and cleans up the connection status, and uses a timeout mechanism as an alternative disconnection scheme to disconnect the vehicle from the parking lot entrance.

[0138] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the valet parking method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

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

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

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

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

[0143] The pose setting module 20 is used to set the initial pose of the vehicle according to the encrypted data packet of the parking lot entrance positioning when it receives the encrypted data packet of the parking lot entrance positioning, and send a receipt confirmation message to the parking lot end.

[0144] The map building module 30 is used to acquire vehicle environment data and build a real-time local map of the parking lot entrance based on the vehicle's initial pose and the vehicle environment data.

[0145] The 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 based on the route matching result.

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

[0148] Information acquisition module 60 is used to acquire parking lot entrance location information through a satellite positioning reference station;

[0149] The data encapsulation module 70 is used to encapsulate the parking lot entrance location information into a parking lot entrance location encrypted data packet that conforms to a standard transmission format;

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

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

[0152] The valet parking device provided in this application, employing the valet parking method described in the above embodiments, can solve the technical problem of how to improve the route matching success rate of valet parking functions at low cost. Compared with the prior art, the beneficial effects of the valet parking device provided in this application are the same as those of the valet parking method provided in the above embodiments, and other technical features in the valet parking device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0153] This 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, which are executed by the at least one processor to enable the at least one processor to perform the valet parking method in the first embodiment described above.

[0154] The following is for reference. Figure 7 The diagram illustrates a structural schematic suitable for implementing the valet parking device of the embodiments of this application. The valet parking device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The valet parking equipment shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of this application.

[0155] like Figure 7 As shown, the valet parking device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the valet parking device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the valet parking equipment to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows valet parking equipment with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0156] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0157] The valet parking equipment provided in this application, employing the valet parking method described in the above embodiments, can solve the technical problem of how to improve the route matching success rate of valet parking functions at low cost. Compared with the prior art, the beneficial effects of the valet parking equipment provided in this application are the same as those of the valet parking method provided in the above embodiments, and other technical features of this valet parking equipment are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0158] It should be understood that the various parts disclosed in this application can be implemented using 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 suitable manner in one or more embodiments or examples.

[0159] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0160] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the valet parking method in the above embodiments.

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

[0162] The aforementioned computer-readable storage medium may be included in the valet parking equipment; or it may exist independently and not be installed in the valet parking equipment.

[0163] The aforementioned computer-readable storage medium carries one or more programs. When these programs are executed by the valet parking device, the valet parking device causes the following: responding to a connection request sent by the parking lot terminal, establishing an encrypted channel with the parking lot terminal to receive an encrypted data packet for parking lot entrance positioning sent by the parking lot terminal through the encrypted channel; upon receiving the encrypted data packet for parking lot entrance positioning, setting the initial vehicle pose according to the encrypted data packet for parking lot entrance positioning, and sending a reception confirmation message to the parking lot terminal; acquiring vehicle environmental data, and constructing a real-time local map of the parking lot entrance based on the initial vehicle pose and the vehicle environmental data; acquiring 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 controlling the vehicle to complete valet parking according to the route matching result.

[0164] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0165] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0166] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0167] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described valet parking method, thereby solving the technical problem of how to improve the route matching success rate of valet parking functions at low cost. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the valet parking method provided in the above embodiments, and will not be repeated here.

[0168] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the valet parking method described above.

[0169] The computer program product provided in this application solves the technical problem of how to improve the route matching success rate of valet parking functions at low cost. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the valet parking method provided in the above embodiments, and will not be repeated here.

[0170] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A valet parking method, characterized in that, The valet parking method is applied to the vehicle, and the method includes: In response to a connection request sent by the parking lot terminal, an encrypted channel is established with the parking lot terminal to receive encrypted data packets of parking lot entrance location sent by the parking lot terminal through the encrypted channel; Upon receiving the encrypted data packet for parking lot entrance positioning, the vehicle's initial position is set according to the encrypted data packet for parking lot entrance positioning, and a receipt confirmation message is sent to the parking lot terminal. Acquire vehicle environmental data and construct a real-time local map of the parking lot entrance based on the vehicle's initial pose and the vehicle environmental data; Obtain the valet parking route map and match the real-time local map with the valet parking route map to obtain the route matching result; Based on the route matching results, the vehicle is controlled to complete valet parking.

2. The method as described in claim 1, characterized in that, The step of obtaining the valet parking route map and matching the real-time local map with the valet parking route map to obtain the route matching result includes: Obtain the valet parking route map and extract the parking lot entrance landmarks from the real-time local map; The real-time local map is matched with the valet parking route map based on the parking lot entrance sign to obtain a coarsely aligned real-time local map. The coarsely aligned real-time local map is registered with the valet parking route map to obtain the route matching result.

3. The method as described in claim 2, characterized in that, The step of registering the coarsely aligned real-time local map with the valet parking route map to obtain the route matching result includes: Extract the marker features of the coarsely aligned real-time local map and the corresponding pre-stored features from the valet parking route map; Based on the aforementioned marker features and the pre-stored features, the coarsely aligned real-time local map is registered with the valet parking route map to obtain route matching results.

4. The method as described in claim 1, characterized in that, After the step of obtaining the valet parking route map and matching the real-time local map with the valet parking route map to obtain the route matching result, the method further includes: The vehicle alignment pose of the real-time local map is obtained based on the route matching result. Acquire the inertial navigation data of the vehicle while it is driving in the parking lot; The vehicle alignment pose is updated based on the inertial navigation data, and the route matching result is updated based on the updated vehicle alignment pose.

5. The method as described in claim 1, characterized in that, Before the step of responding to the connection request sent by the parking lot terminal and establishing an encrypted channel with the parking lot terminal to receive the encrypted data packet for parking lot entrance location sent by the parking lot terminal through the encrypted channel, the method further includes: Acquire data from parking lot entrance camera and parking lot entrance LiDAR; The location of the parking lot entrance is identified based on the data from the parking lot entrance camera and the parking lot entrance lidar. The system controls vehicles to enter the parking lot detection area based on the parking lot entrance location, so that when the parking lot terminal recognizes the vehicle in the parking lot detection area, it sends a connection request to the vehicle.

6. The method as described in claim 1, characterized in that, The step of responding to a connection request sent by the parking lot terminal and establishing an encrypted channel with the parking lot terminal includes: In response to the connection request sent by the parking lot terminal, an acknowledgment 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 terminal, and a session key is generated to establish an encrypted channel.

7. The method as described in claim 1, characterized in that, The step of setting the vehicle's initial position based on the encrypted parking entrance positioning data packet sent by the parking lot terminal and sending a receipt confirmation message to the parking lot terminal upon receiving the encrypted parking entrance positioning data packet includes: Upon receiving the encrypted data packet indicating the parking lot entrance location from the parking lot terminal, obtain the session key; The parking lot entrance location encryption data packet is decrypted using the session key to obtain the parking lot entrance location information; The vehicle's initial position is set according to the parking lot entrance positioning information, and a receipt confirmation message is sent to the parking lot terminal.

8. The method according to any one of claims 1 to 7, characterized in that, After the steps of acquiring vehicle environment data and constructing a real-time local map of the parking lot entrance based on the vehicle's initial pose and the vehicle environment data, the method further includes: When the vehicle meets the preset disconnection conditions, a first disconnection request is sent to the parking lot terminal, or a second disconnection request is received from the parking lot terminal. The encrypted channel is closed based on either the first disconnect request or the second disconnect request; Clear the connection cache data and update the connection status to idle.

9. A valet parking method, characterized in that, The valet parking method is applied at the parking lot end, and the method includes: Parking lot entrance location information is collected via satellite positioning reference stations; The parking lot entrance location information is encapsulated into an encrypted parking lot entrance location data packet that conforms to a standard transmission format; When a vehicle is detected in the parking lot detection area, a connection request is sent to the vehicle's terminal to establish an encrypted channel with the vehicle. The encrypted data packet for parking lot entrance positioning is sent to the vehicle via the encrypted channel, so that the vehicle sets its initial pose based on the encrypted data packet; vehicle environmental data is acquired, and a real-time local map of the parking lot entrance is constructed based on the initial pose and the vehicle environmental data; a valet parking route map is acquired, and the real-time local map is matched with the valet parking route map to obtain a route matching result; the vehicle is controlled to complete valet parking based on the route matching result.

10. A valet parking system, characterized in that, The valet parking system includes a vehicle end and a parking lot end, wherein the steps of the valet parking method as described in any one of claims 1 to 8 are performed on the vehicle end, and the steps of the valet parking method as described in claim 9 are performed on the parking lot end.

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