Parking guiding method and parking guiding system

Abstract

The invention discloses a parking guiding method and a parking guiding system, and belongs to the technical field of computers. The method comprises the steps that a guiding platform receives a parking request sent by a user terminal; generating a first guiding task according to the parking request, wherein the first guiding task comprises a target vehicle identifier, a first parking space identifier, a first guiding equipment identifier and a first path; sending the first guiding task to first guiding equipment; after the first guiding device receives the first guiding task, the first guiding device moves according to a first path to guide the target vehicle to move towards the first parking space; in the moving process, position information of the target vehicle is obtained from the user terminal; and stopping moving and sending a reminding message to the user terminal when the distance to the target vehicle is greater than or equal to a preset distance, and continuing moving until the distance to the target vehicle is less than the preset distance. According to the invention, after the user terminal sends the parking request, parking can be completed only by following the first guide equipment, so that the parking efficiency can be improved.

Description

Technical Field

[0001] This application relates to the field of computer technology, and particularly to a parking guidance method and a parking guidance system. Background Art

[0002] With the continuous increase in the vehicle ownership, parking space resources are becoming increasingly scarce, and the time consumed by people in searching for a parking lot and a parking space within the parking lot is increasing continuously. This makes it an urgent problem to be solved how to achieve rapid parking within the parking lot. Currently, after a driver drives a vehicle into a parking lot, most rely on on-site guidance by staff or guidance signs within the parking lot to find a parking space for parking. However, this method is inefficient and difficult to meet the growing parking demand. Summary of the Invention

[0003] This application provides a parking guidance method and a parking guidance system, which can improve the parking efficiency and the user's parking experience. The technical solutions are as follows: In a first aspect, a parking guidance method is provided. The method is applied to a parking guidance system, and the parking guidance system includes a guidance platform and a plurality of guidance devices. The method includes: The guidance platform receives a parking request sent by a user terminal; generates a first guidance task according to the parking request, where the first guidance task includes a target vehicle identifier, a first parking space identifier, a first guidance device identifier, and a first path, and the first path is the path from the parking lot entrance to the first parking space; sends the first guidance task to a first guidance device, and the first guidance device is one of the plurality of guidance devices; After receiving the first guidance task, the first guidance device moves along the first path to guide the target vehicle to move towards the first parking space; Wherein, during the movement of the first guidance device, it obtains the position information of the target vehicle from the user terminal; determines the distance between the target vehicle and the first guidance device according to the position information of the target vehicle; in the case where the distance between the target vehicle and the first guidance device is greater than or equal to a preset distance, stops moving and sends a reminder message to the user terminal until the distance between the target vehicle and the first guidance device is less than the preset distance and then continues to move.

[0004] In this application, after the user terminal sends a parking request, it only needs to follow the first guidance device to move to complete parking, which can improve the parking efficiency. Moreover, during the guidance process, the first guidance device always pays attention to the distance from the target vehicle and dynamically adjusts the guidance behavior according to this distance, so as to improve the guidance accuracy and reliability and ensure the user's parking experience.

[0005] Second aspect, a parking guidance system is provided, and the parking guidance system includes a guidance platform and a plurality of guidance devices; The guidance platform is configured to: receive a parking request sent by a user terminal; generate a first guidance task according to the parking request, where the first guidance task includes a target vehicle identifier, a first parking space identifier, a first guidance device identifier, and a first path, and the first path is a path from a parking lot entrance to the first parking space; send the first guidance task to a first guidance device, where the first guidance device is one of the plurality of guidance devices; The first guidance device is configured to: after receiving the first guidance task, move along the first path to guide the target vehicle to move towards the first parking space; wherein, during the movement, obtain the position information of the target vehicle from the user terminal, determine the distance between the target vehicle and the first guidance device according to the position information of the target vehicle, and stop moving and send a reminder message to the user terminal when the distance between the target vehicle and the first guidance device is greater than or equal to a preset distance, and continue to move until the distance between the target vehicle and the first guidance device is less than the preset distance.

[0006] Third aspect, a computer device is provided, and the computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the operations performed by the guidance platform or the guidance device in the parking guidance method described in the first aspect above are implemented.

[0007] Fourth aspect, a computer-readable storage medium is provided, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the operations performed by the guidance platform or the guidance device in the parking guidance method described in the first aspect above are implemented.

[0008] Fifth aspect, a computer program product is provided. When the computer program product runs on a computer device, the computer device is caused to execute the operations performed by the guidance platform or the guidance device in the parking guidance method described in the first aspect above.

[0009] It can be understood that the beneficial effects of the second aspect, the third aspect, the fourth aspect, and the fifth aspect can refer to the relevant descriptions in the first aspect above, and will not be elaborated here. Description of the Drawings

[0010] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0011] Figure 1 is a schematic structural diagram of a parking guidance system provided by an embodiment of the present application; Figure 2 is a schematic structural diagram of a guidance platform provided by an embodiment of the present application; Figure 3 is a schematic structural diagram of a guidance device provided by an embodiment of the present application; Figure 4 is a flowchart of a parking guidance method provided by an embodiment of the present application; Figure 5 is a schematic structural diagram of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0012] To make the objectives, technical solutions, and advantages of the present application clearer, the following will further describe the implementation manners of the present application in detail with reference to the accompanying drawings.

[0013] It should be understood that the "multiple" mentioned in the present application refers to two or more. In the description of the present application, unless otherwise specified, " / " means "or". For example, A / B can represent A or B. The "and / or" in this article is only a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, for the convenience of clearly describing the technical solutions of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the terms "first" and "second" do not limit the quantity and execution order, and the terms "first" and "second" do not necessarily mean different.

[0014] The application scenarios of the embodiments of the present application will be described below.

[0015] The embodiments of the present application are applied to the scenario of parking, specifically to the scenario of guiding users to park, so as to improve the parking efficiency of users.

[0016] In the related art, when users park in indoor or outdoor parking lots, they are mainly guided by the personnel in the parking lot and related facilities (such as parking space guiding lights, parking space remaining guiding signs, etc.).

[0017] For outdoor parking lots, the vehicle guidance is usually carried out by combining manual command and parking space guiding lights. In terms of manual command, the staff will provide direction guidance and traffic control services for users at each fork in the parking lot. The parking space guiding lights use ultrasonic detectors installed above or on the ground of the parking space to control the lighting display status by sensing whether the parking space is occupied; a red light indicates that the parking space is occupied, and a green light indicates that the parking space is available, providing users with intuitive parking space status information to facilitate them to quickly find an available parking space. In addition, some outdoor parking lots are also equipped with ground guiding signs, such as arrows, lane numbers, etc., to help drivers identify driving routes and area divisions.

[0018] For indoor parking lots, static guidance is usually carried out by using parking space guiding lights and parking space remaining quantity guiding signs. The lighting of the parking space guiding lights shows the usage status of the parking space. The parking space remaining quantity guiding signs are usually installed at the main passages or entrances of the parking lot, and display the approximate number of remaining parking spaces in numbers or colors to help users quickly judge the congestion degree of the parking area. Some indoor parking lots also adopt the method of zoning guidance, dividing areas by different colors or numbers to guide users to park in the corresponding areas.

[0019] However, this traditional guidance method has many limitations. When relying on manual command, it is necessary to deploy dedicated personnel to guide at each fork in the parking lot. This will undoubtedly bring a huge burden on labor costs in large parking lots. When only relying on simple guiding signs, users need to find parking spaces by themselves, and this method is less efficient. Especially during peak hours, it is easy to cause traffic congestion and accident risks. In addition, if the information of facilities such as parking space guiding lights is not updated in a timely manner, there may be a situation where multiple users compete for the same parking space, which will not only further extend the parking time, but also exacerbate traffic chaos, ultimately resulting in a poor parking experience for users.

[0020] Therefore, the embodiments of the present application provide a parking guidance system. After the user sends a parking request to the parking guidance system, the user only needs to follow the guiding device to move to complete parking. During the guiding process, the guiding device can detect the distance from the user's vehicle. When the distance from the user's vehicle is far, it stops moving and waits for the user's vehicle. When the distance from the user's vehicle is close, it continues to move to guide the user to park until parking is completed. In this way, the parking efficiency is relatively high, and the user's parking experience can be improved.

[0021] The parking guidance system provided by the embodiments of the present application will be described below.

[0022] Figure 1 is a schematic structural diagram of a parking guidance system provided by the embodiments of the present application. Refer to Figure 1 As shown in the figure, the parking guidance system 10 may include a guiding platform 101 and a plurality of guiding devices 102.

[0023] The guiding platform 101 can communicate with the guiding device 102 through a wireless connection.

[0024] The guiding platform 101 is used to receive a parking request and generate a guiding task according to the parking request. Exemplarily, the parking request may be sent by a user terminal. For example, after the user logs in to the application (APP) installed on the terminal, the parking request may be sent to the guiding platform 101 through the APP. Exemplarily, the terminal may be a mobile terminal, an in-vehicle terminal, etc., and the embodiments of the present application do not limit this.

[0025] Optionally, after generating the guiding task, the guiding platform 101 may send the guiding task to the guiding device 102 to instruct the guiding device 102 to guide the user to park the vehicle.

[0026] Optionally, the guiding platform 101 may include a guiding interaction system, which is used to confirm the status between multiple guiding devices 102 and to confirm the status between the guiding device 102 and the user terminal.

[0027] The guiding device 102 is used to receive the guiding task sent by the guiding platform 101 and guide the user to park the vehicle according to the guiding task. Exemplarily, the guiding device 102 may be an autonomous mobile robot, a drone, etc., and the embodiments of the present application do not limit this.

[0028] Optionally, the multiple guiding devices 102 have device types, and different types of guiding devices 102 are used to implement different functions.

[0029] Optionally, the parking guiding system 10 may further include a parking space sensing system, which is used to manage the parking space status of each parking space in the parking lot. Exemplarily, the parking space status may include occupied, unoccupied, etc.

[0030] Optionally, the parking space sensing system may manage the parking space information of all parking spaces in the parking lot. For example, the parking space information may include information such as the parking space size, whether there is a charging facility, and whether it is a disabled parking space, and the embodiments of the present application do not limit this.

[0031] Optionally, the parking guiding system 10 may further include a path monitoring system, which is used to monitor the road condition information in the parking lot, determine whether an abnormal event occurs according to the road condition information, and determine the position information of the guiding device 102. Exemplarily, the monitoring system may include multiple cameras, and the multiple cameras may be set at key nodes of the driving lanes in the parking lot, such as intersections, corners, etc.

[0032] The guiding platform 101, the guiding device 102 and the guiding interaction system provided by the embodiments of the present application will be described below respectively.

[0033] Figure 2 It is a schematic diagram of a guidance platform provided by an embodiment of the present application. Refer to Figure 2 , the guidance platform 101 includes a task receiving and distributing module 1011, a guidance path execution module 1012, an abnormal event warning module 1013, and a data analysis and statistics module 1014.

[0034] Among them, the task receiving and distributing module 1011 is used to receive task requests, generate task information according to the task requests, and allocate the task information to the guidance device 102 for execution.

[0035] Exemplarily, the task receiving and distributing module 1011 may include a user task receiving unit, a system task receiving unit, a task classification unit, and a task allocation unit.

[0036] The user task receiving unit is used to receive task requests sent by user terminals. Exemplarily, the user task requests may be parking requests, reserved parking requests, parking space replacement requests, etc., which are not limited in the embodiments of the present application.

[0037] The system task receiving unit is used to receive task requests sent by the guidance device 102, the monitoring system, etc. Exemplarily, the system task requests may be inspection tasks, collaborative tasks, abnormal handling tasks, information collection tasks, etc., which are not limited in the embodiments of the present application.

[0038] The task classification unit is used to classify tasks according to task types and task urgency levels. Exemplarily, the task types may include guidance tasks, abnormal handling tasks, information collection tasks, etc., which are not limited in the embodiments of the present application. Exemplarily, the task urgency levels may include urgent, important, normal, etc.

[0039] For example, the task urgency level of the abnormal handling task is urgent, the task urgency level of the guidance task is important, and the task urgency level of the information collection task is normal.

[0040] The task allocation unit is used to allocate tasks to the guidance device 102 according to task types, system resources (including but not limited to the device type of the guidance device 102), and task urgency levels.

[0041] Optionally, the task allocation unit may also determine the guidance device 102 for executing tasks according to the task execution success rate of the guidance device 102.

[0042] The guidance path execution module 1012 is used to perform path planning, optimize the planned path, and evaluate the planned path. Exemplarily, the guidance path execution module 1012 may include a path planning unit, a path optimization unit, a path monitoring unit, and a path evaluation unit.

[0043] The path planning unit is used to perform path planning according to task information. For example, the path planning unit can perform path planning according to a path planning algorithm in combination with one or more of the road layout, obstacle distribution, and traffic flow in the parking lot.

[0044] The path optimization unit is used to optimize the planned path according to the real-time traffic information (such as road construction, traffic congestion, etc.) in the parking lot and the task execution progress.

[0045] The path monitoring unit is used to monitor the position information of the guiding device 102 in real time, and determine whether the guiding device 102 moves according to the planned path based on the position information of the guiding device 102. For example, the path monitoring unit can be the above-mentioned path monitoring system.

[0046] Optionally, if the path monitoring unit detects that the guiding device 102 does not move according to the planned path, the guiding platform 101 can re-plan the path according to the current position information of the guiding device 102.

[0047] The path evaluation unit is used to evaluate the planned path used when performing a task, and determine the effectiveness of the path according to the task execution data of the guiding device 102. For example, the task execution data can include the task completion time, the number of received exception messages, the severity of the exception messages, and the frequency of path adjustment, etc., and the embodiments of the present application do not limit this.

[0048] For example, the path evaluation unit can evaluate the path through a scoring mechanism. For example, when the path evaluation unit determines that the effectiveness of a path is relatively high, it can increase the score of the path; when it determines that the effectiveness of a path is relatively low, it can reduce the score of the path. By quantitatively scoring the path, when planning a path, the path score can be used as a reference condition for path selection, so that the effectiveness of path planning can be improved.

[0049] The abnormal event warning module 1013 is used to analyze the received abnormal events and issue warnings according to the abnormal events. For example, the abnormal event warning module 1013 can include an abnormal event summary unit, an abnormal event analysis unit, an abnormal event warning unit, and a potential abnormal event mining unit.

[0050] The abnormal event summary unit is used to summarize and store the received abnormal events to ensure the integrity and standardization of the abnormal event records. For example, the abnormal events can include abnormal occupancy events, pedestrian intrusion into the driving lane events, congestion events, etc., and the embodiments of the present application do not limit this.

[0051] The abnormal event analysis unit is used to analyze the summarized abnormal events to determine the patterns, trends, and potential causes of the occurrence of abnormal events. By way of example, the abnormal event analysis unit can analyze abnormal events through data analysis and / or machine learning algorithms.

[0052] The abnormal event warning unit is used to issue warnings according to the types and severities of abnormal events. For example, the abnormal event warning unit can send warning messages to the staff. By way of example, the severities of abnormal events can include minor, medium, severe, etc.

[0053] Optionally, if the severity of the abnormal event is severe, the abnormal event warning unit can trigger multi-department collaborative processing. For example, if a security event is received, the abnormal event warning unit can contact departments such as medical and transportation for processing.

[0054] The potential abnormal event mining unit is used to predict potential abnormal events based on historical and real-time abnormal events and take preventive measures in advance. For example, when the potential abnormal event mining unit receives an abnormal occupancy event, it predicts that congestion may occur based on the abnormal occupancy event, and the guidance platform 101 can plan the route in advance to avoid exacerbating the congestion.

[0055] The data analysis and statistics module 1014 is used to analyze, mine, and statistically analyze the collected data. By way of example, the data analysis and statistics module 1014 can include a data collection unit, a data analysis unit, a data mining unit, and a statistical report generation unit.

[0056] The data collection unit is used to collect and store data. By way of example, the data collection unit can collect data from the guidance device 102, user terminals, the monitoring system, etc. For example, the data collection unit can collect vehicle driving trajectories, parking durations, abnormal event information, user operation records, etc. from user terminals, and the embodiments of the present application are not limited thereto.

[0057] The data analysis unit is used to perform statistical analysis on the collected data. By way of example, the data analysis unit can perform data analysis through data analysis and / or machine learning algorithms. For example, the data analysis unit can analyze data such as vehicle flow, parking duration, abnormal events, etc., and analyze the parking spaces used by users and satisfaction.

[0058] The data mining unit is used to mine potential information and associations from the data through data mining techniques to provide a data basis for optimization and service improvement. For example, the data mining unit can mine the traffic flow patterns at different time periods in the parking lot, parking space preferences, statistical rules of user parking durations, and occupancy rates and turnover rates of parking spaces in different areas. The embodiments of the present application are not limited thereto.

[0059] The statistical report generation unit is used to generate various statistical reports based on the results of data analysis, and display the operation status, abnormal event conditions, and user feedback of the parking guidance system 10 in the form of charts, tables, etc., so as to provide decision-making support for the operation and optimization of the parking guidance system 10.

[0060] Optionally, the guidance system 10 may include a verification module, which is used to perform login verification on the user terminal. When the login verification is passed, it is allowed to receive task requests sent by the user terminal; when the login verification fails, it refuses to receive task requests sent by the user terminal.

[0061] Optionally, the guidance interaction system may include a first collaborative interaction module and a second collaborative interaction module.

[0062] The first collaborative interaction module is used for information interaction, status perception, and collaborative actions among multiple guiding devices 102. Exemplarily, the first collaborative interaction module includes a guiding device position judgment unit, a guiding device status judgment unit, and a guiding device action judgment unit.

[0063] The guiding device position judgment unit is used to perform relative position judgment among multiple guiding devices 102 and relative position judgment of the traveling route.

[0064] The guiding device status judgment unit is used to perform status judgment among multiple guiding devices 102. Exemplarily, the status of the guiding device 102 includes a boot guiding state, a standby state, an abnormal fault state, a shutdown state, etc., and the embodiments of the present application do not limit this.

[0065] The guiding device action judgment unit is used to perform action judgment among multiple guiding devices 102, and the actions include collaborative route actions, relay guiding actions for vehicles or vehicle fleets, guiding conflict pre-judgment, and route recalculation actions, etc.

[0066] Among them, the collaborative route action judgment refers to the route judgment between the collaborative guiding device 102 and the guided guiding device 102; the relay guiding action judgment for vehicles or vehicle fleets refers to the position judgment between the guiding device 102 guiding the vehicle or vehicle fleet and the relay guiding device 102; the guiding conflict pre-judgment judgment refers to pre-judging whether there is a path conflict among all guiding devices 102 performing guiding tasks; the route recalculation action judgment refers to when there is a path conflict among guiding devices 102, recalculating the moving speed of the guiding devices 102 with path conflicts to avoid conflicts.

[0067] The second collaborative interaction module is used to achieve efficient communication and collaborative interaction with the user terminal. Exemplarily, the terminal may be a mobile terminal, an in-vehicle terminal, etc., and the embodiments of the present application do not limit this.

[0068] Exemplarily, the second collaborative interaction module may include a pairing interaction unit, a terminal position and status confirmation unit, a terminal anomaly warning unit, and a terminal view voice guidance unit.

[0069] The pairing interaction unit is used to pair the guiding device 102 with the user terminal to ensure communication between the guiding device 102 and the user terminal.

[0070] Exemplarily, the guiding device 102 may initiate a pairing request to the pairing interaction unit. After receiving the pairing request, the pairing interaction unit sends the pairing request to the user terminal through wireless communication technologies (such as Bluetooth, wireless fidelity (Wi-Fi), etc.). After the user terminal confirms, the pairing is completed.

[0071] The terminal position and status confirmation unit is used to confirm the relative position and following relationship between the guiding device 102 and the user terminal, and to determine whether the user vehicle is dynamically following the guiding device 102, or whether the user vehicle has reached the parking space.

[0072] The terminal anomaly warning unit is used to push the anomaly event message sent by the guiding device 102 to the user terminal to remind the user of the occurrence of an anomaly event.

[0073] The terminal view voice guidance unit is used to display the guiding route to the user terminal, display the surrounding environment status information, and use voice synthesis technology to provide the user with anomaly reminder information, such as reminding that there is an obstacle ahead or the guiding device 102 makes a turning operation.

[0074] Figure 3 is a schematic diagram of a guiding device provided by an embodiment of the present application. Refer to Figure 3 , the guiding device 102 includes an intelligent recognition module 1021, a communication module 1022, an obstacle avoidance module 1023, an acoustic-optic guidance module 1024, and a performance management module 1025.

[0075] Among them, the intelligent recognition module 1021 is used to collect the environmental information in the parking lot and determine whether an anomaly event occurs according to the environmental information. Exemplarily, the anomaly event may include an anomaly occupancy event, a pedestrian intrusion into the driving lane event, a congestion event, etc., and the embodiments of the present application do not limit this.

[0076] Exemplarily, the intelligent recognition module 1021 may include a driving lane and parking space anomaly occupancy recognition unit, a pedestrian intrusion into the driving lane recognition unit, and a congestion recognition unit.

[0077] Among them, the driving lane and parking space abnormal occupation recognition unit is used to recognize whether there is abnormal occupation of the driving lanes and parking spaces in the parking lot. For example, such abnormal occupation may include vehicle occupation, material occupation, pedestrian gathering occupation, etc., which are not limited in the embodiments of the present application.

[0078] Optionally, when the driving lane and parking space abnormal occupation recognition unit determines that there is abnormal occupation, it may send an abnormal occupation message to the guidance platform 101 and the guidance interaction system.

[0079] The pedestrian intrusion into the driving lane recognition unit is used to recognize whether there are pedestrians in the driving lane.

[0080] Optionally, after the pedestrian intrusion into the driving lane recognition unit recognizes that there are pedestrians in the driving lane, it may send a pedestrian intrusion into the driving lane message to the guidance platform 101 and the guidance interaction system.

[0081] The congestion recognition unit is used to recognize whether the driving lane is congested.

[0082] Optionally, after the congestion recognition unit recognizes that the driving lane is congested, it may send a congestion message to the guidance platform 101 and the guidance interaction system.

[0083] Optionally, the intelligent recognition module 1021 may further include a license plate recognition unit, which is used to recognize the license plate number of the vehicle.

[0084] The communication module 1022 is used to communicate with the user terminal, the parking space sensing system and the guidance platform 101.

[0085] Exemplarily, the communication module 1022 may include a vehicle communication unit, a parking space communication unit and a guidance platform communication unit.

[0086] The vehicle communication unit is used to communicate with the user terminal and receive vehicle status information, control instructions, service request messages, etc. sent by the user terminal.

[0087] Exemplarily, the vehicle status information may include vehicle speed, vehicle position, vehicle driving direction, etc., which are not limited in the embodiments of the present application.

[0088] Exemplarily, the control instruction may include a start guidance instruction, a stop guidance instruction, a parking completion confirmation instruction, etc., which are not limited in the embodiments of the present application.

[0089] Exemplarily, the service request message may include a parking space replacement request, an information query request, etc., which are not limited in the embodiments of the present application.

[0090] The communication unit with the parking space is used to communicate with the parking space sensing system, send parking space reservation messages, occupancy messages, etc. to the parking space sensing system, and receive the parking space information sent by the parking space sensing system.

[0091] The communication unit with the guidance platform is used to communicate with the guidance platform 101, send abnormal event messages, requests, etc. to the guidance platform 101, and receive various messages sent by the guidance platform 101.

[0092] Exemplarily, the abnormal event message may include the abnormal occupancy message, the pedestrian intrusion into the driving lane message, the congestion message, etc., and the embodiments of the present application do not limit this.

[0093] The obstacle avoidance module 1023 is used to identify obstacles in the driving lane, plan a path according to the identified obstacles, and perform obstacle avoidance.

[0094] The sound and light guidance module 1024 is used to prompt and guide pedestrians or staff through sound and light signals.

[0095] Exemplarily, the sound and light guidance module 1024 may include a shouting unit, a flashing warning light unit, etc., and the embodiments of the present application do not limit this.

[0096] The shouting unit is used to prompt pedestrians when the guidance device 102 detects an abnormal event. For example, the shouting unit is used to shout and drive away or conduct guidance and command when the guidance device 102 detects pedestrians intruding into the driving lane, pedestrians gathering, or congestion.

[0097] The flashing warning light unit is used to warn pedestrians and users when the guidance device 102 detects an emergency event or an abnormal event, and remind the staff to quickly intervene and handle the situation.

[0098] The performance management module 1025 is used to detect the operating state of the guidance device 102, and when an abnormal operating state is detected, send an abnormal message to the guidance platform 101, the user terminal, and the guidance interaction system.

[0099] Exemplarily, the performance management module 1025 includes a device management unit, a battery management unit, an automatic guarantee unit, etc., and the embodiments of the present application do not limit this.

[0100] The device management unit is used to detect the performance parameters of the guidance device 102, such as the device temperature, the device operation duration, and the operating state of the device components, and send an abnormal message to the guidance platform 101, the user terminal, and the guidance interaction system when the performance parameters exceed the normal range.

[0101] The battery management unit is used to manage the battery power of the guidance device 102 and automatically charge when the battery power is less than the preset power.

[0102] The automatic fault reporting unit is used for fault detection. In the case of detecting a fault, it sends a fault message to the guidance platform 101, displays the fault type and suggestions for fault solution, and can also execute preset measures. By way of example, the fault type may include hardware faults and software faults. For instance, the hardware faults may include sensor faults, communication module 1022 faults, etc., and the software faults may include program exceptions, algorithm errors, etc. The embodiments of the present application do not limit this.

[0103] The preset measures can be set in advance. By way of example, the preset measure may be to restart the guidance device 102, etc.

[0104] The parking guidance method provided by the embodiments of the present application will be explained in detail below.

[0105] Figure 4 It is a flowchart of a parking guidance method provided by the embodiments of the present application. The parking guidance method is applied to a parking guidance system, and specifically can be applied to the guidance platform 101 and the guidance device 102 in the parking guidance system 10 described in the above embodiments. Refer to Figure 4 and the method includes the following steps: Step 401: The guidance platform receives a parking request sent by the user terminal.

[0106] The parking request is used to indicate that the user needs to park. By way of example, the parking request may be sent by the user through an in-vehicle terminal, or the parking request may be sent by the user through a mobile terminal. The embodiments of the present application do not limit this. For instance, the user can log in to the application program in the user terminal and then send the parking request to the guidance platform through the application program.

[0107] In some embodiments, before the guidance platform receives the parking request, it may receive a login request message sent by the user terminal. The login request message includes the user account and password, and is used to request to log in to the guidance platform. After the guidance platform receives the login request message, it can verify the user account and password. In the case of successful verification, the guidance platform allows the user terminal to log in. After that, the user terminal can send the parking request to the guidance platform. In the case of failed verification, the guidance platform rejects the user terminal from logging in. In this way, the user legitimacy can be ensured.

[0108] Step 402: The guidance platform generates a first guidance task according to the parking request. The first guidance task includes a target vehicle identifier, a first parking space identifier, a first guidance device identifier, and a first path.

[0109] The target vehicle identifier is used to identify the target vehicle, such as the license plate number of the target vehicle.

[0110] The first guiding task is the task of guiding the target vehicle to park.

[0111] The first parking space identifier is the identifier of the parking space allocated by the guiding platform for the target vehicle.

[0112] The first guiding device identifier is the identifier of the guiding device for guiding the target vehicle to park.

[0113] The first path is the path from the parking lot entrance to the first parking space. By way of example, the first guiding path can be generated by the path planning unit in the guiding platform.

[0114] After the guiding platform generates the first guiding task according to the parking request, it can send the first guiding task to the first guiding device to instruct the first guiding device to guide the target vehicle to park.

[0115] It should be noted that in the embodiments of the present application, if there is a fleet that needs to park and the fleet needs to be parked as a whole in an area, the parking request may include multiple target vehicle identifiers, and the multiple target vehicle identifiers are the vehicle identifiers of each vehicle in the multiple vehicles of the fleet. In this case, the first guiding task generated by the guiding platform according to the parking request includes multiple target vehicle identifiers, the first parking space identifier corresponding to each target vehicle identifier in the multiple target vehicle identifiers (i.e., the identifier of each parking space in the multiple parking spaces in the area), the first guiding device identifier, and the first path. At this time, the first path is the path from the parking lot entrance to a specific parking space in the area (such as the first parking space in the area).

[0116] In some embodiments, the parking request includes a target vehicle identifier and a guiding task identifier, and the operation in step 402 may include the following steps (1) to (4): Step (1): When the guiding platform determines that a guiding task needs to be executed according to the guiding task identifier, it determines the first parking space from one or more third parking spaces, and the third parking space is the vacant parking space in the parking lot.

[0117] The guiding task identifier is used to identify a specific guiding task. By way of example, the guiding task identifier may include an identifier of a reserved guiding task, an identifier of an immediate guiding task, etc., and the embodiments of the present application do not limit this.

[0118] If the guiding task identifier is the identifier of an immediate guiding task, it means that the user currently needs to park, so it can be determined that a guiding task needs to be executed, and the first parking space is determined from one or more third parking spaces, that is, the first parking space identifier is determined; if the guiding task identifier is the identifier of a reserved guiding task, it means that the user needs to park at a certain time in the future, so the first parking space does not need to be determined currently, and it will be determined when the reserved time arrives later.

[0119] It should be noted that in the embodiments of the present application, there are two cases where the guiding platform determines the first parking space from one or more third parking spaces. In one case, the parking request does not include parking space requirement information, and the parking space requirement information includes facility requirement information and / or location requirement information. In this case, the guiding platform can determine the first parking space according to the user preference information. In the other case, the parking request includes the parking space requirement information. In this case, the guiding platform can determine the first parking space according to the parking space requirement information. The following is a detailed explanation of these two cases.

[0120] In the first case, the guiding platform obtains the parking space information of each of the one or more third parking spaces, and the parking space information includes facility information and location information; determines one or more fourth parking spaces from the one or more third parking spaces according to the user preference information corresponding to the target vehicle identifier and the parking space information of the one or more third parking spaces; and determines the first parking space from the one or more fourth parking spaces.

[0121] The facility information in the parking space information is the information of the facilities available in the parking space. By way of example, the facility information may include having a charging facility, not having a charging facility, being a mechanical multi-storey parking facility, being a disabled parking space facility, etc., and the embodiments of the present application do not make any limitations thereto.

[0122] The location information in the parking space information is used to indicate the location of the parking space in the parking lot.

[0123] The user preference information is the parking space information preferred by the user. By way of example, the user preference information may include facility preference information and / or location preference information.

[0124] The facility preference information is the information of the parking space facilities preferred by the user. For example, the facility preference information may be a parking space with a charging facility.

[0125] The location preference information is the information of the parking space location preferred by the user. By way of example, the location preference information may be a parking space close to the elevator, a parking space close to the mall, a parking space close to the parking lot exit, etc., and the embodiments of the present application do not make any limitations thereto.

[0126] The guiding platform includes the user preference information corresponding to each vehicle identifier. There is a corresponding relationship between the vehicle identifier and the user preference information. The corresponding relationship can be set in advance. By way of example, the corresponding relationship can be set according to the parking space information in the historical parking record of the vehicle identifier.

[0127] The fourth parking space is a parking space whose parking space information matches the user preference information corresponding to the target vehicle identifier.

[0128] Since the user preference information is related to the user's parking habit, the first parking space determined according to the user preference information corresponding to the target vehicle identifier can well meet the user's demand for the parking space, thereby providing a more accurate and personalized parking service for the user. In this way, the user experience and parking efficiency can be improved.

[0129] In some embodiments, the guidance platform includes the scores of each parking space. The operation of the guidance platform to determine the first parking space from the one or more fourth parking spaces may be: determining the fourth parking space with the highest score among the one or more fourth parking spaces as the first parking space.

[0130] The score of a parking space is related to the user's satisfaction with the parking space. Specifically, the higher the score of a parking space, the higher the user's satisfaction with the parking space, that is, the parking space can better meet the user's needs; the lower the score of a parking space, the lower the user's satisfaction with the parking space, that is, the parking space cannot well meet the user's needs. Exemplarily, the score of the parking space can be determined according to the evaluation of the parking space by the user terminal.

[0131] If the fourth parking space with the highest score among the one or more fourth parking spaces is determined as the first parking space, then the fourth parking space with the highest score can better meet the user's parking needs, thereby bringing a better parking experience to the user.

[0132] The second case: The guidance platform obtains the parking space information of each of the one or more third parking spaces, and the parking space information includes facility information and location information; according to the parking space demand information and the parking space information of the one or more third parking spaces, one or more fifth parking spaces are determined from the one or more third parking spaces, and the fifth parking space is a parking space whose parking space information matches the parking space demand information; the first parking space is determined from the one or more fifth parking spaces.

[0133] Exemplarily, the parking space demand information may include facility demand information and / or location demand information.

[0134] The facility demand information is the user's demand information for the facilities in the parking space. Exemplarily, the facility demand information is to have charging facilities, etc.

[0135] The location demand information is the user's demand information for the location where the parking space is located. Exemplarily, the location demand information may be a parking space near the parking lot exit, etc.

[0136] Exemplarily, the guidance platform may determine the fifth parking space with the highest score among the one or more fifth parking spaces as the first parking space.

[0137] Since the parking space demand information includes the user's demand for the parking space, the first parking space determined according to the parking space demand information can well meet the user's needs. In this way, the user's parking experience can be guaranteed.

[0138] Step (2): The guiding platform generates a first path based on the location information of the parking lot entrance and the location information of the first parking space.

[0139] The location information of the parking lot entrance is the starting point for guiding the user's vehicle to park and is also the starting point for the first guiding device to perform the first guiding task.

[0140] In some embodiments, the operation of the guiding platform generating a first path based on the location information of the parking lot entrance and the location information of the first parking space may be: the guiding platform generates one or more seventh paths through a path planning algorithm according to the location information of the parking lot entrance and the location information of the first parking space; obtains the scores of the one or more seventh paths; and determines the seventh path with the highest score among the one or more seventh paths as the first path.

[0141] The seventh path is the path from the parking lot entrance to the first parking space.

[0142] The scores of the one or more seventh paths are evaluated by the path evaluation unit according to the task execution data of historical guiding tasks. Exemplarily, the score of the seventh path is related to the task completion time of its historical guiding task, the number of abnormal events that occurred, the severity of the abnormal events, and the frequency of adjusting the path when moving in the seventh path.

[0143] If the score of a seventh path is higher, it indicates that the probability of abnormal events occurring when moving along this seventh path is smaller, and the time required to perform the guiding task along this seventh path may be shorter; if the score of a seventh path is lower, it indicates that the probability of abnormal events occurring when moving along this seventh path is larger, and the time required to perform the guiding task along this seventh path may be longer. In this case, determining the seventh path with the highest score among the one or more seventh paths as the first path can improve the execution efficiency of the first guiding task and ensure the user's parking experience.

[0144] Step (3): The guiding platform determines a first guiding device from the multiple guiding devices according to the task type of the guiding task.

[0145] There is a corresponding relationship between the task type of the guiding task and the device type of the guiding device. Different task types are executed by guiding devices of corresponding device types. This corresponding relationship can be preset, for example, it can be set by technicians according to the functions of the guiding devices.

[0146] In some embodiments, the operation of the guiding platform to determine the first guiding device from the multiple guiding devices according to the task type of the guiding task may be: the guiding platform determines one or more second guiding devices from the multiple guiding devices according to the task type; obtains the task execution success rate of each second guiding device among the one or more second guiding devices; and determines the second guiding device with the highest task execution success rate among the one or more second guiding devices as the first guiding device.

[0147] The second guiding device has the ability to execute the guiding task. The second guiding device may be an idle (i.e., not executing a task) guiding device.

[0148] Since the task execution success rate of the second guiding device can reflect the probability of the second guiding device completing the guiding task. Specifically, the lower the task execution success rate of a second guiding device, the greater the probability of a malfunction occurring when this second guiding device executes the guiding task; the higher the task execution success rate of a second guiding device, the smaller the probability of a malfunction occurring when this second guiding device executes the guiding task.

[0149] In this case, the guiding platform determines the second guiding device with the highest task execution success rate as the first guiding device, which can improve the success rate of completing the guiding task, thereby ensuring the parking efficiency and improving the user's parking experience.

[0150] Step (4): The guiding platform generates a first guiding task according to the target vehicle identifier, the first parking space identifier, the first guiding device identifier, and the first path.

[0151] Step 403: The guiding platform sends the first guiding task to the first guiding device, and the first guiding device is one of the multiple guiding devices.

[0152] After receiving the first guiding task, the first guiding device can start guiding the target vehicle to park.

[0153] Step 404: After receiving the first guiding task, the first guiding device moves along the first path to guide the target vehicle to move towards the first parking space.

[0154] In the embodiments of the present application, the user terminal sends a parking request to the guiding platform. After receiving the parking request, the guiding platform generates a first guiding task and then sends the first guiding task to the first guiding device. After receiving the first guiding task, the first guiding device can move along the first path to guide the user to park the vehicle. Since the user only needs to follow the first guiding device to complete parking, the parking experience is better. Moreover, since the guiding platform can receive the parking request in a timely manner and quickly generate a guiding task, the ineffective driving time of the vehicle in the parking lot can be reduced. By generating the optimal path (i.e., the first path) from the entrance of the parking lot to the designated parking space for each vehicle, the first guiding device can efficiently guide the user's vehicle to the parking space. Thus, the parking efficiency is relatively high.

[0155] Optionally, before moving along the first path, the first guiding device can identify the target vehicle through the license plate recognition unit according to the target vehicle identifier to determine the vehicle that needs to be guided.

[0156] Optionally, before moving along the first path, the first guiding device can also establish a communication connection with the user terminal.

[0157] Specifically, the first guiding device can initiate a pairing request to the pairing interaction unit. The pairing request includes the first guiding device identifier and the target vehicle identifier. After receiving the pairing request, the pairing interaction unit sends the pairing request to the user terminal corresponding to the target vehicle identifier. After receiving the pairing request, if the user terminal receives a confirmation operation based on the pairing request, it can establish a communication connection with the first guiding device.

[0158] In some cases, if the first guiding device is not at the entrance of the parking lot when it receives the first guiding task, it can send a path planning message to the guiding platform to instruct the guiding platform to plan a path from the current position to the entrance of the parking lot for the first guiding device.

[0159] In some embodiments, before moving along the first path, the first guiding device can send a fourth message to the parking space sensing system. The fourth message includes the target vehicle identifier and the first parking space identifier. The fourth message is used to indicate that the target vehicle reserves the first parking space. After receiving the fourth message, the parking space sensing system updates the parking space status of the first parking space according to the target vehicle identifier and the first parking space identifier, and sends the parking space information of the first parking space to the first guiding device. After receiving the parking space information of the first parking space, the first guiding device sends the parking space information of the first parking space to the user terminal.

[0160] Exemplarily, the parking space sensing system can update the parking space status of the first parking space to reserved and display the reservation information on the display screen at the position of the first parking space.

[0161] In this way, the parking space sensing system can update the parking space status in real time, facilitating the management of parking spaces and ensuring the timeliness of information updates such as parking space status.

[0162] After the user terminal receives the parking space information of the first parking space, the user can know the facility information and location information of the first parking space, and determine whether the first parking space meets the requirements based on this; in the case of meeting the requirements, the user terminal can send a confirmation message to the first guiding device, and the first guiding device can start guiding the user's vehicle to park; in the case of not meeting the requirements, the user terminal can send a parking space replacement request message to the first guiding device to request a parking space replacement.

[0163] The process of replacing the parking space will be explained in detail below. The process of replacing the parking space may include the following steps (1) to (6).

[0164] Step (1): The first guiding device receives the parking space replacement request message sent by the user terminal. The parking space replacement request message includes parking space requirement information, the target vehicle identifier, and the location information of the target vehicle. The parking space requirement information includes facility requirement information and / or location requirement information.

[0165] The parking space replacement request message is used to request a parking space replacement.

[0166] Step (2): The first guiding device sends the parking space replacement request message to the guiding platform.

[0167] Step (3): After receiving the parking space replacement request message, the guiding platform determines the sixth parking space according to the parking space requirement information. The sixth parking space is the parking space that meets the user's requirements determined.

[0168] Step (4): The guiding platform generates a fourth path according to the location information of the sixth parking space and the location information of the target vehicle. The fourth path is the path from the current location of the target vehicle to the sixth parking space.

[0169] Step (5): The guiding platform sends a fifth message to the first guiding device. The fifth message includes the sixth parking space identifier and the fourth path.

[0170] Step (6): After receiving the fifth message, the first guiding device moves according to the fourth path to guide the target vehicle to move towards the sixth parking space.

[0171] In this way, the user can replace the parking space in a timely manner, thereby reducing the time cost and improving the user's parking experience.

[0172] In some embodiments, after the guiding platform sends a first guiding task to the first guiding device, the first guiding device may send the device status information of the first guiding device to the guiding platform. After receiving the device status information, when the guiding platform determines that the first guiding device is abnormal based on the device status information, it determines a fourth guiding device from the multiple guiding devices; generates a fifth path based on the location information of the fourth guiding device and the location information of the first guiding device; generates a sixth path based on the location information of the first guiding device and the location information of the destination parking space; and sends a second guiding task to the fourth guiding device, where the second guiding task includes a target vehicle identifier, a destination parking space identifier, a fourth guiding device identifier, a fifth path, and a sixth path. After receiving the second guiding task, the fourth guiding device moves to the starting position of the sixth path according to the fifth path and then continues to move along the sixth path to guide the target vehicle to the destination parking space.

[0173] The first guiding device sending the device status information to the guiding platform can be periodic. The period for the first guiding device to send the device status information can be preset.

[0174] Exemplarily, the device status information of the first guiding device may include device temperature, device running duration, running status of device components, battery power, etc., and the embodiments of the present application do not limit this.

[0175] The fourth guiding device is a guiding device that cooperates with the first guiding device to execute the first guiding task.

[0176] The fifth path is the path for the fourth guiding device to move from its current position to the position where the first guiding device is located.

[0177] The destination parking space is the parking space where the target vehicle currently needs to park. For example, the destination parking space can be the first parking space or the sixth parking space. When the user has not changed the parking space, the destination parking space is the first parking space; when the user has changed the parking space, the destination parking space is the sixth parking space.

[0178] The sixth path is the path for the fourth guiding device to execute the second guiding task.

[0179] In this way, when the first guiding device encounters an abnormal situation, the guiding system can quickly select a replacement device (i.e., the fourth guiding device) from other available guiding devices and re-plan the paths (i.e., the fifth path and the sixth path) to ensure the continuity of the guiding task and avoid the failure of the guiding task execution due to the failure of a single guiding device, which affects the user's parking experience.

[0180] It should be noted that during the process of the first guiding device guiding the user vehicle to park in the embodiment of the present application, that is, during the moving process, the distance between the first guiding device and the user vehicle can also be monitored in real time. When the distance from the user vehicle is relatively far, the first guiding device can wait for the user vehicle to ensure that the user vehicle can be accurately and safely guided to park. The following will explain this process in detail in combination with steps 4041 to 4043.

[0181] Step 4041: During the moving process, the first guiding device obtains the position information of the target vehicle from the user terminal.

[0182] Step 4042: The first guiding device determines the distance between the target vehicle and the first guiding device according to the position information of the target vehicle.

[0183] Step 4043: When the distance between the target vehicle and the first guiding device is greater than or equal to the preset distance, the first guiding device stops moving and sends a reminder message to the user terminal until the distance between the target vehicle and the first guiding device is less than the preset distance and then continues to move.

[0184] The preset distance can be set in advance.

[0185] If the distance between the target vehicle and the first guiding device is less than the preset distance, it means that the target vehicle is currently following the first guiding device normally; if the distance between the target vehicle and the first guiding device is greater than or equal to the preset distance, it means that there is an abnormality when the target vehicle follows the first guiding device, that is, the target vehicle may have an abnormal situation, such as losing the position of the first guiding device or not following the first guiding device, etc. This will affect the normal execution of the guiding task. Therefore, the first guiding device can stop moving and send a reminder message to the user terminal to prompt the user to follow the first guiding device in time. When the distance between the target vehicle and the first guiding device is less than the preset distance, the first guiding device continues to move to continue guiding the target vehicle to park. By monitoring the distance between the target vehicle and the guiding device in real time and dynamically adjusting the guiding behavior according to the distance, the guiding accuracy and reliability can be improved, and the user parking experience can be guaranteed.

[0186] In some cases, if the first guiding device continuously detects that the distance between the target vehicle and the first guiding device is greater than or equal to the preset distance for a period of time, the first guiding device can send an inquiry message to the guiding platform to instruct the guiding platform to notify the staff to contact the user to ensure the user's safety. At the same time, the first guiding device can send a message asking whether to continue guiding to the user terminal. After receiving the continue guiding instruction, the first guiding device can continue to wait; after receiving the end guiding instruction, the first guiding device can send an end guiding message to the guiding platform to instruct the guiding platform to end the guiding task.

[0187] In some cases, during the movement of the first guiding device, it can collect environmental information; in the case of determining that a congestion event has occurred based on the environmental information, it sends a first message to the guiding platform, and the first message includes a congestion event identifier and the location information of the first guiding device. Exemplarily, the congestion event can be determined after the first guiding device detects that multiple vehicles occupy a lane.

[0188] As an example, when the first guiding device determines that a lane occupancy event has occurred based on the environmental information, it performs a reminder action; after the reminder action lasts for a preset duration, if it detects that the lane occupancy event still exists, it sends a first message to the guiding platform.

[0189] The preset duration can be set in advance.

[0190] Exemplarily, the lane occupancy event can be determined after the first guiding device detects pedestrian intrusion into the driving lane, pedestrian aggregation in the lane, or a single vehicle occupying the lane. Exemplarily, the first guiding device can send a lane occupancy message to the guiding platform, the guiding interaction system, and the user terminal.

[0191] The reminder action is used to remind to stop occupying the driving lane. Exemplarily, the reminder action can include one or more of playing a warning voice, controlling a strobe light to flash, etc., and the embodiments of the present application do not limit this.

[0192] If it detects that the lane occupancy event still exists after the reminder action lasts for the preset duration, it indicates that the current lane has become congested, which will affect the first guiding device's execution of the guiding task. Therefore, a first message can be sent to the guiding platform to instruct the guiding platform to handle it. In this way, the guiding system can timely discover and handle congestion problems, thereby optimizing the execution efficiency of the guiding task. Optionally, the first guiding device can also send a first message to the user terminal and the guiding interaction system.

[0193] In some embodiments, after receiving the first message, when the guiding platform determines that the congestion event has occurred based on the congestion event identifier, it generates a second path according to the location information of the first guiding device; and sends the second path to the first guiding device. After receiving the second path, the first guiding device moves according to the second path to guide the target vehicle to the destination parking space.

[0194] The second path is the path from the location of the first guiding device to the destination parking space (such as the first parking space or the sixth parking space).

[0195] In this way, the guiding platform can respond to the congestion event in a timely manner, dynamically adjust the guiding path, and ensure the flexibility and adaptability of the guiding task. Moreover, by re-planning the path, the first guiding device can avoid the congested area and reduce the parking delay caused by congestion, thus ensuring the task execution efficiency.

[0196] Optionally, the operation of the guiding platform to generate the second path according to the position information of the first guiding device can be: the guiding platform generates one or more paths according to the position information of the first guiding device and the position information of the first parking space; obtains the traffic condition information of the parking lot; and determines the second path from the one or more paths according to the traffic condition information.

[0197] The traffic condition information of the parking lot can indicate the congestion condition of the driving lanes in the parking lot.

[0198] The second path is the path with better traffic conditions among the one or more paths.

[0199] Since the traffic condition information can reflect the abnormal events in the lanes in the parking lot, the second path with better traffic conditions can be determined according to the traffic condition information. Then, when the first guiding device moves along the second path subsequently, the probability of abnormal events occurring is relatively small. In this way, the execution efficiency of the guiding task can be ensured.

[0200] In some cases, during the movement of the first guiding device, the guiding platform can obtain the movement path, movement speed, and position information of the first guiding device, and obtain the movement path, movement speed, and position information of the third guiding device; when the guiding platform determines that there is a path conflict between the first guiding device and the third guiding device according to the movement paths, movement speeds, and position information of the first guiding device and the third guiding device, it adjusts the movement speed of the first guiding device and / or the third guiding device.

[0201] The third guiding device is the guiding device that is performing tasks among the multiple guiding devices except the first guiding device.

[0202] In this way, when the guiding platform detects a path conflict, it can dynamically adjust the movement speed of the first guiding device and / or the third guiding device to ensure that the first guiding device and the third guiding device can smoothly execute the guiding task and avoid task interruption or delay caused by the conflict. Moreover, by detecting whether a path conflict occurs, the occurrence of abnormal events can be predicted in advance, and corresponding measures can be taken accordingly. In this way, abnormal events can be avoided to a certain extent, and the execution efficiency of the guiding task can be ensured.

[0203] In some embodiments, during the movement of the first guiding device, the first guiding device may send the position information of the first guiding device to the guiding platform; after receiving the position information of the first guiding device, when it is determined that the first guiding device has deviated from the planned path according to the position information of the first guiding device, the guiding platform generates an eighth path based on the position information of the first guiding device and the position information of the destination parking space; sends the eighth path to the first guiding device; after receiving the eighth path, the first guiding device moves according to the eighth path.

[0204] The eighth path is the path from the position of the first guiding device to the destination parking space (such as the first parking space or the sixth parking space).

[0205] Exemplarily, the guiding platform may also obtain the position information of the first guiding device through the monitoring system.

[0206] The first guiding device deviating from the path means that the first guiding device does not move to guide the vehicle according to the planned path, which may affect the normal execution of the guiding task and even increase the probability of abnormal events. Therefore, the guiding platform can generate an eighth path based on the position information of the first guiding device and the position information of the destination parking space to instruct the first guiding device to move according to the eighth path. In this way, the guiding platform can timely detect the situation of path deviation and handle it to ensure the normal execution of the guiding task.

[0207] In some cases, during the movement of the first guiding device, the first guiding device collects environmental information; when it is determined that a parking space occupancy event has occurred according to the environmental information, the first guiding device sends a second message to the guiding platform, and the second message includes a parking space occupancy event identifier and the position information of the first guiding device. After receiving the second message, when it is determined that the parking space occupancy event has occurred according to the parking space occupancy event identifier, the guiding platform determines a second parking space according to the position information of the first guiding device; determines a third path according to the position information of the first guiding device and the position information of the second parking space; sends a third message to the first guiding device, and the third message includes a second parking space identifier and the third path. After receiving the third message, the first guiding device moves according to the third path to guide the target vehicle to move to the second parking space.

[0208] Exemplarily, the parking space occupancy event may be determined by the first guiding device after detecting an obstacle or another vehicle occupying the destination parking space (such as the first parking space or the sixth parking space).

[0209] The second parking space is the parking space where the target vehicle can be parked after being re-determined.

[0210] The third path is the path from the position of the first guiding device to the second parking space.

[0211] Optionally, if the first guiding device determines that a parking space occupancy event has occurred, it may send a parking space occupancy message to the user terminal to ask the user whether to change the parking space; in the case where the user agrees to change the parking space, the first guiding device may send a second message to the guiding platform to reassign a parking space for the target vehicle; in the case where the user does not agree to change the parking space, the first guiding device sends a sixth message to the guiding platform, and after receiving the sixth message, the guiding platform may send a notification message to the staff to instruct the staff to intervene. In this way, the situation of the parking space being occupied can be flexibly handled to ensure the user's parking experience.

[0212] In some embodiments, after the first guiding device guides the target vehicle to the destination parking space to complete parking, it may send a parking completion message to the guiding platform, and the parking completion message includes the path completion time, the number of abnormal events, etc. After receiving the parking completion message, the guiding platform may update information such as the guiding path score and the task execution success rate of the first guiding device accordingly.

[0213] In some embodiments, after the user finishes parking, the user may send a parking space evaluation message to the guiding platform, and the parking space evaluation message includes the parking space identifier. After receiving the parking space evaluation message, the guiding platform may update the score of the parking space accordingly.

[0214] It should be noted that for various guiding behaviors performed by the first guiding device during movement in the above embodiments, after the first guiding device is replaced by the fourth guiding device, the fourth guiding device may execute the same guiding behavior logic to ensure the normal execution of the guiding task.

[0215] In the embodiments of the present application, the guiding platform receives a parking request sent by the user terminal, generates a first guiding task according to the parking request, and the first guiding task includes a target vehicle identifier, a first parking space identifier, a first guiding device identifier, and a first path, and the first path is the path from the parking lot entrance to the first parking space. Then, the guiding platform sends the first guiding task to the first guiding device. After receiving the first guiding task, the first guiding device moves along the first path to guide the target vehicle to move towards the first parking space. Among them, during the movement of the first guiding device, it obtains the position information of the target vehicle from the user terminal, and in the case where it determines that the distance between the target vehicle and the first guiding device is greater than or equal to a preset distance according to the position information of the target vehicle, it stops moving and sends a reminder message to the user terminal until the distance between the target vehicle and the first guiding device is less than the preset distance and then continues to move. In the embodiments of the present application, after sending the parking request, the user terminal only needs to follow the first guiding device to move to complete parking, which can improve the parking efficiency. Moreover, during the guiding process, the first guiding device always pays attention to the distance from the target vehicle and dynamically adjusts the guiding behavior according to this distance, so that the guiding accuracy and reliability can be improved to ensure the user's parking experience.

[0216] Figure 5 This is a schematic structural diagram of a computer device provided by an embodiment of the present application. As Figure 5 shown, the computer device 5 includes: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50. When the processor 50 executes the computer program 52, it implements the steps performed by the guiding platform or guiding device in the parking guidance method in the above embodiment.

[0217] Those skilled in the art can understand that Figure 5 merely an example of the computer device 5, which does not constitute a limitation on the computer device 5, and may include more or fewer components than shown, or combine some components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0218] The processor 50 may be a central processing unit (CPU), and the processor 50 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0219] In some embodiments, the memory 51 may be an internal storage unit of the computer device 5, such as the hard disk or memory of the computer device 5. In other embodiments, the memory 51 may also be an external storage device of the computer device 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device 5. Further, the memory 51 may also include both the internal storage unit and the external storage device of the computer device 5. The memory 51 is used to store an operating system, application programs, a boot loader, data, and other programs. The memory 51 may also be used to temporarily store data that has been output or will be output.

[0220] An embodiment of the present application further provides a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor. When the processor executes the computer program, the steps in any of the above method embodiments are implemented.

[0221] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in any of the above method embodiments can be implemented.

[0222] An embodiment of the present application provides a computer program product. When it runs on a computer, it causes the computer to execute the steps in any of the above method embodiments.

[0223] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of the present application, a computer program can be used to instruct the relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps in any of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can at least include: any entity or device capable of carrying the computer program code to the photographing device / terminal device, recording medium, computer memory, ROM (read-only memory), RAM (random access memory), CD-ROM (compact disc read-only memory), magnetic tape, floppy disk, and optical data storage device, etc. The computer-readable storage medium mentioned in the present application can be a non-volatile storage medium, that is to say, it can be a non-transitory storage medium.

[0224] It should be understood that all or part of the steps to implement the above embodiments can be achieved by software, hardware, firmware, or any combination thereof. When implemented using software, it can be fully or partially implemented in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions can be stored in the above computer-readable storage medium.

[0225] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use, and processing of relevant data need to comply with the relevant regulations and standards of relevant countries and regions, and corresponding operation entrances are provided for users to choose to authorize or reject.

[0226] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included within the protection scope of the present application.

Claims

1. A parking guidance method, characterized in that: The method is applied to a parking guidance system, wherein the parking guidance system includes a guidance platform and a plurality of guidance devices, and the method includes: The guidance platform receives a parking request sent by a user terminal; generates a first guidance task according to the parking request, wherein the first guidance task includes a target vehicle identifier, a first parking space identifier, a first guidance device identifier, and a first path, wherein the first path is a path from a parking lot entrance to the first parking space; and sends the first guidance task to a first guidance device, wherein the first guidance device is one of the plurality of guidance devices; After receiving the first guidance task, the first guidance device moves along the first path to guide the target vehicle to move to the first parking space; Among them, during the movement, the first guiding device obtains the position information of the target vehicle from the user terminal; determines the distance between the target vehicle and the first guiding device according to the position information of the target vehicle; and stops moving and sends a reminder message to the user terminal when the distance between the target vehicle and the first guiding device is greater than or equal to a preset distance, and continues to move until the distance between the target vehicle and the first guiding device is less than the preset distance.

2. The method according to claim 1, characterized in that The method further comprises: The first guiding device collects environmental information during movement; when a congestion event is determined to have occurred according to the environmental information, a first message is sent to the guiding platform, wherein the first message includes a congestion event identifier and location information of the first guiding device; After receiving the first message, the guidance platform generates a second path according to the location information of the first guidance device, when determining that the congestion event occurs according to the congestion event identifier; the second path is a path from the location of the first guidance device to the first parking space; and sends the second path to the first guidance device; After receiving the second path, the first guiding device moves according to the second path to guide the target vehicle to move toward the first parking space.

3. The method according to claim 2, characterized in that The generating the second path according to the location information of the first boot device comprises: generating one or more paths according to the position information of the first guiding device and the position information of the first parking space; Acquiring traffic condition information of the parking lot; The second path is determined from the one or more paths according to the traffic condition information.

4. The method according to claim 1, characterized in that The method further comprises: The first guiding device collects environmental information during the movement; The first guiding device performs a reminder action when determining according to the environmental information that a lane occupation event has occurred, the reminder action comprising playing a warning voice and / or controlling a flashing light to flash; After the reminder action continues for a preset time, if the first guidance device detects that the lane occupation event still exists, the first guidance device sends a first message to the guidance platform, where the first message includes a congestion event identifier and location information of the first guidance device.

5. The method according to claim 1, characterized in that The method further comprises: The first guiding device collects environmental information during movement; when determining that a parking space occupancy event occurs according to the environmental information, sends a second message to the guiding platform, wherein the second message includes a parking space occupancy event identifier and location information of the first guiding device; After receiving the second message, the guidance platform determines the second parking space according to the position information of the first guidance device when the parking space occupation event is determined to have occurred according to the parking space occupation event identifier; determines a third path according to the position information of the first guidance device and the position information of the second parking space, the third path being the path from the position of the first guidance device to the second parking space; and sends a third message to the first guidance device, the third message including the second parking space identifier and the third path; After receiving the third message, the first guiding device moves along the third path to guide the target vehicle to move to the second parking space.

6. The method according to claim 1, characterized in that The parking request includes the target vehicle identifier and the guidance task identifier, and generating the first guidance task according to the parking request includes: In a case where it is determined according to the guidance task identifier that a guidance task needs to be performed, determining the first parking space from one or more third parking spaces, the third parking space being an empty parking space in the parking lot; generating the first path according to the location information of the parking lot entrance and the location information of the first parking space; determining the first boot device from the plurality of boot devices according to a task type of the boot task; The first guidance task is generated according to the target vehicle identifier, the first parking space identifier, the first guidance device identifier and the first path.

7. The method according to claim 6, characterized in that The guidance platform includes user preference information corresponding to each vehicle identification, the user preference information includes facility preference information and / or location preference information, and the determining the first parking space from one or more third parking spaces includes: obtaining parking space information of each third parking space in the one or more third parking spaces, the parking space information includes facility information and location information; determining one or more fourth parking spaces from the one or more third parking spaces according to the user preference information corresponding to the target vehicle identification and the parking space information of the one or more third parking spaces, the fourth parking space being a parking space whose parking space information matches the user preference information corresponding to the target vehicle identification; and determining the first parking space from the one or more fourth parking spaces; Alternatively, the parking request includes parking space requirement information, and the parking space requirement information includes facility requirement information and / or location requirement information. Determining the first parking space from one or more third parking spaces includes: obtaining parking space information of each third parking space in the one or more third parking spaces, and the parking space information includes facility information and location information; determining one or more fifth parking spaces from the one or more third parking spaces based on the parking space requirement information and the parking space information of the one or more third parking spaces, and the fifth parking space is a parking space whose parking space information is consistent with the parking space requirement information; and determining the first parking space from the one or more fifth parking spaces.

8. The method according to claim 6, characterized in that The step of determining the first boot device from the plurality of boot devices according to the task type of the boot task comprises: Determine one or more second boot devices from the plurality of boot devices according to the task type, wherein the second boot devices have the capability of executing the boot task; Obtaining a task execution success rate of each second boot device among the one or more second boot devices; A second boot device with the highest task execution success rate among the one or more second boot devices is determined as the first boot device.

9. The method according to claim 1, characterized in that The parking guidance system further includes a parking space sensing system, and the parking space sensing system is used to manage the parking space status of each parking space in the parking lot. Before the first guidance device moves along the first path, it also includes: The first guiding device sends a fourth message to the parking space sensing system, the fourth message including the target vehicle identifier and the first parking space identifier, and the fourth message is used to instruct the target vehicle to reserve the first parking space; After receiving the fourth message, the parking space sensing system updates the parking space status of the first parking space according to the target vehicle identifier and the first parking space identifier; and sends the parking space information of the first parking space to the first guiding device; Therefore, after receiving the parking space information of the first parking space, the first guiding device sends the parking space information of the first parking space to the user terminal.

10. The method according to claim 9, characterized in that After sending the parking space information of the first parking space to the target vehicle according to the target vehicle identifier, the method further includes: The first guidance device receives a parking space change request message sent by the user terminal, the parking space change request message including parking space requirement information, the target vehicle identifier and the location information of the target vehicle, the parking space requirement information including facility requirement information and / or location requirement information; and sends the parking space change request message to the guidance platform; After receiving the parking space change request message, the guidance platform determines a sixth parking space according to the parking space demand information; generates a fourth path according to the location information of the sixth parking space and the location information of the target vehicle; and sends a fifth message to the first guidance device, the fifth message including the sixth parking space identifier and the fourth path; After receiving the fifth message, the first guiding device moves along the fourth path to guide the target vehicle to move to the sixth parking space.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: The guiding platform acquires the moving path, moving speed and position information of the first guiding device during the moving process of the first guiding device, and acquires the moving path, moving speed and position information of a third guiding device, wherein the third guiding device is a guiding device other than the first guiding device among the plurality of guiding devices and is performing a task; When the guiding platform determines that there is a path conflict between the first guiding device and the third guiding device according to the moving paths, moving speeds, and position information of the first guiding device and the third guiding device, the guiding platform adjusts the moving speed of the first guiding device and / or the third guiding device.

12. The method according to any one of claims 1 to 10, characterized in that: After sending the first boot task to the first boot device, the method further includes: The first boot device sends device status information of the first boot device to the boot platform; After receiving the device status information, the guidance platform determines a fourth guidance device from the multiple guidance devices when it is determined according to the device status information that the first guidance device is abnormal; generates a fifth path according to the position information of the fourth guidance device and the position information of the first guidance device; generates a sixth path according to the position information of the first guidance device and the position information of the destination parking space; sends a second guidance task to the fourth guidance device, the second guidance task including the target vehicle identifier, the destination parking space identifier, the fourth guidance device identifier, the fifth path, and the sixth path; After receiving the second guidance task, the fourth guidance device moves to the starting point of the sixth path along the fifth path, and then continues to move along the sixth path to guide the target vehicle to move to the destination parking space.

13. A parking guidance system, characterized in that: The parking guidance system includes a guidance platform and a plurality of guidance devices; The guidance platform is used to: receive a parking request sent by a user terminal; generate a first guidance task according to the parking request, wherein the first guidance task includes a target vehicle identifier, a first parking space identifier, a first guidance device identifier, and a first path, wherein the first path is a path from a parking lot entrance to the first parking space; and send the first guidance task to a first guidance device, wherein the first guidance device is one of the plurality of guidance devices; The first guiding device is used to: after receiving the first guiding task, move along the first path to guide the target vehicle to move to the first parking space; wherein, during the movement, the position information of the target vehicle is obtained from the user terminal, and the distance between the target vehicle and the first guiding device is determined according to the position information of the target vehicle. When the distance between the target vehicle and the first guiding device is greater than or equal to a preset distance, the movement is stopped and a reminder message is sent to the user terminal until the distance between the target vehicle and the first guiding device is less than the preset distance and the movement is continued.

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