Vehicle automatic charging method and device, equipment and storage medium

Abstract

The embodiment of the invention discloses a vehicle automatic charging method and device, equipment and a storage medium, and the method comprises the steps: receiving a detection result sent by at least one detection vehicle in a parking area, the detection result comprising whether there is an idle parking space in the detection range of the detection vehicle, and the idle parking space comprises an idle parking space and / or an idle charging space; determining whether an idle parking space exists in the parking area according to the at least one detection result; and indicating a to-be-charged vehicle located in a first parking space in the parking area to drive away from the first parking space to search for a pile for charging when it is determined that the idle parking space exists in the parking area. The realizability and reliability of automatic charging of the vehicle can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to information processing technology, and relate to but are not limited to a vehicle automatic charging method and device, equipment, and storage medium. Background Art

[0002] The ability of vehicles to automatically charge in parking lots is a future development trend in the vehicle industry. Vehicles can automatically replenish their power through automatic charging without human intervention, thereby improving the convenience of charging services and user experience.

[0003] However, there may be risks in the process of automatic charging of vehicles to be charged in the parking lot. If the charging space is occupied or the parking space is occupied, the owner may need to intervene, which brings great inconvenience to the user.

[0004] Therefore, how to improve the feasibility of automatic charging of vehicles is an urgent problem to be solved. Summary of the invention

[0005] In view of this, the vehicle automatic charging method, device, equipment, and storage medium provided in the embodiments of the present application can improve the feasibility and reliability of vehicle automatic charging. The vehicle automatic charging method, device, equipment, and storage medium provided in the embodiments of the present application are implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a vehicle automatic charging method, comprising:

[0007] Receiving a detection result sent by at least one detection vehicle located in the parking area, the detection result including whether there is an empty parking space within the detection range of the detection vehicle, the empty parking space including an empty parking space and / or an empty charging space;

[0008] Determining whether there is an empty parking space in the parking area according to at least one of the detection results;

[0009] When it is determined that there is an empty parking space in the parking area, a vehicle to be charged located in a first parking space in the parking area is instructed to leave the first parking space and seek a charging pile for charging.

[0010] By implementing this embodiment, the vehicle will leave its original position to search for charging piles only when it is determined that there are vacant parking spaces in the parking area. This can avoid the situation where there are no parking spaces left after leaving the original parking space due to searching for charging piles, and can improve the feasibility and reliability of automatic charging of the vehicle.

[0011] In some embodiments, determining whether there is an empty parking space in the parking area according to at least one of the detection results includes:

[0012] It is determined whether there is a vacant parking space in the parking area according to at least one of the detection results.

[0013] By implementing this embodiment, by determining whether there is an empty parking space in the parking area, guiding opinions can be given as to whether to instruct the vehicle to be charged to charge.

[0014] In some embodiments, determining whether there is an empty parking space in the parking area according to at least one of the detection results includes:

[0015] Determine an evaluation result of the parking area by combining the detection range corresponding to the at least one detection vehicle and the coverage range of the parking area, wherein the evaluation result includes whether the parking area is completely detected;

[0016] In the case where the evaluation result is used to indicate a complete detection of the parking area, determining whether there is a vacant parking space in the parking area according to a first detection result of the at least one detection vehicle, the first detection result including whether there is a vacant parking space within a detection range corresponding to the detection vehicle at the parking space;

[0017] When the evaluation result indicates that the parking area has not been completely detected, and the first detection result of the at least one detected vehicle indicates that there is no free parking space, predict whether there is a free parking space in the parking area.

[0018] By implementing this embodiment, it is possible to determine whether there are vacant parking spaces in the parking area when the parking area is completely detected, and to estimate whether there are vacant parking spaces in the parking area when the parking area is not completely detected, thereby ensuring that the number of vacant parking spaces in the parking area can be obtained more accurately, so that when the vehicle to be charged needs to be automatically charged, it is guaranteed that there are at least vacant parking spaces for the vehicle to be charged, without the need for user intervention, thereby improving the user experience.

[0019] In some embodiments, predicting whether there is an empty parking space in the parking area includes:

[0020] Obtaining a historical estimated number corresponding to a historical target time, wherein the historical estimated number is the number of historical free parking spaces in the parking area at the historical target time, and the historical target time is the same time as the time when the vehicle to be charged issues a charging request within a historical date;

[0021] When the historical estimated number is greater than a first number threshold, it is determined that there is an empty parking space in the parking area.

[0022] By implementing this embodiment, the accuracy of estimating whether there are vacant parking spaces in the parking area can be improved by estimating the historical estimated number corresponding to the historical target time that is the same as the time when the charging vehicle sends a charging request within the historical date.

[0023] In some embodiments, predicting whether there is an empty parking space in the parking area includes:

[0024] Based on a second detection result of the at least one detection vehicle during the process of traveling from the entrance of the parking area to the parking space within a historical time period, predict whether there are vacant parking spaces in the parking area, the time difference between the historical time period and the current time period is less than a time threshold, and the second detection result includes the number of parking spaces on the way and the first number of vacant parking spaces detected by the detection vehicle during the process.

[0025] By implementing this embodiment, the accuracy of estimating whether there are free parking spaces in the parking area can be improved by detecting the number of free parking spaces detected by the vehicle during the passage within a short time difference.

[0026] In some embodiments, predicting whether there is a vacant parking space in the parking area according to the second detection result of the at least one detected vehicle during the process of driving from the entrance of the parking area to the parking space in the historical period includes:

[0027] Obtain the total number of parking spaces in the parking area;

[0028] Whether there is a vacant parking space in the parking area is predicted based on the total number of parking spaces, the number of the en-route parking spaces corresponding to each detected vehicle, and the first number of vacant parking spaces.

[0029] In some embodiments, predicting whether there are vacant parking spaces in the parking area according to the total number of parking spaces, the number of parking spaces along the way corresponding to each detected vehicle, and the first number of vacant parking spaces includes:

[0030] Determine a candidate prediction result corresponding to each detected vehicle according to the total number of parking spaces, the number of parking spaces along the way corresponding to each detected vehicle, and the first number of free parking spaces, wherein the candidate prediction result is the number of second free parking spaces in the parking area;

[0031] Determine the target number of free parking spaces in the parking area according to the candidate prediction results and the historical estimated number corresponding to each of the detected vehicles, wherein the historical estimated number is the historical number of free parking spaces in the parking area at a historical target time, and the historical target time is the same time as the time when the vehicle to be charged issues a charging request within a historical date;

[0032] When the target number of free parking spaces is greater than a first number threshold, it is determined that there are free parking spaces in the parking area.

[0033] The implementation of this embodiment can ensure that the vehicle to be charged can be charged, or that there are still vacant parking spaces available when charging cannot be achieved, without user intervention.

[0034] In some embodiments, the candidate prediction result corresponding to each detected vehicle is determined according to the total number of parking spaces, the number of parking spaces along the path corresponding to each detected vehicle, and the first number of free parking spaces, and is implemented by the following formula:

[0035] c = a*m / n;

[0036] Among them, c is the number of the second vacant parking spaces, a is the number of the first vacant parking spaces, m is the total number of parking spaces, and n is the number of parking spaces along the way.

[0037] In some embodiments, determining the candidate prediction result corresponding to each detected vehicle according to the total number of parking spaces, the number of parking spaces along the way corresponding to each detected vehicle, and the first number of free parking spaces includes:

[0038] The total number of parking spaces, the number of parking spaces along the way and the first number of free parking spaces are input into a pre-selected and trained prediction model to obtain a candidate prediction result corresponding to the detected vehicle, wherein the prediction model is trained through multiple historical data sets, and the historical data sets include the historical total number of parking spaces, the historical number of parking spaces along the way and the historical number of free parking spaces.

[0039] By implementing this embodiment, the number of possible vacant parking spaces in a parking area is predicted using a prediction model, which can improve the prediction accuracy.

[0040] In some embodiments, determining the target number of free parking spaces in the parking area according to the candidate prediction results and the historical estimated number corresponding to each of the detected vehicles includes:

[0041] Combining the candidate prediction results corresponding to each of the detected vehicles, obtaining the number of third vacant parking spaces in the parking area;

[0042] The third number of vacant parking spaces is corrected by using the historical estimated number to obtain the target number of vacant parking spaces.

[0043] In this embodiment, the target number of free parking spaces in the parking area is determined based on the candidate prediction results corresponding to each detected vehicle (i.e., the number of free parking spaces that may exist in the parking area estimated by the detected vehicle) and the number of historical free parking spaces in the parking area at the same historical time as the time when the charging vehicle to be charged sends a charging request. In this way, by integrating multiple estimation factors, the accuracy of the prediction results can be effectively improved.

[0044] In some embodiments, determining whether there is an empty parking space in the parking area according to at least one of the detection results includes:

[0045] determining whether there is an idle charging position in the parking area according to at least one of the detection results;

[0046] The method of instructing a vehicle to be charged located in a first parking space in the parking area to leave the first parking space and seek a charging pile for charging when it is determined that there is an empty parking space in the parking area comprises:

[0047] When it is determined that there is an idle charging position in the parking area, the vehicle to be charged located in the first parking position in the parking area is instructed to drive into the idle charging position for charging.

[0048] By implementing this embodiment, when it is detected that there is an empty charging position in the parking area, the vehicle to be charged is directly instructed to go there for charging, thereby realizing automatic charging.

[0049] In some embodiments, the method further comprises:

[0050] When the parking area is completely detected and it is determined that there is no vacant charging position in the parking area, the vehicle to be charged located in the first parking position in the parking area is controlled to stay in the first parking position.

[0051] By implementing this embodiment, when it is detected that there is no free charging position in the parking area, the vehicle to be charged is controlled to stop at the original position and wait, so as to ensure that there is a place for the vehicle to be charged to park and avoid user intervention.

[0052] In some embodiments, the method further comprises:

[0053] During the charging process of the vehicle to be charged, determining whether there is an empty parking space in the parking area according to the detection result received from at least one of the detection vehicles;

[0054] When it is determined that there is an empty parking space, a return parking instruction is sent to the vehicle to be charged, so that the vehicle to be charged stops charging and returns to the empty parking space to park when the power level meets the power threshold.

[0055] The implementation of this embodiment can ensure that the vehicle to be charged can have an empty parking space available for parking after completing the charging requirements, thereby eliminating the need for user intervention and improving the user experience.

[0056] In some embodiments, if there is an empty parking space in the parking area, and the empty parking space includes the first parking space, returning to the empty parking space to park includes: returning to the first parking space to park.

[0057] The implementation of this embodiment can ensure that the vehicle to be charged returns to the original parking space with priority after completing the charging requirements, thus realizing contactless charging and making it easier for users to find vehicles.

[0058] In some embodiments, the method further comprises:

[0059] When the vehicle to be charged leaves the first parking space and fails to find a charging space, it drives to a second parking space and parks. The second parking space is an empty parking space determined according to the detection result of the detection vehicle, or the second parking space is the first parking space, or the second parking space is an empty parking space found by the vehicle to be charged during its return to the first parking space.

[0060] The implementation of this embodiment can ensure that there are still vacant parking spaces for vehicles to be charged when charging is not completed, without user intervention.

[0061] In a second aspect, an embodiment of the present application provides a vehicle automatic charging device, comprising:

[0062] a receiving module, configured to receive a detection result sent by at least one detection vehicle located in a parking area, wherein the detection result includes whether there is an empty parking space within a detection range of the detection vehicle, and the empty parking space includes an empty parking space and / or an empty charging space;

[0063] a determination module, configured to determine whether there is an empty parking space in the parking area according to at least one of the detection results;

[0064] The sending module is used to instruct a vehicle to be charged located in a first parking space in the parking area to leave the first parking space and seek a charging pile for charging when it is determined that there is an empty parking space in the parking area.

[0065] In a third aspect, an embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be executed on the processor, and when the processor executes the program, the method described in the embodiment of the present application is implemented.

[0066] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided in the embodiment of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0068] Figure 1 A schematic diagram of the architecture of an automatic vehicle charging system provided in an embodiment of the present application;

[0069] Figure 2 A schematic diagram of the architecture of another vehicle automatic charging system provided in an embodiment of the present application;

[0070] Figure 3 A schematic diagram of the implementation flow of the automatic vehicle charging method provided in the embodiment of the present application;

[0071] Figure 4 A schematic diagram of a method for determining whether there are vacant parking spaces in a parking area according to an embodiment of the present application;

[0072] Figure 5 A schematic diagram of the effect of a coverage range provided by an embodiment of the present application;

[0073] Figure 6 A schematic diagram of another coverage effect provided by an embodiment of the present application;

[0074] Figure 7 A schematic diagram of the implementation flow of another method for determining whether there is an empty parking space in a parking area provided in an embodiment of the present application;

[0075] Figure 8 A schematic diagram of the implementation flow of the method for predicting whether there are vacant parking spaces in a parking area provided in an embodiment of the present application;

[0076] Fig. 9 A schematic diagram of the implementation flow of the method for determining the target number of vacant parking spaces in a parking area provided in an embodiment of the present application;

[0077] Fig.10 A schematic diagram of the structure of the automatic vehicle charging device provided in an embodiment of the present application;

[0078] Fig.11 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0079] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the specific technical solution of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0080] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0081] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0082] It should be pointed out that the terms "first\second\third" involved in the embodiments of the present application are used to distinguish similar or different objects, and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0083] The automatic charging of vehicles integrates modern information technology and new energy technology, realizing a high degree of automation and intelligence in the charging process. The user does not need to get off the vehicle to operate, and the vehicle can automatically complete the charging docking, which greatly improves the convenience of charging. Automatic charging is the development trend of the future, and unmanned charging stations with full reservation and automatic plug-in and unplug charging guns are the ultimate solution.

[0084] In some solutions for realizing automatic charging of vehicles, the intelligent level of charging stations is required to be relatively high. For example, if the charging stations are required to have the ability to monitor parking spaces, the charging stations should be equipped with high-precision parking space monitoring sensors or cameras to monitor the usage status of each parking space in real time and accurately, including vehicle parking conditions, vehicle types, etc.; or, it is necessary to link to the charging pile operation platform to obtain the usage status information of all charging piles; or, it is necessary to have the ability to move vehicles, such as introducing remote control driving technology to move vehicles to vacant parking spaces or charging spaces when necessary; or, in order to realize automatic charging, the charging stations must also be equipped with flexible mobile charging equipment, such as fully automatic and movable plug-in charging interfaces, which can automatically identify and connect the charging interfaces of vehicles of different models through movable charging robots or mechanical arms and other equipment.

[0085] In order to realize the above-mentioned solution of automatic charging of vehicles, charging stations need to purchase a large number of high-tech hardware equipment, such as high-precision sensors, cameras, self-driving vehicles, charging robots, etc. The R&D and production costs of these equipment are usually high, which leads to an increase in the construction cost of the entire charging station. In addition, the operation and maintenance costs of intelligent charging stations are relatively high. Due to the complexity of the equipment and high technical content, professional technicians are required to perform daily maintenance and upkeep.

[0086] Also, if the charging station (parking lot) supports scheduled charging, users can choose to make an appointment for charging. However, when the charging station (parking lot) does not support scheduled charging, the process of the charging vehicle automatically going to the charging station to charge in the parking lot may be risky. Assume that the vehicle is parked in a non-charging parking space in the parking lot, and runs the automatic charging process to go to the charging station to charge. When it moves to the vicinity of the charging parking space, it is found that the charging parking space is occupied, and it can only return to the original parking space. However, the original parking space is also occupied at this time, and there are no other free parking spaces for parking, which will result in the situation where the owner has to be called to intervene.

[0087] In view of this, an embodiment of the present application provides a vehicle automatic charging method, which is applied to a vehicle automatic charging system.

[0088] Figure 1 A schematic diagram of the architecture of a vehicle automatic charging system is given. Figure 1 As shown, the vehicle automatic charging system may include a detection vehicle and a vehicle to be charged.

[0089] In some embodiments, both the detection vehicle and the vehicle to be charged include a processor, and the processor may include one or more processing units, for example: the processor may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a controller, a video codec, a digital signal processor (digital signal processor, DSP), a baseband processor, and / or a neural network processor (neural-network processing unit, NPU), etc. Among them, different processing units can be independent devices or integrated in one or more processors. Exemplarily, the processor can be a smart terminal CPU, such as a Snapdragon series processor, etc. The processor can be used to process the received information.

[0090] In some embodiments, a communication link may be established between the detection vehicle and the vehicle to be charged so as to transmit information to each other through the communication link.

[0091] In some embodiments, the detection vehicle may be a vehicle that enters or stops at a parking area, and the detection vehicle may also be provided with a scanning component, which may be a camera component, a radar component, etc. Through the scanning component, the detection vehicle may detect environmental data within the scannable range, such as environmental data may include vehicle conditions within the scannable range. For example, the detection vehicle may obtain environmental data of the route through the scanning component during the process of entering the parking area; or, the detection vehicle may obtain environmental data around its location through the scanning component when it stops at a parking space.

[0092] In addition, the detected vehicle may be a vehicle at any location, such as a vehicle parked in a parking space or a vehicle parked in a charging space.

[0093] For example, Figure 1 As shown, detection vehicle 1 and detection vehicle 3 are vehicles parked at charging positions, and detection vehicle 2 is a vehicle parked at a parking position. Detection vehicle 1, detection vehicle 2 and detection vehicle 3 can all communicate with vehicle 1 to be charged.

[0094] In the embodiments of the present application, there is no limitation on the position of the scanning component installed on the inspection vehicle. For example, the scanning component can be installed on the front of the inspection vehicle to scan the area in front of the front of the vehicle; or, the scanning component can be installed on the rear of the inspection vehicle to scan the area where the rear of the vehicle is located; or, the scanning component can be installed on the body of the inspection vehicle to scan the area where the body is located; or, the inspection vehicle can also install multiple scanning components at different positions to achieve an all-round scan of the area where the vehicle is located.

[0095] In some embodiments, the vehicle to be charged may also be provided with a scanning component which may be a camera component, a radar component, etc. Through the scanning component, the vehicle to be charged may detect environmental data within the scannable range, such as environmental data may include vehicle conditions within the scannable range.

[0096] In some embodiments, the vehicle to be charged has the ability of automatic driving. In this way, after receiving the charging instruction, the vehicle to be charged can drive away from the original parking space to the charging area to find a charging position for charging. The vehicle has the ability to charge automatically, or the charging manager can perform the charging connection operation at the charging position. The operation and form of the charging link are not specifically limited, and the charging process does not require the corresponding user of the vehicle to be charged to intervene, thereby improving the user experience.

[0097] Here, there is no limitation on the location of the vehicle to be charged. Figure 1 The vehicle 1 to be charged is only a schematic illustration, and can be Figure 1The device is shown parked in a parking space, but can also be parked in a charging space where a fault prevents the charging device from being used.

[0098] Figure 2 Another schematic diagram of the automatic vehicle charging system is given below. Figure 2 As shown, the vehicle automatic charging system may include a detection vehicle, a vehicle to be charged, and a platform server.

[0099] Among them, the detection vehicle can establish a communication link with the platform server to transmit information to each other through the communication link. Similarly, the vehicle to be charged can also establish a communication link with the platform server to transmit information to each other through the communication connection.

[0100] In some embodiments, both the detection vehicle and the vehicle to be charged may be provided with a scanning component, which may be a camera component, a radar component, etc. Through the scanning component, the detection vehicle and the vehicle to be charged may detect environmental data within the scannable range, such as environmental data may include vehicle conditions within the scannable range.

[0101] In the embodiment of the present application, the detected vehicle may be a vehicle at any location, such as a vehicle parked in a parking space or a vehicle parked in a charging space. In some embodiments, the detected vehicle may also be a vehicle traveling in a parking area.

[0102] For example, Figure 2 As shown, detection vehicles 1 and 3 are vehicles parked at charging stations, and detection vehicle 2 is a vehicle parked at parking stations. Detection vehicles 1, 2, and 3 can all communicate with the platform server. It should be noted that there may be some vehicles in the parking area that cannot communicate with the platform server, that is, non-platform vehicles ( Figure 2 not shown).

[0103] Similarly, the location of the vehicle to be charged is not limited in the embodiments of the present application. Figure 2 The vehicle 1 to be charged is only for schematic illustration. It can be understood that the vehicle to be charged is located in a parking space before charging and cannot be charged at the current position. Therefore, it needs to be moved out of the parking space to the charging space for charging.

[0104] In some embodiments, after the detection vehicle and the vehicle to be charged obtain the corresponding environmental data, they can choose to send the environmental data to the platform server, so that the platform server can determine the vehicle detection results based on the environmental data received from one or more vehicles.

[0105] Alternatively, in other embodiments, after acquiring the corresponding environmental data, the detection vehicle and the vehicle to be charged may process the environmental data based on their own processors to obtain the detection results corresponding to the detection vehicle and / or obtain the detection results corresponding to the vehicle to be charged; then, the detection vehicle and the vehicle to be charged may send the corresponding detection results to the platform server.

[0106] Figure 3 The following is a schematic diagram of the implementation process of the vehicle automatic charging method provided in the embodiment of the present application. Figure 3 As shown, the method may include the following steps 301 to 303:

[0107] Step 301, receiving a detection result sent by at least one detection vehicle located in a parking area, the detection result including whether there is an idle parking space within a detection range of the detection vehicle, and the idle parking space includes an idle parking space and / or an idle charging space.

[0108] Before introducing the specific implementation scheme of the embodiment of the present application, the terms appearing in the embodiment of the present application are first explained.

[0109] Parking area: refers to a specific space or area designed or designated for parking vehicles. Here, the parking area may refer to the entire parking lot, including parking spaces and necessary passages. The parking spaces in the parking area include charging spaces and parking spaces. The charging spaces are equipped with charging devices for charging vehicles. The parking area may include inspection vehicles and vehicles to be charged.

[0110] Detection vehicle: refers to a vehicle that enters or parks in a parking area. The detection vehicle is provided with a scanning component, which can obtain environmental data of the route through the scanning component during the process of entering the parking area; or, when parked in a parking space, the scanning component can obtain environmental data of the surrounding area of ​​the location.

[0111] Vehicle to be charged: A vehicle to be charged is a vehicle with a charging demand, where the charging demand can be triggered by the user or by the vehicle's intelligent power management, and there is no limitation on this. In this application, a vehicle to be charged refers to a vehicle with automatic driving capabilities that can go to an empty parking space or an empty charging space on its own. A scanning component is provided on the vehicle to be charged, which can scan and obtain environmental data around its location through the scanning component. That is to say, in some possible implementations, the environmental data collected by the vehicle to be charged itself can also be used for vacant parking space detection, that is, the detected vehicles include the vehicle to be charged.

[0112] Detection result: refers to the result obtained after analyzing the environmental data scanned by the scanning component of the detection vehicle or the vehicle to be charged. The detection result may include the vacant parking spaces and / or vacant charging spaces scanned by the detection vehicle in the process of entering the parking area, and may also include the vacant parking spaces and / or vacant charging spaces scanned when the detection vehicle is parked in a parking space, and may also include the vacant parking spaces and / or vacant charging spaces scanned when the vehicle to be charged is parked in a parking space or a charging space.

[0113] In the embodiment of the present application, the vehicle to be charged can receive the detection result sent by at least one detection vehicle, that is, each detection vehicle can send the detection result to the vehicle to be charged after obtaining its own corresponding detection result. After receiving at least one detection result, the vehicle to be charged can perform the subsequent vacant parking space judgment process based on the at least one detection result.

[0114] In this way, when the vehicle to be charged determines the vacant parking space by itself, there is no need for the intervention of intermediate components, which can reduce the hardware deployment cost. In addition, the technical solution provided by this application does not require the station to provide detection data, and is also applicable to some existing charging stations that do not have parking space detection capabilities. That is to say, in charging stations that do not have parking space detection functions, vehicles with automatic driving functions can also achieve automatic charging through this solution, thereby expanding the scope of application of the solution and reducing the hardware deployment cost of the charging station.

[0115] In the embodiment of the present application, the platform server may also receive the detection result sent by at least one detection vehicle, that is, each detection vehicle may send the detection result to the platform server after obtaining its own corresponding detection result. After receiving at least one detection result, the platform server may execute the subsequent vacant parking space judgment process based on the at least one detection result.

[0116] In this way, by relying on the platform server to determine the available parking spaces, the computing pressure of the vehicles to be charged can be effectively released, and the computing efficiency of the vehicles to be charged can be improved.

[0117] In the embodiments of the present application, the detection vehicle can detect the vacant parking spaces within its detection range by itself. For example, the detection vehicle can detect the vacant parking spaces around the parking space when it is parked in the parking space to obtain the detection results; or, the detection vehicle can also detect the vacant parking spaces within its detection range during driving in the parking area to obtain the detection results, etc., without limitation.

[0118] In some embodiments, when the detection vehicle obtains the detection result, the detection result may also include the location information of the vacant parking space.

[0119] In an embodiment of the present application, the detection result of the vehicle may include that there are vacant parking spaces and vacant charging spaces within the detection range; or, there are vacant parking spaces but no vacant charging spaces within the detection range; or, there are no vacant parking spaces but vacant charging spaces within the detection range; or, there are no vacant parking spaces and vacant charging spaces within the detection range.

[0120] Step 302: Determine whether there is an empty parking space in the parking area according to at least one detection result.

[0121] It can be understood that if it is detected that there is an idle charging position in the parking area, the vehicle to be charged can be directly instructed to go to the idle charging position for charging, so as to realize the automatic charging function.

[0122] Alternatively, if an empty parking space is detected in the parking area, even if an empty charging space is not detected in the parking area, or it is unknown whether there is an empty charging space in the parking area, the vehicle to be charged can still be instructed to leave the parking space and go to find an empty charging space for charging. In this way, even if the vehicle to be charged fails to find an empty charging space for charging, it can be guaranteed that there is an empty parking space available when returning after charging fails, avoiding user intervention and improving user experience.

[0123] In the embodiment of the present application, there may be various results for determining whether there are vacant parking spaces in the parking area, such as determining that there are only vacant parking spaces in the parking area, or determining that there are only vacant charging spaces in the parking area, or determining that there are both vacant parking spaces and vacant charging spaces in the parking area, or determining that there are neither vacant parking spaces nor vacant charging spaces in the parking area.

[0124] As in the first embodiment, a method for determining whether there is an empty parking space in a parking area according to at least one detection result is provided.

[0125] Here, the method for determining whether there is an empty parking space in the parking area is not limited.

[0126] As in some embodiments, Figure 4 As shown, the following steps 401 to 403 may be performed to determine whether there is an empty parking space in the parking area:

[0127] Step 401 , comprehensively considering the detection range corresponding to at least one detection vehicle and the coverage range of the parking area, and determining an evaluation result of the parking area, wherein the evaluation result includes whether the parking area is completely detected.

[0128] It is understandable that not every vehicle in the parking area has the detection function, and vehicles with the detection function may be parked in one area or in different areas of the parking area. Therefore, when the vehicle to be charged needs to realize automatic charging, in order to ensure that charging is successful or there is still an empty parking space available when charging is unsuccessful, it is necessary to first determine whether the detection range of at least one detection vehicle has fully detected the coverage range of the parking area.

[0129] In some embodiments, after obtaining the detection range corresponding to each detected vehicle, the detection range of each detected vehicle can be counted to obtain a total coverage area of ​​multiple detected vehicles, which is then compared with the coverage area of ​​the parking area.

[0130] Figure 5 A schematic diagram of the coverage effect is given below. Figure 5 As shown, it is assumed that the parking area includes detection vehicle 1, detection vehicle 2, detection vehicle 3, detection vehicle 4, detection vehicle 5 and detection vehicle 6.

[0131] Among them, the scanning components of the detection vehicles 1, 2, 4 and 5 are installed at the front of the vehicle, the scanning component of the detection vehicle 3 is installed at the right side of the vehicle body, and multiple scanning components are installed on the detection vehicle 6, which are respectively located at the left side and the rear of the vehicle body. That is, the number and position of the scanning components installed on the detection vehicles are not limited.

[0132] Depend on Figure 5 It can be seen that the scanning ranges of the scanning components on detection vehicle 1 and detection vehicle 2 do not overlap, and in the area where detection vehicle 6 is located, there is only detection vehicle 6, and the scanning range of the scanning component installed on it cannot cover every parking space in the entire area where detection vehicle 6 is located.

[0133] It can be seen that in this schematic scenario, the total coverage area of ​​multiple detection vehicles does not completely include the parking area, that is, the total coverage area of ​​multiple detection vehicles is smaller than the coverage range of the parking area. In this case, the evaluation result is that the parking area is not completely detected.

[0134] Figure 6 A schematic diagram of the coverage effect is given below. Figure 6 As shown, it is assumed that the parking area includes detection vehicle 1, detection vehicle 2, detection vehicle 3, detection vehicle 4, detection vehicle 5, detection vehicle 6, detection vehicle 7 and detection vehicle 8.

[0135] Among them, the scanning components of detection vehicle 2, detection vehicle 3, detection vehicle 4, detection vehicle 5, detection vehicle 7 and detection vehicle 8 are installed at the front position of the vehicle, multiple scanning components are installed on detection vehicle 1, respectively located at the front position and the right rear position of the vehicle, and multiple scanning components are also installed on detection vehicle 6, respectively located at the front position and the rear position of the vehicle. That is, the number and position of the scanning components installed on the detection vehicles are not limited.

[0136] Depend on Figure 6 It can be seen that the scanning ranges of the scanning components on detection vehicle 1, detection vehicle 2 and detection vehicle 3 overlap, and completely cover every parking space in the area where the above vehicles are located; the scanning ranges of the scanning components on detection vehicle 4, detection vehicle 5 and detection vehicle 6 overlap, and completely cover every parking space in the area where the above vehicles are located; the scanning ranges of the scanning components on detection vehicle 7 and detection vehicle 8 overlap, and completely cover every parking space in the area where the above vehicles are located.

[0137] It can be seen that in this schematic scenario, the coverage of multiple detection vehicles overlaps, and the total coverage area of ​​multiple detection vehicles is equal to the coverage area of ​​the parking area. In this case, the evaluation result is a complete detection of the parking area.

[0138] Step 402, when the evaluation result is used to indicate a complete inspection of the parking area, determine whether there is a vacant parking space in the parking area based on a first inspection result of at least one inspection vehicle, the first inspection result including whether there is a vacant parking space within a inspection range corresponding to the inspection vehicle at the parking space.

[0139] In the embodiment of the present application, after it is determined that the detection vehicle has performed a complete detection of the parking area, it can be determined directly based on the detection result corresponding to each detection vehicle whether there is an empty parking space in the parking area.

[0140] For example, when there are vacant parking spaces in the detection area corresponding to the detection vehicle, the vehicle to be charged or the platform server can determine that there are vacant parking spaces in the parking area and the location of at least one vacant parking space based on the received multiple first detection results.

[0141] Of course, if it is determined that the detection vehicle has fully detected the parking area, and each first detection result is used to indicate that there is no free parking space within the detection range of the detection vehicle, then it can be determined that there is no free parking space in the parking area. In this case, it is possible to continue to detect whether there is a free charging space in the parking area. If it is determined that there is a free charging space in the parking area, the vehicle to be charged can be instructed to go to the free charging space for charging. If it is determined that there is no free charging space in the parking area, the vehicle to be charged can be instructed to stay in the original parking space.

[0142] Step 403 , when the evaluation result indicates that the parking area has not been completely detected, and the first detection result of at least one detected vehicle indicates that there is no free parking space, predict whether there is a free parking space in the parking area.

[0143] It is understandable that, since the detection ranges of the multiple detection vehicles do not completely cover the parking area, there may be a situation where there are vacant parking spaces in the area that is not detected by the detection vehicles.

[0144] Based on this, in order to make a more reasonable detection of whether there are vacant parking spaces in the parking area, it is possible to predict whether there are vacant parking spaces in the parking area.

[0145] Here, the method for predicting whether there is an empty parking space in the parking area is not limited.

[0146] In the embodiment of the present application, the execution order of step 401 to step 403 is not limited, and these steps are not necessarily executed in the order indicated by the arrows.

[0147] As in some embodiments, Figure 7 As shown, the following steps 701 to 702 may be performed to predict whether there is an empty parking space in the parking area:

[0148] Step 701, obtaining a historical estimated number corresponding to a historical target time, where the historical estimated number is the number of historical free parking spaces in the parking area at the historical target time, and the historical target time is the same time as the time when the vehicle to be charged sends a charging request within a historical date.

[0149] It is understandable that for the same parking area, the number of vacant parking spaces at a specific moment within a period of time is roughly fixed. Therefore, the number of historical vacant parking spaces in the parking area at historical moments has a certain reference value.

[0150] Based on this, in an embodiment of the present application, when the vehicle to be charged issues a charging request, the number of free parking spaces in the parking area at the time when the vehicle to be charged issues the charging request can be estimated based on the number of historical free parking spaces corresponding to the historical target time that is the same as the time when the vehicle to be charged issues the charging request within the historical date.

[0151] For example, assuming that the time when the vehicle to be charged sends a charging request is 8:30 in the morning, the historical number of vacant parking spaces corresponding to the historical target time (8:30 in the morning) within the historical date can be obtained. The historical date can be a historical month, or it can be a historical date selected according to actual needs, etc., without limitation.

[0152] Step 702: When the historical estimated number is greater than the first number threshold, it is determined that there are vacant parking spaces in the parking area.

[0153] After obtaining at least one historical target moment, it can be determined whether there is an empty parking space in the parking area according to the historical estimated number corresponding to the at least one historical target moment.

[0154] For example, after comprehensively estimating at least the historical estimated quantity corresponding to the historical target time, if it is determined that the average historical estimated quantity is greater than the first quantity threshold, it can be determined that there are vacant parking spaces in the parking area. In this way, it can be ensured as much as possible that the vehicle to be charged can be charged, or that there are still vacant parking spaces available when charging cannot be achieved, without user intervention.

[0155] Alternatively, when it is determined that the average historical estimated quantity is less than or equal to the first quantity threshold, it may be determined that there is no vacant parking space in the parking area.

[0156] In other embodiments, in order to predict whether there are vacant parking spaces in a parking area, it is also possible to predict whether there are vacant parking spaces in the parking area based on at least one second detection result of a vehicle detecting a path from the entrance of the parking area to the parking space within a historical period, the time difference between the historical period and the current period being less than a time threshold, and the second detection result including the number of parking spaces detected by the vehicle during the path and the first number of vacant parking spaces.

[0157] That is, in some embodiments, in the current time period when the charging request is received from the vehicle to be charged, the second detection result of at least one detection vehicle with a time difference close to the current time period can be obtained, and the second detection result is reported by the detection vehicle, which is the number of parking spaces on the way and the first number of free parking spaces detected during the process of driving from the entrance of the parking area to the parking space where it is parked. Then, based on the number of parking spaces on the way and the first number of free parking spaces detected by at least one detection vehicle, it can be jointly predicted whether there are free parking spaces in the parking area.

[0158] Here, there is no limitation on the implementation method of jointly predicting whether there are vacant parking spaces in the parking area based on the number of en-route parking spaces and the number of first vacant parking spaces detected by at least one detection vehicle.

[0159] Exemplarily, as in one embodiment, the total number of parking spaces in the parking area can be obtained; based on the total number of parking spaces, the number of approach parking spaces corresponding to each detected vehicle, and the number of first free parking spaces, it is predicted whether there are free parking spaces in the parking area.

[0160] For example, in some embodiments, to predict whether there are vacant parking spaces in a parking area based on the total number of parking spaces, the number of parking spaces along the way corresponding to each detected vehicle, and the number of first vacant parking spaces, refer to Figure 8, the following steps 801 to 803 may be performed:

[0161] Step 801, according to the total number of parking spaces, the number of parking spaces along the way corresponding to each detected vehicle and the number of first free parking spaces, determine the candidate prediction result corresponding to each detected vehicle, the candidate prediction result being the number of second free parking spaces in the parking area.

[0162] In some embodiments, to determine the candidate prediction result (i.e., the number of the second vacant parking spaces in the parking area), the following formula may be used:

[0163] c = a*m / n;

[0164] Among them, c is the number of the second vacant parking spaces, a is the number of the first vacant parking spaces, m is the total number of parking spaces, and n is the number of parking spaces along the way.

[0165] In other embodiments, in order to determine the candidate prediction results, the total number of parking spaces, the number of parking spaces along the way and the first number of free parking spaces may also be input into a pre-selected trained prediction model to obtain the candidate prediction results corresponding to the detected vehicle. The prediction model is trained through multiple historical data sets, and the historical data sets include the historical total number of parking spaces, the historical number of parking spaces along the way and the historical number of free parking spaces.

[0166] In this way, the prediction model is used to predict the number of possible vacant parking spaces in the parking area, which can improve the prediction accuracy.

[0167] Step 802, based on the candidate prediction results and historical estimated numbers corresponding to each detected vehicle, determine the target number of free parking spaces in the parking area, where the historical estimated number is the historical number of free parking spaces in the parking area at the historical target time, and the historical target time is the same time as the time when the vehicle to be charged sends a charging request within the historical date.

[0168] It is understandable that if only the candidate prediction result corresponding to the detected vehicle (i.e., the number of vacant parking spaces that may exist in the parking area estimated by the detected vehicle) is used, that is, it is determined as the number of vacant parking spaces in the parking area, there may be a problem of inaccurate estimation.

[0169] Based on this, in some embodiments, the target number of free parking spaces in the parking area can be determined based on the candidate prediction results corresponding to each detected vehicle (i.e., the number of free parking spaces that may exist in the parking area estimated by the detected vehicle) and the number of historical free parking spaces in the parking area at the same historical time on the same historical date as the time when the charging vehicle to be charged sends a charging request. In this way, by combining multiple estimation factors, the accuracy of the prediction results can be effectively improved.

[0170] Here, there is no limitation on the implementation method of determining the target number of vacant parking spaces in the parking area based on the candidate prediction results and the historical estimated number corresponding to each detected vehicle.

[0171] As in some embodiments, see Fig. 9 , the target number of free parking spaces in the parking area can be determined by executing the following steps 901 to 902:

[0172] Step 901, the candidate prediction results corresponding to each detected vehicle are integrated to obtain the number of third vacant parking spaces in the parking area.

[0173] For example, the number of the second vacant parking spaces predicted for each detected vehicle may be weighted to obtain the number of the third vacant parking spaces that may exist in the parking area.

[0174] Alternatively, the number of the second vacant parking spaces predicted for each detected vehicle may be averaged to obtain the number of the third vacant parking spaces that may exist in the parking area, etc., which is not limited to this.

[0175] Step 902: Correct the third number of vacant parking spaces by using the historical estimated number to obtain the target number of vacant parking spaces.

[0176] After predicting the third number of free parking spaces in the parking area through the candidate prediction results corresponding to each detected vehicle, in order to further reduce the prediction error, the third number of free parking spaces can be corrected by using the historical estimated number to obtain the target number of free parking spaces.

[0177] For example, the time when the charging vehicle sends a charging request is 8:30 in the morning, and the corresponding historical estimated number (that is, the number of free parking spaces at 8:30 in the morning obtained comprehensively in the historical date is 12), and through the candidate prediction results corresponding to each detected vehicle, the third number of free parking spaces in the parking area is predicted to be 20, which means that the predicted number of the third free parking spaces may be too many. The historical estimated number can be used to correct the number of the third free parking spaces to further improve the accuracy of the prediction.

[0178] In the specific implementation, there is no limitation on the correction method. For example, the third number of free parking spaces and the historical estimated number can be weighted according to the preset allocation weights to obtain the target number of free parking spaces. Alternatively, the correction process can be performed based on the model. Alternatively, a high-order polynomial fitting algorithm can be used to fit the number of free parking spaces and the historical estimated number to obtain a fitting result.

[0179] Step 803: When the target number of free parking spaces is greater than a first number threshold, it is determined that there are free parking spaces in the parking area.

[0180] In this way, when it is determined that there are a large number of vacant parking spaces in the parking area (such as more than 10), it is determined that there are vacant parking spaces in the parking area, and the vehicle to be charged is instructed to leave the original parking space to find a charging pile. This can ensure that there is still a parking space for the vehicle to be charged when charging is completed or charging fails, avoiding user intervention and improving user experience.

[0181] In the second embodiment, it is also possible to determine whether there is an idle charging position in the parking area based on at least one detection result.

[0182] For example, in some embodiments, when it is determined that the detection vehicle has completely detected the parking area, it can be determined whether there is an idle charging position in the parking area based on whether there is an idle charging position in the detection result of at least one detection vehicle.

[0183] If there is an idle charging position in the detection area corresponding to a certain detection vehicle, the vehicle to be charged or the platform server can determine that there is an idle charging position in the parking area and the location of the idle charging position based on the received detection results.

[0184] In other embodiments, when the parking area is completely detected and it is determined that there is no vacant charging space in the parking area, the vehicle to be charged located in the first parking space in the parking area may be controlled to stay in the first parking space.

[0185] Step 303: When it is determined that there is an empty parking space in the parking area, instruct the vehicle to be charged located in the first parking space in the parking area to leave the first parking space and seek a charging pile for charging.

[0186] In the embodiment of the present application, the prerequisite for instructing the vehicle to be charged located in the first parking space in the parking area to leave the first parking space and seek charging pile is not limited.

[0187] In some embodiments, in order to ensure that there are still vacant parking spaces for the vehicle to be charged even if charging fails after it goes to charge, thereby avoiding user intervention, when it is detected that there are vacant parking spaces in the parking area and the number of vacant parking spaces is greater than the parking space threshold, the vehicle to be charged located in the first parking space in the parking area is instructed to leave the first parking space to find a charging pile. It is understandable that in some implementation scenarios, the charging equipment configured at the charging space where the vehicle to be charged is located is faulty or damaged and cannot be used normally. The vehicles to be charged at these locations can also find charging piles based on this method, that is, the first parking space includes any parking space in the parking area, or a charging space where the configured charging equipment cannot be used normally.

[0188] Here, there is no limitation on the value of the parking space threshold, for example, the parking space threshold can be set to 10.

[0189] Alternatively, in other embodiments, when it is determined that there is an idle charging position in the parking area, the vehicle to be charged located in the first parking position in the parking area can be directly instructed to go to the idle charging position for charging.

[0190] Of course, if it is detected that there are multiple free charging positions in the parking area, the vehicle to be charged can be instructed to charge in an area that is closer or has more free charging positions based on the positional relationship between the free charging positions and the vehicle to be charged, so as to ensure successful charging.

[0191] In some embodiments, during the charging process of the vehicle to be charged, it is also possible to determine whether there is an empty parking space in the parking area based on the detection result sent by at least one detection vehicle; if it is determined that there is an empty parking space, a return parking instruction is sent to the vehicle to be charged, so that the vehicle to be charged stops charging and returns to the empty parking space to park when the power level meets the power threshold.

[0192] In this way, it can ensure that the vehicle to be charged can leave the charging position when the charging demand is met, and it can also ensure that there is an empty parking space for the vehicle to be charged, so as to realize automatic charging and automatic parking, and timely release the available charging position resources to avoid invalid occupation of the charging position. The entire charging process can be realized without user intervention, which improves the user experience.

[0193] In some embodiments, when the vehicle to be charged leaves the first parking space and fails to find a charging space, it drives to a second parking space and parks. The second parking space is an empty parking space determined based on the detection result of the detection vehicle, or the second parking space is the first parking space, or the second parking space is an empty parking space found by the vehicle to be charged in the process of returning to the first parking space.

[0194] In the embodiment of the present application, a detection result sent by at least one detection vehicle in the parking area is received, and the detection result includes whether there is an empty parking space and / or an empty charging space within the detection range of the detection vehicle; whether there is an empty parking space in the parking area is determined according to at least one detection result; if it is determined that there is an empty parking space in the parking area, the vehicle to be charged located in the first parking space in the parking area is instructed to leave the first parking space and find a charging pile for charging. The feasibility and reliability of automatic charging of vehicles can be improved.

[0195] It should be understood that, although the steps in the above-mentioned flowcharts are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above-mentioned flowcharts may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0196] Based on the foregoing embodiments, an embodiment of the present application provides a vehicle automatic charging device, which includes the modules included and the units included in the modules, which can be implemented by a processor; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0197] Fig.10 A schematic diagram of the structure of the automatic vehicle charging device provided in the embodiment of the present application is shown in FIG. Fig.10 As shown, the device 1000 includes a receiving module 1001, a determining module 1002 and a sending module 1003, wherein:

[0198] The receiving module 1001 is used to receive a detection result sent by at least one detection vehicle located in the parking area, wherein the detection result includes whether there is an empty parking space within the detection range of the detection vehicle, and the empty parking space includes an empty parking space and / or an empty charging space;

[0199] A determination module 1002, configured to determine whether there is an empty parking space in the parking area according to at least one of the detection results;

[0200] The sending module 1003 is used to instruct the vehicle to be charged located in the first parking space in the parking area to leave the first parking space and seek charging pile when it is determined that there is an empty parking space in the parking area.

[0201] In some embodiments, the determination module 1002 is specifically configured to determine whether there is an empty parking space in the parking area according to at least one of the detection results.

[0202] In some embodiments, the determination module 1002 includes a synthesis module, a first determination submodule, and a second determination submodule, wherein:

[0203] The integration module is used to integrate the detection range corresponding to the at least one detection vehicle and the coverage range of the parking area to determine an evaluation result of the parking area, wherein the evaluation result includes whether the parking area is completely detected;

[0204] The first determination submodule is configured to determine whether there is a vacant parking space in the parking area according to a first detection result of the at least one detection vehicle when the evaluation result indicates that the parking area is completely detected, the first detection result including whether there is a vacant parking space in the detection range corresponding to the detection vehicle at the parking space;

[0205] The second determination submodule is used to predict whether there is a vacant parking space in the parking area when the evaluation result indicates that the parking area has not been completely detected and the first detection result of at least one detected vehicle is that there is no vacant parking space.

[0206] In some embodiments, the second determination submodule is specifically used to obtain a historical estimated number corresponding to a historical target time, wherein the historical estimated number is the number of historical free parking spaces in the parking area at the historical target time, and the historical target time is the same time as the time when the vehicle to be charged issues a charging request within a historical date;

[0207] When the historical estimated number is greater than a first number threshold, it is determined that there is an empty parking space in the parking area.

[0208] In some embodiments, the second determination submodule is specifically used to predict whether there are vacant parking spaces in the parking area based on a second detection result of the at least one detection vehicle during the process of driving from the entrance of the parking area to the parking space within a historical time period, the time difference between the historical time period and the current time period is less than a time threshold, and the second detection result includes the number of parking spaces detected by the detection vehicle during the process and the first number of vacant parking spaces.

[0209] In some embodiments, the second determination submodule further includes an acquisition module and a prediction module;

[0210] The acquisition module is used to acquire the total number of parking spaces in the parking area;

[0211] The prediction module is used to predict whether there is a vacant parking space in the parking area according to the total number of parking spaces, the number of parking spaces along the way corresponding to each detected vehicle, and the first number of vacant parking spaces.

[0212] In some embodiments, the prediction module is specifically used to determine a candidate prediction result corresponding to each detected vehicle according to the total number of parking spaces, the number of parking spaces along the way corresponding to each detected vehicle, and the first number of free parking spaces, wherein the candidate prediction result is the number of second free parking spaces in the parking area;

[0213] Determine the target number of free parking spaces in the parking area according to the candidate prediction results and the historical estimated number corresponding to each of the detected vehicles, wherein the historical estimated number is the historical number of free parking spaces in the parking area at a historical target time, and the historical target time is the same time as the time when the vehicle to be charged issues a charging request within a historical date;

[0214] When the target number of free parking spaces is greater than a first number threshold, it is determined that there are free parking spaces in the parking area.

[0215] In some embodiments, according to the total number of parking spaces, the number of parking spaces along the way corresponding to each detected vehicle, and the first number of free parking spaces, a candidate prediction result corresponding to each detected vehicle is determined, which is implemented by the following formula:

[0216] c = a*m / n;

[0217] Among them, c is the number of the second vacant parking spaces, a is the number of the first vacant parking spaces, m is the total number of parking spaces, and n is the number of parking spaces along the way.

[0218] In some embodiments, the prediction module is specifically used to input the total number of parking spaces, the number of parking spaces along the way and the first number of vacant parking spaces into a pre-selected trained prediction model to obtain a candidate prediction result corresponding to the detected vehicle. The prediction model is trained through multiple historical data sets, and the historical data sets include the historical total number of parking spaces, the historical number of parking spaces along the way and the historical number of vacant parking spaces.

[0219] In some embodiments, the prediction module is further configured to synthesize the candidate prediction results corresponding to each of the detected vehicles to obtain the number of third free parking spaces in the parking area;

[0220] The third number of vacant parking spaces is corrected by using the historical estimated number to obtain the target number of vacant parking spaces; or, the third number of vacant parking spaces and the historical estimated number are weighted according to preset allocation weights to obtain the target number of vacant parking spaces.

[0221] In some embodiments, the determination module 1002 is specifically configured to determine whether there is an idle charging position in the parking area according to at least one of the detection results;

[0222] The sending module 1003 is further specifically configured to, when it is determined that there is an idle charging position in the parking area, instruct the vehicle to be charged located in the first parking position in the parking area to drive into the idle charging position for charging.

[0223] In some embodiments, the apparatus further comprises a control module;

[0224] The control module is used to control the vehicle to be charged located in the first parking space in the parking area to stay in the first parking space when the parking area is completely detected and it is determined that there is no vacant charging space in the parking area.

[0225] In some embodiments, the sending module 1003 is also used to determine whether there is a vacant parking space in the parking area during the charging process of the vehicle to be charged, based on the detection result received from at least one of the detection vehicles; when it is determined that there is a vacant parking space, a return parking instruction is sent to the vehicle to be charged, so that the vehicle to be charged stops charging and returns to the vacant parking space when the power level meets the power threshold.

[0226] In some embodiments, the control module is further used to drive to a second parking space to park when the vehicle to be charged leaves the first parking space and fails to find a charging space, the second parking space being an empty parking space determined based on the detection result of the detection vehicle, or the second parking space is the first parking space, or the second parking space is an empty parking space found by the vehicle to be charged in the process of returning to the first parking space.

[0227] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0228] It should be noted that in the embodiments of this application Fig.10 The division of modules in the vehicle automatic charging device shown is schematic and is only a logical functional division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or it can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. It can also be implemented in the form of a combination of software and hardware.

[0229] It should be noted that in the embodiment of the present application, if the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application can be essentially or partly embodied in the form of a software product that contributes to the relevant technology. The computer software product is stored in a storage medium, including several instructions to enable an electronic device to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0230] The embodiment of the present application provides a computer device, which may be a server, and its internal structure diagram may be as follows: Fig.11 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the above method is implemented.

[0231] An embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the method provided in the above embodiment are implemented.

[0232] An embodiment of the present application provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the steps of the method provided in the above method embodiment.

[0233] Those skilled in the art will understand that Fig.11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0234] In one embodiment, the vehicle automatic charging device provided by the present application can be implemented in the form of a computer program. The computer program can be Fig.11The computer device shown in the figure is run. The memory of the computer device can store various program modules constituting the above-mentioned device. The computer program composed of various program modules enables the processor to execute the steps in the method of each embodiment of the present application described in this specification.

[0235] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0236] It should be understood that "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in one embodiment" or "in some embodiments" appearing throughout the specification may not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The above-mentioned sequence numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. The above description of each embodiment tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. For the sake of brevity, this article will not repeat them.

[0237] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0238] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0239] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms.

[0240] The modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules; they may be located in one place or distributed on multiple network units; some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0241] In addition, all functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may be a separate unit, or two or more modules may be integrated into one unit; the above-mentioned integrated modules may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0242] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0243] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling an electronic device to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0244] The methods disclosed in several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0245] The features disclosed in several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0246] The features disclosed in several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0247] The above is only an implementation method 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.

Claims

1. A vehicle automatic charging method, characterized in that: The method comprises: Receiving a detection result sent by at least one detection vehicle located in the parking area, the detection result including whether there is an empty parking space within the detection range of the detection vehicle, the empty parking space including an empty parking space and / or an empty charging space; Determining whether there is an empty parking space in the parking area according to at least one of the detection results; When it is determined that there is an empty parking space in the parking area, a vehicle to be charged located in a first parking space in the parking area is instructed to leave the first parking space and seek a charging pile for charging.

2. The method according to claim 1, characterized in that The determining whether there is an empty parking space in the parking area according to at least one of the detection results includes: It is determined whether there is a vacant parking space in the parking area according to at least one of the detection results.

3. The method according to claim 2, characterized in that The determining whether there is an empty parking space in the parking area according to at least one of the detection results includes: Determine an evaluation result of the parking area by combining the detection range corresponding to the at least one detection vehicle and the coverage range of the parking area, wherein the evaluation result includes whether the parking area is completely detected; In the case where the evaluation result is used to indicate a complete detection of the parking area, determining whether there is a vacant parking space in the parking area according to a first detection result of the at least one detection vehicle, the first detection result including whether there is a vacant parking space within a detection range corresponding to the detection vehicle at the parking space; When the evaluation result indicates that the parking area has not been completely detected, and the first detection result of the at least one detected vehicle indicates that there is no free parking space, predict whether there is a free parking space in the parking area.

4. The method according to claim 3, characterized in that The predicting whether there is an empty parking space in the parking area includes: Obtaining a historical estimated number corresponding to a historical target time, wherein the historical estimated number is the number of historical free parking spaces in the parking area at the historical target time, and the historical target time is the same time as the time when the vehicle to be charged issues a charging request within a historical date; When the historical estimated number is greater than a first number threshold, it is determined that there is an empty parking space in the parking area.

5. The method according to claim 3, characterized in that: The predicting whether there is an empty parking space in the parking area includes: Based on a second detection result of at least one detection vehicle during its approach from the entrance of the parking area to the parking space within a historical time period, predict whether there are vacant parking spaces in the parking area, the time difference between the historical time period and the current time period is less than a time threshold, and the second detection result includes the number of approach parking spaces and the first number of vacant parking spaces detected by the detection vehicle during the approach.

6. The method according to claim 5, characterized in that The predicting whether there is a vacant parking space in the parking area according to the second detection result of the at least one detected vehicle in the process of driving from the entrance of the parking area to the parking space in the historical period includes: Obtain the total number of parking spaces in the parking area; Whether there is a vacant parking space in the parking area is predicted based on the total number of parking spaces, the number of the en-route parking spaces corresponding to each detected vehicle, and the first number of vacant parking spaces.

7. The method according to claim 6, characterized in that The predicting whether there is a vacant parking space in the parking area according to the total number of parking spaces, the number of parking spaces along the way corresponding to each detected vehicle, and the first number of vacant parking spaces includes: Determine a candidate prediction result corresponding to each detected vehicle according to the total number of parking spaces, the number of parking spaces along the way corresponding to each detected vehicle, and the first number of free parking spaces, wherein the candidate prediction result is the number of second free parking spaces in the parking area; Determine the target number of free parking spaces in the parking area according to the candidate prediction results and the historical estimated number corresponding to each of the detected vehicles, wherein the historical estimated number is the historical number of free parking spaces in the parking area at a historical target time, and the historical target time is the same time as the time when the vehicle to be charged issues a charging request within a historical date; When the target number of free parking spaces is greater than a first number threshold, it is determined that there are free parking spaces in the parking area.

8. The method according to claim 7, characterized in that Determining the candidate prediction result corresponding to each detected vehicle according to the total number of parking spaces, the number of parking spaces along the way corresponding to each detected vehicle, and the first number of free parking spaces is achieved by the following formula: c = a*m / n; Among them, c is the number of the second vacant parking spaces, a is the number of the first vacant parking spaces, m is the total number of parking spaces, and n is the number of parking spaces along the way.

9. The method according to claim 7, characterized in that: The determining, based on the total number of parking spaces, the number of parking spaces along the way corresponding to each detected vehicle, and the first number of free parking spaces, of a candidate prediction result corresponding to each detected vehicle comprises: The total number of parking spaces, the number of parking spaces along the way and the first number of free parking spaces are input into a pre-selected and trained prediction model to obtain a candidate prediction result corresponding to the detected vehicle, wherein the prediction model is trained through multiple historical data sets, and the historical data sets include the historical total number of parking spaces, the historical number of parking spaces along the way and the historical number of free parking spaces.

10. The method according to claim 8 or 9, characterized in that: Determining the target number of free parking spaces in the parking area according to the candidate prediction results and the historical estimated number corresponding to each of the detected vehicles includes: Combining the candidate prediction results corresponding to each of the detected vehicles, obtaining the number of third vacant parking spaces in the parking area; The third number of vacant parking spaces is corrected by using the historical estimated number to obtain the target number of vacant parking spaces.

11. The method according to claim 1, characterized in that: The determining whether there is an empty parking space in the parking area according to at least one of the detection results includes: determining whether there is an idle charging position in the parking area according to at least one of the detection results; The method of instructing a vehicle to be charged located in a first parking space in the parking area to leave the first parking space and seek a charging pile for charging when it is determined that there is an empty parking space in the parking area comprises: When it is determined that there is an idle charging position in the parking area, the vehicle to be charged located in the first parking position in the parking area is instructed to drive into the idle charging position for charging.

12. The method according to claim 11, characterized in that The method further comprises: When the parking area is completely detected and it is determined that there is no vacant charging position in the parking area, the vehicle to be charged located in the first parking position in the parking area is controlled to stay in the first parking position.

13. The method according to claim 1, characterized in that The method further comprises: During the charging process of the vehicle to be charged, determining whether there is an empty parking space in the parking area according to the detection result received from at least one of the detection vehicles; When it is determined that there is an empty parking space, a return parking instruction is sent to the vehicle to be charged, so that the vehicle to be charged stops charging and returns to the empty parking space to park when the power level meets the power threshold.

14. The method according to claim 1, characterized in that The method further comprises: When the vehicle to be charged leaves the first parking space and fails to find a charging space, it drives to a second parking space and parks. The second parking space is an empty parking space determined according to the detection result of the detection vehicle, or the second parking space is the first parking space, or the second parking space is an empty parking space found by the vehicle to be charged during its return to the first parking space.

15. A vehicle automatic charging device, characterized in that: include: a receiving module, configured to receive a detection result sent by at least one detection vehicle located in a parking area, wherein the detection result includes whether there is an empty parking space within a detection range of the detection vehicle, and the empty parking space includes an empty parking space and / or an empty charging space; a determination module, configured to determine whether there is an empty parking space in the parking area according to at least one of the detection results; The sending module is used to instruct a vehicle to be charged located in a first parking space in the parking area to leave the first parking space and seek a charging pile for charging when it is determined that there is an empty parking space in the parking area.

16. A computer device comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 14 are implemented.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

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