Intelligent parking method and system with dynamic parking spaces

Abstract

The invention relates to the technical field of parking lot management, and discloses an intelligent parking method and system with dynamic parking spaces. The method comprises the following steps: identifying a to-be-entered vehicle, acquiring target information, and determining an expected parking area; determining a target parking area according to the obtained current idle information of the parking lot; if at least two target free areas exist, whether the target free areas belong to the same LED lamp array is judged, and target parking areas are determined according to a first strategy or a second strategy; and responding to a determination instruction of the target parking area, turning on an LED lamp corresponding to the target parking area through the array controller to generate a dynamic parking space, generating an optimal driving path of the vehicle from the entrance to the target parking area and a navigation instruction, sending the path and the instruction to the vehicle-mounted navigation, and guiding the vehicle to the dynamic parking space. According to the method, matched dynamic parking spaces can be provided according to different vehicle sizes, the parking requirements of different vehicle types are met, the parking lot space is fully utilized, the intelligent degree is high, and energy conservation and environmental protection are achieved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of parking lot management, and in particular, to an intelligent parking method and system with dynamic parking spaces. Background Art

[0002] With the rapid development of China's economy, the number of automobiles in possession has been continuously increasing. Automobiles have become a common means of transportation for daily travel of thousands of households. While bringing convenience to people's travel, automobiles have also caused a series of traffic problems, among which the parking problem is particularly prominent and has become a key problem that plagues people's travel and restricts the development of cities.

[0003] To address the parking difficulty problem, major cities in China have actively built new parking facilities. For example, a large number of newly built high-rise office, commercial and other buildings in the city are equipped with large underground parking lots to meet the parking needs of people's work and life. However, in the existing parking lots, the sizes of parking spaces are fixed and cannot be dynamically adjusted to meet the needs of different vehicles, which greatly limits the full play of the parking lot efficiency; on the other hand, in recent years, micro cars have been welcomed by more and more people and widely used due to their advantages such as low price, convenience and resource saving. The parking spaces required for micro cars are smaller, only half or even less of the common parking spaces. However, most of the current parking lot facilities are delimited and fixed according to the size of ordinary vehicles, resulting in a large amount of space being wasted after micro vehicles are parked, and the utilization rate of parking spaces in the parking lot is low. Summary of the Invention

[0004] In view of this, the embodiments of the present disclosure provide an intelligent parking method and system with dynamic parking spaces, which can solve the problems existing in the prior art such as difficult parking, poor utilization rate of parking space, and inability to provide different parking space requirements according to different vehicle types.

[0005] In a first aspect, the embodiments of the present disclosure provide an intelligent parking method with dynamic parking spaces, including: Identifying a vehicle to enter the parking lot to obtain target information; the target information includes vehicle license plate information and size information; the parking lot includes an array controller and an LED light array, and the LED light array includes a plurality of LED light points embedded in the parking area, and the array controller is used to control the opening and closing of each LED light point; Obtaining all idle areas of the parking lot in real time; Determining a desired parking area according to the size information; Determining an idle area that meets the desired parking area from all idle areas, denoted as a target idle area; When there are at least two target idle areas, determine whether at least two of the target idle areas belong to the same LED light array. If so, determine the target parking area based on the first strategy; if not, determine the target parking area based on the second strategy. In response to the determination instruction of the target parking area, the array controller turns on the LED lights corresponding to the target parking area to generate dynamic parking spaces that meet the size information. In response to the determination instruction of the target parking area, generate the optimal driving path of the vehicle corresponding to the vehicle license plate information from the parking lot entrance to the target parking area. Generate a navigation instruction according to the optimal driving path, and send the optimal driving path and the navigation instruction to the in-vehicle navigation to guide the vehicle to the dynamic parking space.

[0006] Optionally, the determining the target parking area based on the first strategy includes: Obtain the actual shortest distance from each of the target idle areas to the parking lot entrance. Obtain the area ratio of the vehicles to be parked in the parking lot to each of the target idle areas. According to the distance preset weight, the area ratio preset weight, the actual shortest distance, and the idle area density, determine the weighted score of each of the target idle areas. The weighted score is S: , , where is the distance preset weight, is the area ratio preset weight, is the actual shortest distance from the th target idle area to the parking lot entrance, is the area ratio of the vehicle to be parked in the parking lot to the th target idle area; Obtain the target idle area corresponding to the minimum weighted score, denoted as the first area; if the first area is one, determine the first area as the target parking area; If the first area is at least two, randomly select one of the first areas as the target parking area.

[0007] Optionally, the determining the target parking area based on the second strategy includes: Determine different LED light arrays corresponding to at least two of the target idle areas, denoted as target LED light arrays. Obtain the area ratio density of each of the target LED light arrays. Obtain the number of times each of the target LED light arrays is allocated in each preset time slice within a preset time window, and obtain a time series of times. Obtain the regional historical occupancy mutation rate in each of the target LED arrays according to the number of times time series; Obtain the regional unpopularity degree factor of each of the target LED arrays; Obtain the guiding competition factor score of each of the target idle areas according to the area occupancy density, the regional historical occupancy mutation rate, the regional unpopularity degree factor, a preset area occupancy density weight, a preset regional historical occupancy mutation rate weight, and a preset regional unpopularity degree factor weight; Determine the target LED array corresponding to the smallest guiding competition factor score as the to-be-parked LED array; When there are at least two target idle areas in the to-be-parked LED array, determine the target parking area based on the first strategy; When there is one target idle area in the to-be-parked LED array, determine the target idle area as the target parking area.

[0008] Optionally, the area occupancy density of the th target LED array is : ; where is the total area occupied by parked vehicles in the th target LED array, is the area of the th target LED array; The regional historical occupancy mutation rate of the th target LED array is : ; where is the number of preset time slices corresponding to the preset time window, is the number of parking spaces allocated to the th time slice in the th target LED array, is the average number of parking spaces allocated to the th target LED array within the preset time window; The regional unpopularity degree factor of the th target LED array is : ; where is the current time, is the time when the th target LED array was last allocated a vehicle, is the preset normalized time upper limit; The The guiding competition factor score corresponding to the target LED light array is : ; where is the preset area occupancy density weight, is the area historical occupancy mutation rate weight, is the preset area unpopularity factor weight.

[0009] Optionally, the real-time acquisition of all idle areas in the parking lot includes: Construct a target coordinate system according to the actual area of the parking lot, where the origin of the target coordinate system is the parking lot entrance, the x direction is the horizontal direction of the parking lot, and the y direction is the longitudinal direction of the parking lot; where the actual area of the parking lot includes a parking area for parking and a driving lane; Divide the actual area of the parking lot into uniform two-dimensional grids and determine a number of LED light arrays; where the size of each grid is the corresponding square bright frame when each LED light is lit; Obtain the grid range of the LED light array according to the uniform two-dimensional grid; Obtain the grid status corresponding to the grid range, and the grid status includes one or both of occupied and unoccupied; Convert the grid status into a two-dimensional array, and the two-dimensional array includes one or both of a first result and a second result, where the first result corresponds to occupied and the second result corresponds to unoccupied; Starting from the row closest to the parking lot entrance in the two-dimensional array, obtain the grid status of each row row by row and record all idle grids; Record the largest rectangle formed by adjacent idle grids as an idle area; determine all current idle areas in the parking lot according to all idle grids.

[0010] Optionally, in response to the determination instruction of the target parking area, turning on the LED lights corresponding to the target parking area through the array controller to generate a dynamic parking space that meets the size information includes: Determine the target grid area corresponding to the target parking area; the length of the target grid area is the quotient of the vehicle length and the grid side length, and the width is the quotient of the vehicle width and the grid side length; Call the array controller corresponding to the LED light array to which the target parking area belongs, and control the boundary LED lights of the target grid area to be lit to generate a dynamic parking space that meets the size information.

[0011] Optionally, it further includes: in response to the departure vehicle information detected at the parking lot exit, obtaining the dynamic parking space corresponding to the departure vehicle and releasing the dynamic parking space.

[0012] Second aspect, the present application discloses an intelligent parking system with dynamic parking spaces, including: A vehicle identification subsystem for identifying a vehicle to enter the parking lot to obtain target information; the target information includes vehicle license plate information and size information; A dynamic parking space subsystem, including an array controller and an LED light array uniformly laid on the parking area of the parking lot. The LED light array includes a number of LED light points embedded in the parking area, and the top surface of the LED light points is flush with the parking area; the array controller is used to control the on and off of each LED light in the LED light array; A dynamic parking space management subsystem for determining a desired parking area according to the received size information, and determining a target parking area according to the currently available information of the parking lot; in response to the determination instruction of the target parking area, the corresponding LED lights in the target parking area are turned on through the array controller to generate a dynamic parking space; A parking space guidance subsystem for generating the optimal driving path of the vehicle corresponding to the vehicle license plate information from the parking lot entrance to the target parking area in response to the determination instruction of the target parking area, generating a navigation instruction according to the optimal driving path, and sending the optimal driving path and the navigation instruction to the in-vehicle navigation to guide the vehicle to the dynamic parking space.

[0013] Optionally, the dynamic parking space management subsystem includes: A parking space allocation unit for determining a desired parking area according to the received size information, determining an available area that meets the desired parking area from all available areas, denoted as the target available area. When there are at least two target available areas, it is judged whether at least two target available areas belong to the same LED light array. If so, the target parking area is determined based on the first strategy. If not, the target parking area is determined based on the second strategy; A dynamic parking space generation unit for turning on the corresponding LED lights in the target parking area through controlling the array controller to generate a dynamic parking space in response to the determination instruction of the target parking area.

[0014] Optionally, the parking space allocation unit includes: A coordinate system construction unit for constructing a target coordinate system according to the actual area of the parking lot. The coordinate origin of the target coordinate system is the parking lot entrance, the x direction is the transverse direction of the parking lot, and the y direction is the longitudinal direction of the parking lot; A grid division unit for dividing the actual area of the parking lot into uniform two-dimensional grids and determining a number of LED light arrays; the size of each grid is the corresponding square bright frame when each LED light is on; A parking lot free information acquisition subunit, configured to obtain the grid range of the LED lamp array according to the uniform two-dimensional grid; obtain the grid status corresponding to the grid range, where the grid status includes one or both of occupied and unoccupied; convert the grid status into a two-dimensional array, where the two-dimensional array includes one or both of a first result and a second result, the first result corresponding to occupied and the second result corresponding to unoccupied; starting from the row closest to the parking lot entrance in the two-dimensional array, obtain the grid status of each row row by row, and record all free grids; record the largest rectangle formed by adjacent free grids as a free area; determine all current free areas of the parking lot according to all free grids; A parking space analysis unit, configured to analyze whether there is a free area that meets the size information according to the received size information, and when there is a corresponding free area, determine the target free area, trigger a first target parking area determination unit when the target free area is one, and trigger a second target parking area determination unit when the target free area is at least two; A first target parking area determination unit, configured to determine the target free area as the target parking area when the target free area is one; A second target parking area determination unit, configured to, when the target free area is at least two, obtain the actual shortest distance from each target free area to the parking lot entrance; obtain the area ratio of the vehicle to be parked in each target free area to the target free area; determine the weighted score of each target free area according to the distance preset weight, the area ratio preset weight, the actual shortest distance, and the free area density; obtain the target free area corresponding to the smallest weighted score, denoted as the first area; if the first area is at least two, randomly select one of the first areas as the target parking area.

[0015] In a third aspect, an embodiment of the present disclosure further provides a computer device, adopting the following technical solution: The computer device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the above-mentioned intelligent parking methods with dynamic parking spaces.

[0016] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, which stores computer instructions for causing a computer to execute any one of the above-mentioned intelligent parking methods with dynamic parking spaces.

[0017] In a fifth aspect, an embodiment of the present disclosure further provides a computer program product, including a computer program / instructions, which when executed by a processor, implement the steps of the method described in any one of the above.

[0018] The intelligent parking method with dynamic parking spaces disclosed in this application identifies the vehicle to enter the parking lot, obtains target information, and determines the target parking area according to the size information in the target information and the currently available information of the parking lot, and can allocate a parking space that matches its size, effectively avoiding a large amount of space waste caused by using ordinary parking spaces and improving the utilization rate of parking spaces in the parking lot; then, in response to the determination instruction of the target parking area, the LED lights corresponding to the target parking area are turned on through the array controller to generate a dynamic parking space that meets the size information, and the size of the parking space can be flexibly adjusted according to the size of different vehicles, breaking through the limitation of the fixed size of traditional parking lot spaces and making full use of the space resources of the parking lot; secondly, in response to the determination instruction of the target parking area, the optimal driving path of the vehicle corresponding to the vehicle license plate information from the parking lot entrance to the target parking area is generated, and a navigation instruction is generated according to the optimal driving path, and the optimal driving path and the navigation instruction are sent to the in-vehicle navigation to guide the vehicle to the dynamic parking space, which can effectively avoid the situation that the vehicle owner blindly searches for a parking space in the parking lot, save parking time, and further improve the parking efficiency; the automated parking management process effectively reduces the dependence on manual guidance and management, reduces labor costs; at the same time, the use of LED lights can more accurately indicate parking spaces and reduce the increase in management costs caused by parking chaos.

[0019] The above description is only an overview of the technical solution of the present disclosure. In order to understand the technical means of the present disclosure more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present disclosure more obvious and understandable, the following preferred embodiments are specifically given and described in detail in conjunction with the accompanying drawings as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a flowchart of the intelligent parking method with dynamic parking spaces provided by the embodiment of the present disclosure.

[0022] Figure 2 It is a flowchart of the method for real-time obtaining all available areas of a parking lot provided by the embodiment of the present disclosure.

[0023] Figure 3 Schematic flowchart of the method for determining a target parking area based on the first strategy provided by an embodiment of the present disclosure.

[0024] Figure 4 Schematic flowchart of the method for determining a target parking area based on the second strategy provided by an embodiment of the present disclosure.

[0025] Figure 5 Schematic flowchart of the method for generating a dynamic parking space provided by an embodiment of the present disclosure.

[0026] Figure 6 Principle block diagram of an intelligent parking system with dynamic parking spaces provided by an embodiment of the present disclosure.

[0027] Figure 7 Schematic diagram of an underground intelligent parking lot provided by an embodiment of the present disclosure.

[0028] Figure 8 Schematic diagram of the grid state of LED array A provided by an embodiment of the present disclosure.

[0029] Figure 9 is Figure 8 Schematic diagram of the corresponding two-dimensional array.

[0030] Figure 10 Schematic diagram of the structure of a computer device provided by an embodiment of the present disclosure. Detailed implementation manners

[0031] The following describes the embodiments of the present disclosure in detail with reference to the accompanying drawings.

[0032] It should be clear that the following illustrates the implementation manners of the present disclosure through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The present disclosure can also be implemented or applied through other different specific implementation manners, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts belong to the scope of protection of the present disclosure.

[0033] Note that the following description relates to various aspects of embodiments within the scope of the appended claims. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on this disclosure, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of the aspects set forth herein can be used to implement a device and / or practice a method. Additionally, this device and / or method can be implemented using other structures and / or functionality in addition to one or more of the aspects set forth herein.

[0034] It should also be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concept of the present disclosure. The diagrams only show the components related to the present disclosure and are not drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0035] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the aspects can be practiced without these specific details.

[0036] Referring to Figure 1 , the first aspect of the present application discloses an intelligent parking method with dynamic parking spaces, including: S100, identifying the vehicle to enter the parking lot to obtain target information.

[0037] Among them, the target information includes vehicle license plate information and size information.

[0038] In this embodiment, the parking lot includes an array controller and an LED light array. The LED light array includes several LED light points embedded in the parking area, and the array controller is used to control the on and off of each LED light point in the LED light array.

[0039] Furthermore, the vehicle license plate information is the license plate number, and the size information includes the vehicle length and vehicle width. Specifically, the license plate number, vehicle length, and vehicle width can be identified through an image recognition device and a sensor device set at the entrance railing of the parking lot.

[0040] In this step, the accurate identification of the license plate information helps the parking lot manage the vehicle's identity, facilitating operations such as charging and recording the entry and exit times. The acquisition of the size information can provide a basis for allocating a suitable parking space later, avoiding the situation where the vehicle cannot be parked due to a too small parking space or causing space waste due to a too large parking space.

[0041] S200. Obtain all the idle areas of the parking lot in real time.

[0042] Accurately grasping the situation of the idle areas helps the parking lot manager better allocate resources, reasonably guide vehicle parking, improve the space utilization rate of the parking lot, and avoid the situation where some areas are overcrowded while some areas are idle.

[0043] S300. Determine the desired parking area according to the received size information; Determine the idle areas that meet the desired parking area from all the idle areas, and record them as the target idle areas.

[0044] Among them, the desired parking area is a desired rectangular area that meets the vehicle length and vehicle width. Specifically, the length of the desired parking area is the sum of the vehicle length and the length margin threshold, and the width of the desired parking area is the sum of the vehicle width and the width margin threshold. The length margin threshold is 0.5m - 0.8m; the width margin threshold is 0.5m - 1m. The length of the target idle area is not less than the length of the desired parking area, and the width of the target idle area is not less than the width of the desired parking area.

[0045] The size differences of different vehicle models are relatively large. By determining the desired parking area according to the actual length and width of the vehicle, converting the size information of the vehicle into a specific geometric area, it provides a clear reference for subsequent judgment of whether there is a suitable idle area in the parking lot, and at the same time can provide a suitable parking space for various vehicle models, improving the compatibility of the parking lot with different vehicles; screening out the target idle areas that meet the conditions of the desired parking area from all the idle areas avoids parking difficulties or illegal parking problems caused by too small parking areas.

[0046] Suppose the parking lot management system receives the size information of a car, the vehicle length is 5 meters, and the vehicle width is 2 meters. According to this information, a rectangular area with a length of 5 meters and a width of 2 meters can be determined as the desired parking area. In actual applications, considering the convenience and safety of parking operations, a certain margin can be appropriately added on the basis of the actual vehicle size. For example, 0.5 meters are added in both the length and width directions, then the finally determined desired parking area is a rectangular area with a length of 5.5 meters and a width of 2.5 meters.

[0047] S400. When there are at least two target idle areas, judge whether at least two target idle areas belong to the same LED light array. If so, determine the target parking area based on the first strategy; if not, determine the target parking area based on the second strategy.

[0048] Analyze the corresponding strategy according to the real-time situation of the parking lot to determine the appropriate target parking area, which is efficient and accurate.

[0049] S500, in response to the determination instruction of the target parking area, turns on the LED lights corresponding to the target parking area through the array controller to generate a dynamic parking space that meets the size information.

[0050] Among them, the dynamic parking space matches the size of the vehicle to enter the parking lot, that is, the turned-on LED lights correspond to the boundary of the target parking area. This solution gets rid of the limitation of the fixed-size parking spaces in the prior art and can dynamically generate compliant parking spaces according to the actual situation of each vehicle, meeting the convenient parking needs of different vehicle types.

[0051] In this step, the generation of the dynamic parking space can intuitively provide the driver with the accurate position and size information of the parking space, reducing the difficulty of the driver's parking and improving the accuracy and safety of parking; at the same time, the use of LED lights is energy-saving and environmentally friendly, and is easy to control and adjust.

[0052] S600, in response to the determination instruction of the target parking area, generates the optimal driving path of the vehicle corresponding to the vehicle license plate information from the parking lot entrance to the target parking area.

[0053] Through this step, clear driving guidance can be provided for the driver, reducing the time and energy for the driver to blindly search for a parking space in the parking lot, improving the traffic efficiency of the parking lot, and avoiding traffic congestion.

[0054] S700, generates navigation instructions according to the optimal driving path, and sends the optimal driving path and navigation instructions to the in-vehicle navigation to guide the vehicle to the dynamic parking space.

[0055] Specifically, the generated optimal driving path and corresponding navigation instructions (such as turning left or right at which intersection, etc.) can be sent to the in-vehicle navigation system of the vehicle through wireless communication technologies (such as Bluetooth, Wi-Fi, etc.); after receiving the information, the in-vehicle navigation system provides navigation services for the driver in the form of voice and images, guiding the driver to drive along the optimal path to the dynamic parking space.

[0056] Through this step, intelligent parking navigation can be realized, improving the convenience and comfort of parking; the driver does not need to manually search for a parking space in the parking lot and can easily reach the destination just by following the guidance of the in-vehicle navigation, enhancing the user experience.

[0057] The intelligent parking method with dynamic parking spaces disclosed in this application identifies the vehicles to enter the parking lot, obtains the target information, and determines the target parking area according to the size information in the target information and the current available information of the parking lot, so as to allocate parking spaces that match the size, effectively avoiding a large amount of space waste caused by using ordinary parking spaces and improving the utilization rate of parking spaces in the parking lot. Then, in response to the determination instruction of the target parking area, the LED lights corresponding to the target parking area are turned on through the array controller to generate dynamic parking spaces that meet the size information, and the size of the parking spaces can be flexibly adjusted according to the size of different vehicles, breaking through the limitation of the fixed size of traditional parking lot spaces and making full use of the space resources of the parking lot. Secondly, in response to the determination instruction of the target parking area, the optimal driving path of the vehicle corresponding to the vehicle license plate information from the parking lot entrance to the target parking area is generated, and a navigation instruction is generated according to the optimal driving path, and the optimal driving path and the navigation instruction are sent to the in-vehicle navigation to guide the vehicle to the dynamic parking space, which can effectively avoid the situation that the vehicle owner blindly searches for parking spaces in the parking lot, save parking time, and further improve the parking efficiency. The automated parking management process effectively reduces the dependence on manual guidance and management, reduces labor costs; at the same time, the use of LED lights can more accurately indicate parking spaces and reduce the increase in management costs caused by parking chaos.

[0058] Referring to Figure 2 , for the method of obtaining all available areas of the parking lot in real time in S200, it includes: S210, constructing a target coordinate system according to the actual area of the parking lot.

[0059] Among them, the origin of the coordinate system of the target coordinate system is the entrance of the parking lot, the x direction is the horizontal direction of the parking lot, and the y direction is the longitudinal direction of the parking lot; among them, the actual area of the parking lot includes the parking area for parking and the driving lane.

[0060] S220, dividing the actual area of the parking lot into a uniform two-dimensional grid and determining several LED light arrays; among them, the size of each grid is the square bright frame corresponding to each LED light when it is lit.

[0061] Dividing the actual area of the parking lot into a uniform two-dimensional grid regularizes the actual area of the parking lot, making it more convenient for the management and analysis of the parking lot. Each grid can be used as a basic management unit, which is convenient for recording and counting its status. Determining the LED light array helps the subsequent centralized control and management of the LED lights, and the status of the parking spaces can be intuitively indicated by controlling the LED lights in the light array.

[0062] S230, obtaining the grid range of the LED light array according to the uniform two-dimensional grid.

[0063] Defining the grid range of the LED light array helps to precisely control the light array. When it is necessary to indicate the parking space status within a certain light array, the corresponding LED lights can be accurately controlled according to its grid range, improving the accuracy and pertinence of LED light indication.

[0064] S240, obtain the grid status corresponding to the grid range, where the grid status includes one or both of occupied and unoccupied.

[0065] Obtaining the grid status in real time is a key step in determining the free areas of the parking lot. Only by accurately grasping the occupancy of each grid can the free grids be screened out subsequently, and then the free areas can be determined to provide accurate parking information for vehicles.

[0066] S250, convert the grid status into a two-dimensional array, where the two-dimensional array includes one or both of the first result and the second result, the first result corresponds to occupied, and the second result corresponds to unoccupied.

[0067] Converting the grid status into a two-dimensional array facilitates data processing and analysis; the two-dimensional array is a common data structure that can be conveniently stored, traversed, and operated on in a computer; by operating on the two-dimensional array, the free grids can be quickly found, improving the execution efficiency of the algorithm.

[0068] S260, starting from the row closest to the parking lot entrance in the two-dimensional array, obtain the grid status of each row one by one and record all the free grids.

[0069] Checking row by row starting from the row closest to the parking lot entrance can give priority to the free grids near the entrance, facilitating vehicles to quickly find suitable parking spaces. At the same time, the method of recording free grids row by row can ensure that no free grid is missed, ensuring the accurate statistics of the free areas.

[0070] S270, record the largest rectangle formed by adjacent free grids as a free area; determine all the current free areas of the parking lot based on all the free grids.

[0071] Combining adjacent free grids into free areas can more intuitively represent the parking space available in the parking lot.

[0072] Specifically, referring to Figure 7 , in this embodiment, according to the layout and size of the underground parking lot, the parking area is evenly paved with an LED light array, and the corresponding LED array controller is installed to obtain a schematic diagram of the underground intelligent parking lot. The underground intelligent parking lot consists of three LED light arrays, which are the A, B, and C LED light arrays in the order from near to far from the entrance. Each LED array consists of 729 LED light points, and each LED light array is controlled by an LED light array controller.

[0073] In this example, the grid ranges of the three LED arrays A, B, and C are as follows: Area A: The grid range is a rectangular area with the diagonal from (8, 7) to (88, 15). Area B: The grid range is a rectangular area with the diagonal from (8, 23) to (88, 31). Area C: The grid range is a rectangular area with the diagonal from (8, 39) to (88, 47). The coordinates of each grid in the two-dimensional coordinate system are the coordinates of the LED light points: (xi, yi), where i = 1, 2...n. Each grid has two states, namely idle and occupied. An idle grid can be assigned a parking space, and an occupied grid indicates that a vehicle is parked in that grid and cannot be used to assign a new parking space.

[0074] Further referring to Figure 8 and Figure 9 , Figure 8 is a schematic diagram of a specific embodiment of the grid state of LED array A, Figure 9 is Figure 8 a schematic diagram of the two-dimensional array corresponding to the grid state in , where 0 represents an idle grid (a parking space can be assigned), and 1 represents an occupied grid (a parking space cannot be assigned).

[0075] According to the two-dimensional array corresponding to the area grid state, find the vehicle size grid area. For example, for the two-dimensional array corresponding to LED array A, start from the bottom row (i.e., the row closest to the parking lot entrance in the two-dimensional array), check the grid state of each row row by row, and record each idle grid in Area A. The largest rectangle formed by adjacent idle grids is recorded as an idle area; determine all the current idle areas of LED array A based on all the idle grids.

[0076] Similarly, obtain all the current idle areas of LED arrays B and C.

[0077] Further, for "determine the idle areas that meet the expected parking area from all the idle areas, and record them as target idle areas", it includes: in each idle area, expand horizontally (row direction) and vertically (column direction) respectively to match the length and width of the expected parking area, and then all the idle areas that meet the expected parking area can be obtained.

[0078] Referring to Figure 3 , the method for determining the target parking area based on the first strategy in S400 includes: A100, obtain the actual shortest distance from each target idle area to the parking lot entrance; Obtain the area ratio of the vehicles to be entered into the parking lot in each target idle area to the area of the target idle area.

[0079] Specifically, according to the pre-constructed digital map of the parking lot, the actual shortest distance from each target idle area to the parking lot entrance can be obtained. The digital map of the parking lot contains information such as the channel layout and obstacle positions in each area of the parking lot. When multiple target idle areas are determined, the actual shortest distance from each target idle area to the parking lot entrance can be calculated by using a path planning algorithm in combination with the real-time traffic conditions in the parking lot (such as whether some channels are congested due to temporary vehicle parking).

[0080] According to the vehicle size information and the area information of the target idle area, calculate the area ratio of the vehicle to be parked in the parking lot to the target idle area. For example, a vehicle with a length of 5 meters and a width of 2 meters and an area of 10 square meters, facing a target idle area with an area of 20 square meters, its area ratio is 10÷20 = 0.5.

[0081] In this step, obtaining the actual shortest distance can intuitively reflect the distance that the vehicle needs to travel from the entrance to each target idle area, providing an important distance factor reference for subsequent comprehensive evaluation; calculating the area ratio takes into account the compatibility between the vehicle and the parking space. The smaller the area ratio, the more spacious the parking space is relative to the vehicle, and the more convenient the parking operation may be.

[0082] A200. Determine the weighted score of each target idle area according to the distance preset weight, the area ratio preset weight, the actual shortest distance, and the idle area density.

[0083] The weighted score is S: , , where is the distance preset weight, is the area ratio preset weight, is the th actual shortest distance from the target idle area to the parking lot entrance, is the th area ratio of the vehicle to be parked in the parking lot to the target idle area.

[0084] By means of weighted scoring, two important factors of distance and area ratio are comprehensively considered. Different preset weights can be adjusted according to the actual situation and management requirements of the parking lot, making the evaluation result more scientific and reasonable, and being able to more comprehensively measure the advantages and disadvantages of each target idle area.

[0085] A300. Obtain the target idle area corresponding to the minimum weighted score, denoted as the first area; if the first area is one, determine the first area as the target parking area; If the first area is at least two, randomly select one of the first areas as the target parking area.

[0086] Using the minimum weighted score as the criterion for selecting the target parking area can select the most suitable area for vehicle parking on the basis of comprehensively considering the distance and area ratio; when there are multiple areas with the minimum weighted score, the random selection method is simple and fast, avoiding the further complex decision-making process and improving the efficiency of parking allocation.

[0087] Further, when there are at least two first areas, the one closest to the passenger elevator can be used as the target parking area. If at least two first areas are at the same distance from the passenger elevator, one of the first areas can be randomly selected as the target parking area.

[0088] Refer to Figure 4 , the method for determining the target parking area based on the second strategy in S400 includes: B100, determining different LED light arrays corresponding to at least two target idle areas, denoted as target LED light arrays.

[0089] Suppose there are three LED light arrays in the parking lot, labeled as light array A, light array B, and light array C. After screening at least two target idle areas in the previous steps, where area 1 corresponds to light array A and areas 2 and 3 correspond to light array B, then light arrays A and B are the target LED light arrays.

[0090] B200, obtaining the area ratio density of each target LED light array.

[0091] The area ratio density of the th target LED light array is .

[0092] Among them, is the total area occupied by parked vehicles in the th target LED light array, is the area of the th target LED light array.

[0093] The area ratio density can reflect the occupancy ratio of the parked area in the light array, helping to understand the space utilization degree in the light array. The smaller the area ratio density, the larger the remaining available parking space in the light array, which is more conducive to the parking of new vehicles.

[0094] B300, obtaining the number of times each target LED light array is allocated in each preset time slice within a preset time window, and obtaining a time series of times; Obtaining the historical occupancy variation rate of the area in each target LED light array according to the time series of times.

[0095] The historical occupancy variation rate of the area in the th target LED light array is .

[0096] Among them, is the number of preset time slices corresponding to the preset time window, is the number of parking spaces allocated to the th target LED light array in the th time slice, is the average number of parking spaces allocated to the th target LED light array within the preset time window.

[0097] The regional historical occupancy mutation rate reflects the fluctuation of the parking space allocation of the light array within the preset time window. The smaller the mutation rate, the more stable the parking space allocation of the light array, and the relatively higher the possibility and convenience of vehicles parking in the light array.

[0098] B400, obtain the regional unpopularity factor of each target LED light array.

[0099] Among them, the regional unpopularity factor of the th target LED light array is : .

[0100] Among them, is the current time, is the time when the th target LED light array was last allocated a vehicle, is the preset normalized time upper limit.

[0101] This formula is used to calculate the regional unpopularity factor of the LED light array corresponding to the th target idle area. The regional unpopularity factor can help measure the frequency of vehicles being allocated to this area within a period of time. The larger the factor value, the fewer vehicles are guided to this area within a period of time, and it is relatively more "unpopular"; when , the regional unpopularity factor is proportional to the time interval since the last vehicle allocation, and is normalized by dividing by to make the factor value within the range of [0,1]; when , it means that the time since the last vehicle allocation in this area has exceeded the set normalized upper limit. At this time, the regional unpopularity factor is set to the maximum value of 1, indicating that this area is in a highly unpopular state.

[0102] B500. Obtain the guiding competition factor score for each target idle area according to the area occupancy density, the regional historical occupancy variation rate, the regional unpopularity factor, the preset area occupancy density weight, the preset regional historical occupancy variation rate weight, and the preset regional unpopularity factor weight.

[0103] Among them, the guiding competition factor score corresponding to the th target LED light array is : .

[0104] Among them, is the preset area occupancy density weight, is the regional historical occupancy variation rate weight, is the preset regional unpopularity factor weight.

[0105] The guiding competition factor score comprehensively considers three factors: the area occupancy density, the regional historical occupancy variation rate, and the regional unpopularity factor. By assigning different weights, it can more comprehensively and objectively evaluate the advantages and disadvantages of each target LED light array, and the most suitable light array for vehicle parking can be selected more accurately according to the score.

[0106] B600. Determine the target LED light array corresponding to the minimum guiding competition factor score as the light array to be parked.

[0107] Selecting the light array with the minimum guiding competition factor score as the light array to be parked means that this light array is the most suitable for vehicle parking after comprehensively considering multiple factors, which can improve the efficiency and convenience of vehicle parking, and at the same time optimize the space utilization of the parking lot.

[0108] B700. When there are at least two target idle areas in the light array to be parked, determine the target parking area based on the first strategy; When there is one target idle area in the light array to be parked, determine the target idle area as the target parking area.

[0109] When there are multiple target idle areas in the light array to be parked, further screening through the first strategy can more accurately determine the specific area most suitable for vehicle parking. When there is only one target idle area, it is directly determined as the target parking area, effectively avoiding unnecessary screening processes and improving the decision-making efficiency.

[0110] Further, when there are at least two target idle areas in the to-be-parked light array, determining the target parking area based on the first strategy specifically includes: obtaining the actual shortest distance from each target idle area to the parking lot entrance; obtaining the area ratio of the vehicles to be parked in the parking lot in each target idle area; determining the weighted score of each target idle area according to the distance preset weight, the area ratio preset weight, the actual shortest distance, and the idle area density; obtaining the target idle area corresponding to the minimum weighted score, denoted as the first area; if the first area is one, determining the first area as the target parking area; if the first area is at least two, randomly selecting one of the first areas as the target parking area.

[0111] The method for determining the target parking area based on the second strategy disclosed in this embodiment comprehensively considers multiple factors such as the area ratio density, the regional historical occupancy mutation rate, and the regional unpopularity degree factor, and can more comprehensively and accurately evaluate the advantages and disadvantages of each target idle area, so as to allocate the most suitable parking area for the vehicle and improve the utilization rate of the parking spaces in the parking lot; by introducing the regional unpopularity degree factor, it encourages vehicles to park in relatively "unpopular" areas, avoiding the situation that some areas in the parking lot are overcrowded while some areas are idle, making the distribution of vehicles in the parking lot more uniform; determining the target parking area based on multi-factor evaluation and screening reduces the time for the car owner to find a parking space, improves the convenience and efficiency of parking, and enhances the car owner's parking experience; the entire solution reflects the intelligent management of the parking lot. Through the collection and analysis of data, it realizes automated parking space allocation decisions, reduces manual intervention, and lowers the management cost.

[0112] Further, in another embodiment, the method for determining the target parking area based on the first strategy includes: S1, obtaining the Manhattan distance from each target idle area to the parking lot entrance ; S2, obtaining the path reachability risk factor from each target idle area to the parking lot entrance 。

[0113] Specifically, it may include: 1) Path recognition: Using the map information of the parking lot, find all possible paths from the parking lot entrance to each target idle area. These paths may include different types of road segments such as passages, curves, ramps, etc. 2) Determination of risk assessment factors: Consider various factors affecting path accessibility, such as whether there are obstacles on the path (such as construction areas, malfunctioning vehicles, etc.), the width of the passage, whether there are sharp turns or steep slopes, etc. Set corresponding risk scoring criteria for each factor. 3) Risk score calculation: For each path, score according to the above risk assessment factors. For example, if there are obstacles on the path, a higher risk score can be given; if the passage is narrow, a certain risk bonus can be given. Then, considering the scores of all paths, determine a path accessibility risk factor for each target idle area. It can be obtained by weighted averaging the risk scores of each path, and the weights can be determined according to factors such as the usage frequency of the path.

[0114] S3. Obtain the Manhattan distance from each target idle area to the parking lot exit ; S4. Perform weighted summation on the Manhattan distance from the target idle area to the parking lot entrance, the path accessibility risk factor, and the Manhattan distance from the target idle area to the parking lot exit according to the first weight, the second weight, and the third weight to obtain a weighted score.

[0115] The weighted score is : . is the first weight, is the second weight, is the third weight.

[0116] Among them, , , can be dynamically determined through or be preset values.

[0117] S5. Obtain the target idle area corresponding to the minimum weighted score, denoted as the first area; if the first area is one, determine the first area as the target parking area; if the first area is at least two, randomly select one of the first areas as the target parking area.

[0118] In this embodiment, steps S1 and S3 respectively obtain the Manhattan distances from the target idle area to the parking lot entrance and exit: Taking the distances into consideration helps to balance the convenience for the car owner from entering the parking lot to finding a parking space and leaving the parking lot after parking; car owners generally hope to minimize the driving distance as much as possible, which can save time and energy, especially in large parking lots. For example, for car owners in a hurry to do things, a shorter driving distance can allow them to reach their destinations faster; and after parking, a shorter distance to the exit can also enable them to leave the parking lot quickly. Step S2 obtains the path accessibility risk factor from the target idle area to the parking lot entrance: Path accessibility is crucial for the car owner's parking experience. Even if a parking space is relatively close to the entrance, but if there are obstacles, narrow passages or sharp turns on the path to reach the parking space, it will increase the difficulty and risk of parking. By considering path accessibility, a safer and smoother parking path can be selected for the car owner, avoiding unnecessary troubles and potential accidents. For example, in the case of a construction area in the parking lot, if path accessibility is not considered, it may guide the car owner into a parking space near the construction area, resulting in blocked vehicle passage.

[0119] Furthermore, the weights can be determined dynamically, which enables this method to be flexibly adjusted according to the actual situation and time period of different parking lots. For example, during peak hours, there are more vehicles in the parking lot and the traffic pressure is high. At this time, the weight of the path accessibility risk factor can be appropriately increased (i.e., enlarged) to preferentially select parking spaces with unobstructed paths; while when the utilization rate of the parking lot is low, the weight of path accessibility can be reduced, and more consideration can be given to the distance factor.

[0120] The weights can also be preset values, which is applicable to scenarios where the operation of the parking lot is relatively stable. The preset values can be set according to the historical data and experience of the parking lot, providing a basic decision-making basis for the system. In this way, when the system is initially running or there is not enough data for dynamic adjustment, the parking space allocation can also be carried out normally.

[0121] Step S4 obtains a weighted score through weighted summation: Combining multiple factors into a quantitative index makes different target idle areas comparable, so that the optimal parking space can be objectively selected according to the high or low score, avoiding the limitations of single-factor decision-making.

[0122] In step S5, when there are multiple target idle areas (the first area) corresponding to the minimum weighted scores, one is randomly selected as the target parking area: This processing method is simple and effective. When multiple parking spaces perform equally well in the comprehensive index, random selection can ensure the efficiency of decision-making, avoiding excessive comparison and analysis between multiple equivalent solutions, and thus quickly allocating parking spaces for car owners.

[0123] In summary, the method for determining the target parking area based on the first strategy can provide better parking services for vehicle owners, improve the utilization efficiency and management level of the parking lot by comprehensively considering multi-dimensional factors, flexibly setting weights, and having clear selection rules.

[0124] Referring to Figure 5 , for the method of "responding to the determination instruction of the target parking area and turning on the LED lights corresponding to the target parking area through the array controller to generate dynamic parking spaces that meet the size information" in S500, that is, the method for generating dynamic parking spaces, specifically includes: S510, determining the target grid area corresponding to the target parking area; the length of the target grid area is the quotient of the vehicle length and the grid side length, and the width is the quotient of the vehicle width and the grid side length.

[0125] By dividing the length and width of the vehicle by the grid side length respectively to determine the length and width of the target grid area, it is possible to accurately delimit the corresponding parking space according to the actual size of the vehicle. The sizes of different types of vehicles vary greatly. For example, the length and width dimensions of small cars and large SUVs are different. Such a calculation method can ensure that each vehicle is allocated a just-right parking grid area, avoiding waste of resources due to overly large parking spaces or the situation where the vehicle cannot be parked normally due to overly small spaces.

[0126] Determining the parking space in units of grid areas makes the management of the parking lot more standardized and normalized. In subsequent operations, whether it is the status monitoring of parking spaces, charging management, or parking space guidance, etc., can be carried out based on these clear grid areas, improving the management efficiency and accuracy. For example, the system can more conveniently record the occupancy of each grid area, providing accurate data support for the operation of the parking lot.

[0127] S520, calling the array controller corresponding to the LED light array to which the target parking area belongs, and controlling the boundary LED lights of the target grid area to light up to generate dynamic parking spaces that meet the size information.

[0128] Lighting the boundary LED lights of the target grid area can provide clear and definite parking guidance for vehicle owners. In a parking lot, especially a large one, it is often difficult for vehicle owners to quickly and accurately find a suitable parking space. The lit LED lights are like an obvious signpost, guiding the vehicle owner directly to the target parking space, greatly shortening the time for the vehicle owner to search for a parking space and improving the parking efficiency. The lighting of the boundary LED lights can visually highlight the boundary of the parking space, making it easier for the vehicle owner to judge the relative position between the vehicle and the parking space during parking, reducing the occurrence of accidents such as scratches and collisions. Especially in a parking lot environment with relatively dim light, the lighting function of the LED lights can significantly improve the safety of parking. Generating dynamic parking spaces means that the parking lot can adjust the allocation and use of parking spaces in real time according to the actual situation. When a vehicle leaves a certain parking space, the system can timely turn off the boundary LED lights of the grid area and mark it as an idle state for subsequent vehicles to use. This dynamic management method can make full use of the resources of the parking lot and effectively improve the overall utilization rate of the parking lot.

[0129] Furthermore, the intelligent parking method with dynamic parking spaces disclosed in this application further includes: in response to the departure vehicle information detected at the parking lot exit, obtaining the dynamic parking space corresponding to the departure vehicle and releasing the dynamic parking space.

[0130] Specifically, when the vehicle departs, it can be detected by the detection equipment (such as license plate recognition cameras, inductive loops, etc.) installed at the parking lot exit, and relevant information of the departing vehicle, such as the license plate number, is collected; then the received license plate number is matched with the vehicle information recorded in the system to find the dynamic parking space corresponding to the departing vehicle. This dynamic parking space is allocated to it according to factors such as its size and the idle situation of the parking lot when the vehicle enters.

[0131] Once the dynamic parking space corresponding to the departing vehicle is determined, the status of this parking space can be updated from "occupied" to "idle", and at the same time, the real-time idle area information of the parking lot is updated. For example, on its digital map, the color of this dynamic parking space is changed from red representing occupied to green representing idle, and the LED lights of the dynamic parking space corresponding to the departing vehicle are controlled to turn off.

[0132] Timely releasing the dynamic parking space allows more vehicles to use these idle parking spaces, effectively improving the space utilization rate of the parking lot and increasing the accommodation capacity of the parking lot. This solution makes the parking space management of the parking lot more intelligent and automated, can automatically handle the release of parking spaces after the vehicle departs, reduce manual intervention, lower the management cost, and at the same time improve the accuracy and efficiency of management.

[0133] Furthermore, the recognition of vehicle license plate information can adopt the OCR character recognition method. The specific process includes: 1) Image acquisition: The camera at the parking lot entrance captures the vehicle image, obtaining the perspective directly in front of the vehicle to ensure that the license plate is clearly visible. The image is a grayscale image. 2) License plate detection: Using the shape features (such as rectangular borders) and color features of the license plate, the license plate area is determined through algorithms such as edge detection, shape detection, and color filtering. 3) Image preprocessing: The detected license plate area is preprocessed to improve the OCR recognition accuracy. Specifically, it includes: converting the image to grayscale to reduce unnecessary color information, applying methods such as median filtering and Gaussian filtering to remove image noise, converting the image to black and white (foreground / background) to more clearly separate characters, and identifying and segmenting each character area by detecting the contours in the binary image. 5) Character recognition: Using template matching, the segmented characters are compared with the templates in the standard character library to identify the characters. 6) Result output: The recognized license plate number is transmitted to the dynamic parking space management subsystem for functions such as recording vehicle information, implementing parking space allocation, and one-to-one parking space guidance.

[0134] Referring to Figure 6 , the second aspect of the present application discloses an intelligent parking system with dynamic parking spaces for implementing the intelligent parking method with dynamic parking spaces disclosed in the first aspect of the present application. Specifically, it includes a vehicle recognition subsystem 10, a dynamic parking space subsystem 20, a dynamic parking space management subsystem 30, and a parking space guidance subsystem 40. The vehicle recognition subsystem 10, the dynamic parking space subsystem 20, and the parking space guidance subsystem 40 are all signal-connected to the dynamic parking space management subsystem 30.

[0135] Among them, the vehicle recognition subsystem 10 is used to recognize the vehicle to enter the parking lot and obtain the target information. Specifically, the target information includes vehicle license plate information and size information. In this embodiment, the vehicle license plate information is the license plate number, and the size information includes the vehicle width and the vehicle length.

[0136] The dynamic parking space subsystem 20 includes an array controller and an LED light array evenly laid in the parking area of the parking lot. The LED light array includes a number of LED light points embedded in the parking area, and the top surface of the LED light points is flush with the parking area. The array controller can communicate wirelessly with each LED light and is used to control the opening and closing of each LED light in the LED light array, so that a parking space of any size can be generated by controlling the lighting of the LED lights.

[0137] Among them, each LED light point is an independent display unit, which consists of an LED light and its transparent housing. The housing of the LED light point is made of a transparent material with pressure resistance, waterproofness, and dustproofness, such as tempered glass or high-strength polycarbonate, etc. The housing of the LED light point can protect the LED light and ensure the stability during long-term use. Moreover, the LED light point is embedded in the ground of the parking space area and is flush with the ground, avoiding damage caused by vehicle driving and facilitating cleaning and maintenance.

[0138] Furthermore, there can be several LED light arrays, and there are also several array controllers. Each array controller corresponds to an LED light array to correspondingly control the turning on and off of each LED light in the corresponding LED light array.

[0139] The dynamic parking space management subsystem 30 is used to determine the expected parking area according to the received size information, and determine the target parking area according to the currently available information of the parking lot. In response to the determination instruction of the target parking area, the LED lights corresponding to the target parking area are turned on through the array controller to generate dynamic parking spaces. That is, the dynamic parking space management subsystem dynamically plans the size and position of the parking spaces in the parking lot according to the vehicle size information transmitted by the vehicle identification subsystem, and allocates parking spaces for the parked vehicles. The allocated parking space is the target parking space. At the same time, the position information of the allocated target parking space is transmitted to the parking space guiding subsystem and the dynamic parking space subsystem.

[0140] The parking space guiding subsystem 40 is used to generate the optimal driving path of the vehicle corresponding to the vehicle license plate information from the parking lot entrance to the target parking area in response to the determination instruction of the target parking area, generate navigation instructions according to the optimal driving path, and send the optimal driving path and navigation instructions to the in-vehicle navigation to guide the vehicle to the dynamic parking space.

[0141] Specifically, during the process of the vehicle driving from the parking lot entrance to the target parking space, it usually needs to turn and change lanes, and sometimes turns multiple times to finally reach the target parking space. The positions in the parking lot where the vehicle needs to turn and change lanes are defined as nodes, and the nodes are located on the center line of the parking lot entrance, and are represented by the symbol The coordinates of each node are , where k = 1, 2,..., N, and N represents the total number of nodes. According to the coordinates of the target parking space, calculate the Manhattan distance between the target parking space and each node, select the node closest to the target parking space to turn, and this node is named the turning node, whose abscissa is , and whose ordinate is .

[0142] According to the ordinate of the turning node, determine the straight-line distance that the parked vehicle travels straight after entering the entrance., this distance is equal to the ordinate of the turning node multiplied by the side length of the grid, that is .

[0143] After turning at the turning node, then according to the abscissa of the turning node , calculate the distance that the vehicle needs to travel from the turning node to reach the target parking space after turning , this distance is equal to the difference between the abscissa of the target parking space and the abscissa of the turning node multiplied by the side length of the grid, that is .

[0144] After the parking vehicle turns at the turning node and travels a specified distance, if the ordinate of the turning node is greater than the ordinate of the target parking space, that is , then the target parking space is on the right side of the parking vehicle; if the ordinate of the turning node is less than the ordinate of the target parking space, that is , then the target parking space is on the left side of the parking vehicle.

[0145] Because the node is located on the center line of the parking lot entrance, and the planned path is the center line of the vehicle driving path, so the starting point of the parking vehicle is the center of the parking lot entrance , the planned path is: → → , at this time the vehicle reaches one side of the target parking space, and then by judging the direction of the target parking space, the complete path can be obtained.

[0146] The navigation instructions generated by the parking space guiding subsystem 40 can include the dynamic driving route on the navigation screen and voice instructions; the real-time positions of the vehicle and the target parking space in the dynamic driving route are obtained through wireless communication between the in-vehicle navigation and the parking space guiding subsystem, and the voice information is the corresponding text converted according to the planned path.

[0147] Among them, voice commands are further divided into the following four types: 1) Starting point guidance command: It indicates the direction and distance for the vehicle to start driving from the parking lot entrance. The command is "You have entered the parking lot, please go straight for x meters", where x represents the straight-line distance, for example, "You have entered the parking lot, please go straight for 3 meters". This is the starting command in the guidance process to ensure that the vehicle can correctly enter the parking lot and reach the first node. 2) Turning guidance command: It indicates the turning direction of the vehicle at the node. The commands include: "Please turn right at the upcoming turning, and go straight for x meters after turning right" and "Please turn left at the upcoming turning, and go straight for x meters after turning left". The turning command needs to clearly inform the driver where to turn, the turning direction, and the distance to go straight after turning. 3) Straight-line guidance command: It indicates that the vehicle drives straight correctly on the parking lot road. The command is "Please go straight for x meters", where x represents the straight-line distance from the current position, for example, "Please go straight for 8 meters". Such commands help the driver drive straight along the correct path. 4) Target parking space guidance command: It indicates the specific position information and the parking space direction when the vehicle reaches near the target parking space. The commands include: "You have reached near the target parking space. The target parking space is on your left. Please park your vehicle according to the parking space norms lit on the ground" and "You have reached near the target parking space. The target parking space is on your right. Please park your vehicle according to the parking space norms lit on the ground". This is the last step of the path guidance, clearly informing the driver the position of the target parking space (left or right), and reminding them to park the vehicle according to the parking space lit on the ground.

[0148] After parking is completed, click "Finish Parking" on the in-vehicle navigation. The in-vehicle navigation sends the parking completion information to the dynamic parking space management subsystem, and the dynamic parking space management subsystem controls the LED light of the target parking space to turn off to save resources.

[0149] Specifically, the vehicle identification subsystem includes an image acquisition module, a sensor module, and a central control unit. The image acquisition module and the sensor module are both connected to the central control unit by signals.

[0150] The image acquisition module is set at the parking lot entrance to ensure that it can capture the vehicle license plate, and is used to identify the vehicle license plate information of the vehicle to enter the parking lot. Specifically, the image acquisition module can include one or more cameras.

[0151] The sensor module is used to obtain the size information of the vehicle to enter the parking lot, and the size information includes the vehicle length and the vehicle width. Specifically, the sensor module may include a laser sensor module and an infrared sensor module. Among them, the laser sensor module contains two laser range sensors. One laser rangefinder is set on each side of the entrance to measure the vehicle width. Assume that the fixed distance between the left sensor and the right sensor is S, the distance from the left sensor to the vehicle body is a, and the distance from the right sensor to the vehicle body is b. Then the vehicle width W can be obtained by subtracting the measured values on both sides from the fixed distance between the two sensors.

[0152] The infrared sensor can be installed on the top of the parking lot entrance to ensure that the infrared sensor is installed at a suitable height to fully cover the front and rear ends of the vehicle. When the vehicle stops at the stop line at the parking lot entrance, the infrared sensor is activated, and the sensor starts to linearly scan along the length direction of the vehicle from the front end (front of the vehicle) of the vehicle at a fixed scanning rate. When the infrared sensor starts to scan, once a sharp change in the reflected signal is detected, that is, from no reflection to reflection, the system records this position as the starting position P of the front of the vehicle. start ; When the infrared scanning device continues to move and approaches the rear of the vehicle, the reflected signal will change significantly again, that is, from reflection to no reflection, indicating that the rear of the vehicle has been scanned. The system records this position as the end position P of the rear of the vehicle. end . After calculation by the central control unit, the vehicle length L can be obtained, L = P end - P start .

[0153] The identity of the vehicle and the size data of the vehicle provide key basic information for subsequent parking space allocation and guidance, enabling the entire system to perform more reasonable parking space matching and dynamic adjustment according to the actual size of the vehicle.

[0154] The central control unit is used to send the size information to the dynamic parking space management subsystem and send the received vehicle license plate information to the parking space guidance subsystem. In this embodiment, the central control unit is the core of the vehicle identification subsystem, responsible for the work of the entire subsystem. After the subsystem works, the central control unit receives the license plate information and vehicle size data transmitted from the parking lot entrance camera module, infrared sensor module, and laser sensor module, and sends the license plate information to the vehicle guidance subsystem through the wireless communication module, and at the same time sends the vehicle size data to the dynamic parking space management subsystem through the wireless communication module.

[0155] Furthermore, the vehicle identification subsystem may further include a storage module and a power module. The storage module mainly stores the license plate numbers of the parked vehicles entering the parking lot and the vehicle size data obtained by the parking lot entrance camera module and the laser sensor module; the power module provides a stable voltage for the vehicle identification subsystem.

[0156] Specifically, the dynamic parking space management subsystem includes a parking space allocation unit and a dynamic parking space generation unit. The parking space allocation unit is configured to determine a desired parking area according to the received size information, determine an idle area that meets the desired parking area from all idle areas, and record it as the target idle area. When there are at least two target idle areas, it is determined whether the at least two target idle areas belong to the same LED light array. If so, the target parking area is determined based on the first strategy. If not, the target parking area is determined based on the second strategy.

[0157] The dynamic parking space generation unit is configured to, in response to the determination instruction of the target parking area, generate a dynamic parking space by controlling the array controller to turn on the LED lights corresponding to the target parking area.

[0158] Furthermore, the parking space allocation unit includes a coordinate system construction unit, a grid division unit, a parking lot idle information acquisition subunit, a parking space analysis unit, a first target parking area determination unit, and a second target parking area determination unit. The coordinate system construction unit is configured to construct a target coordinate system according to the actual area of the parking lot. The coordinate origin of the target coordinate system is the parking lot entrance, the x - direction is the horizontal direction of the parking lot, and the y - direction is the longitudinal direction of the parking lot.

[0159] The grid division unit is configured to divide the actual area of the parking lot into uniform two - dimensional grids and determine several LED light arrays; the size of each grid is the corresponding square bright frame when each LED light is lit.

[0160] The parking lot idle information acquisition subunit is configured to obtain the grid range of the LED light array according to the uniform two - dimensional grid; obtain the grid status corresponding to the grid range, where the grid status includes one or both of occupied and unoccupied; convert the grid status into a two - dimensional array, where the two - dimensional array includes one or both of a first result and a second result, the first result corresponds to occupied, and the second result corresponds to unoccupied; starting from the row closest to the parking lot entrance in the two - dimensional array, obtain the grid status of each row row by row, record all the idle grids; record the largest rectangle formed by adjacent idle grids as an idle area; determine all the current idle areas of the parking lot according to all the idle grids.

[0161] The parking space analysis unit is configured to analyze whether there is an idle area that meets the size information according to the received size information, and when there is a corresponding idle area, determine the target idle area. When there is one target idle area, it triggers the first target parking area determination unit, and when there are at least two target idle areas, it triggers the second target parking area determination unit.

[0162] The first target parking area determination unit is configured to determine the target idle area as the target parking area when there is one target idle area.

[0163] The second target parking area determination unit is configured to, when there are at least two target idle areas, obtain the actual shortest distance from each target idle area to the parking lot entrance; obtain the ratio of the area of the vehicle to be parked in the parking lot in each target idle area to the area of the target idle area (the larger the idle area, the smaller the ratio); determine the weighted score of each target idle area according to the distance preset weight, the area ratio preset weight, the actual shortest distance, and the idle area density; obtain the target idle area corresponding to the smallest weighted score, denoted as the first area; if there are at least two first areas, randomly select one first area as the target parking area. The weighted score is S: , , where is the distance preset weight, is the area ratio preset weight, is the th actual shortest distance from the target idle area to the parking lot entrance, is the th ratio of the area of the vehicle to be parked in the parking lot in the target idle area to the area of the target idle area, The smaller it is, the larger the area of the target idle area.

[0164] The computer device according to an embodiment of the present disclosure includes a memory and a processor. The memory is used to store non-temporary computer-readable instructions. Specifically, the memory may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc.

[0165] The processor may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the computer device to perform desired functions. In an embodiment of the present disclosure, the processor is used to run the computer-readable instructions stored in the memory, so that the computer device executes all or part of the steps of the intelligent parking method with dynamic parking spaces in the foregoing embodiments of the present disclosure.

[0166] Those skilled in the art should understand that, in order to solve the technical problem of how to obtain a good user experience effect, the present embodiment may also include well-known structures such as communication buses and interfaces, and these well-known structures should also be included in the protection scope of the present disclosure.

[0167] Such as Figure 10Schematic diagram of a computer device provided by an embodiment of the present disclosure. It shows a schematic diagram of a computer device suitable for implementing the computer device in the embodiments of the present disclosure. Figure 10 The computer device shown is merely an example and should not impose any limitation on the functions and scope of use of the embodiments of the present disclosure.

[0168] As Figure 10 shown, the computer device may include a processor (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage device into a random access memory (RAM). In the RAM, various programs and data required for the operation of the computer device are also stored. The processor, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0169] Generally, the following devices may be connected to the I / O interface: an input device including, for example, a sensor or a visual information acquisition device; an output device including, for example, a display screen; a storage device including, for example, a magnetic tape, a hard disk, etc.; and a communication device. The communication device may allow the computer device to communicate wirelessly or wiredly with other devices (such as edge computing devices) to exchange data. Although Figure 10 a computer device with various devices is shown, it should be understood that it is not required to implement or have all the shown devices. Instead, more or fewer devices may be implemented or had.

[0170] Specifically, according to the embodiments of the present disclosure, the process described above with reference to the flowchart may be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program codes for executing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by the processor, all or part of the steps of the intelligent parking method with dynamic parking spaces in the embodiments of the present disclosure are executed.

[0171] For a detailed description of this embodiment, reference may be made to the corresponding descriptions in the foregoing embodiments, and details will not be repeated here.

[0172] A computer-readable storage medium according to an embodiment of the present disclosure, on which non-transitory computer-readable instructions are stored. When the non-transitory computer-readable instructions are run by a processor, all or part of the steps of the intelligent parking method with dynamic parking spaces in the foregoing embodiments of the present disclosure are executed.

[0173] The above computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROM and DVD), magneto-optical storage media (e.g., MO), magnetic storage media (e.g., magnetic tape or removable hard disk), media with built-in rewritable non-volatile memory (e.g., memory card), and media with built-in ROM (e.g., ROM cartridge).

[0174] For a detailed description of this embodiment, reference may be made to the corresponding descriptions in the foregoing embodiments, which will not be elaborated herein.

[0175] The basic principles of the present disclosure have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present disclosure. Additionally, the specific details disclosed above are only for illustrative and easy-to-understand purposes, rather than limitations. These details do not limit the present disclosure to necessarily implement using the above specific details.

[0176] In the present disclosure, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The block diagrams of devices, apparatuses, equipment, and systems involved in the present disclosure are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The words "or" and "and" used herein refer to the word "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with it.

[0177] In addition, as used herein, "or" in a list of items starting with "at least one" indicates a separate listing, so that for example, a listing of "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the term "exemplary" does not mean that the described examples are preferred or better than other examples.

[0178] It should also be noted that in the systems and methods of the present disclosure, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present disclosure.

[0179] Various changes, substitutions, and alterations to the technology described herein may be made without departing from the teachings defined by the appended claims. In addition, the scope of the claims of this disclosure is not limited to the specific aspects of the processes, machines, manufactures, compositions of events, means, methods, and acts described above. Current or later-developed processes, machines, manufactures, compositions of events, means, methods, or acts that perform substantially the same function or achieve substantially the same result as the corresponding aspects described herein may be utilized. Accordingly, the appended claims include such processes, machines, manufactures, compositions of events, means, methods, or acts within their scope.

[0180] The foregoing description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0181] The foregoing description has been presented for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some of their variations, modifications, alterations, additions, and subcombinations.

Claims

1. An intelligent parking method with dynamic parking spaces, characterized in that, Including: Identifying the vehicle entering the parking lot to obtain target information; The target information includes vehicle license plate information and size information; the parking lot includes an array controller and an LED light array, the LED light array includes a number of LED light points embedded in the parking area, and the array controller is used to control the on and off of each LED light point; Real-time obtaining all idle areas of the parking lot; Determining the expected parking area according to the size information; Determining the idle area that meets the expected parking area from all idle areas, denoted as the target idle area; When there are at least two target idle areas, determining whether at least two of the target idle areas belong to the same LED light array. If so, determining the target parking area based on the first strategy; If not, determining the target parking area based on the second strategy; In response to the determination instruction of the target parking area, turning on the LED lights corresponding to the target parking area through the array controller to generate a dynamic parking space that meets the size information; Generating the optimal driving path of the vehicle corresponding to the vehicle license plate information from the parking lot entrance to the target parking area in response to the determination instruction of the target parking area; Generating a navigation instruction according to the optimal driving path, and sending the optimal driving path and the navigation instruction to the in-vehicle navigation to guide the vehicle to the dynamic parking space.

2. The intelligent parking method with dynamic parking spaces according to claim 1, characterized in that, The determining the target parking area based on the first strategy includes: Obtaining the actual shortest distance from each target idle area to the parking lot entrance; Obtaining the area ratio of the vehicle to be parked in the parking lot in each target idle area to the target idle area; Determining the weighted score of each target idle area according to the distance preset weight, the area ratio preset weight, the actual shortest distance, and the idle area density; The weighted score is S: , , where is the preset weight of the distance, is the preset weight of the area ratio, is the actual shortest distance from the th target idle area to the parking lot entrance, is the area ratio of the vehicle to enter the parking lot to the th target idle area; Obtaining the target idle area corresponding to the minimum weighted score, denoted as the first area; if the first area is one, determining the first area as the target parking area; If there are at least two first areas, randomly selecting one of the first areas as the target parking area.

3. The intelligent parking method with dynamic parking spaces according to claim 2, characterized in that, The determining the target parking area based on the second strategy includes: Determining different LED light arrays corresponding to at least two target idle areas, denoted as target LED light arrays; Obtaining the area ratio density of each target LED light array; Obtaining the number of times each target LED light array is allocated in each preset time slice within a preset time window to obtain a number-time sequence; Obtaining the regional historical occupancy mutation rate in each target LED light array according to the number-time sequence; Obtaining the regional coldness degree factor of each target LED light array; Obtaining the guiding competition factor score of each target idle area according to the area ratio density, the regional historical occupancy mutation rate, the regional coldness degree factor, the preset area ratio density weight, the preset regional historical occupancy mutation rate weight, and the preset regional coldness degree factor weight; Determining the target LED light array corresponding to the minimum guiding competition factor score as the to-be-parked light array; When there are at least two target idle areas in the to-be-parked light array, determining the target parking area based on the first strategy; When there is only one target idle area in the to-be-parked lamp array, determine the target idle area as the target parking area.

4. The intelligent parking method with dynamic parking spaces according to claim 3, wherein The area occupancy density of the th target LED light array is ; wherein, is the sum of the occupied areas of the parked vehicles in the th target LED light array, is the th area of the target LED light array; The regional historical occupancy mutation rate of the target LED lamp array is : ; wherein, is the number of preset time slices corresponding to the preset time window, is the number of parking spaces allocated to the th time slice for the th target LED light array, is the average number of parking spaces allocated to the th target LED light array within the preset time window; The cold popularity factor of the area of the th target LED light array is ; wherein, is the current time, is the time when the th target LED array was last assigned a vehicle, is the preset normalized time upper limit; The guidance competition factor score corresponding to the th target LED lamp array is ; wherein, is the preset area occupancy density weight, is the regional historical occupancy mutation rate weight, is the preset regional unpopularity factor weight.

5. The intelligent parking method with dynamic parking spaces according to claim 1, wherein The real-time acquisition of all idle areas in the parking lot includes: Construct a target coordinate system according to the actual area of the parking lot, where the origin of the coordinates of the target coordinate system is the entrance of the parking lot, the x-direction is the transverse direction of the parking lot, and the y-direction is the longitudinal direction of the parking lot; wherein, the actual area of the parking lot includes a parking area for parking and a driving lane. Divide the actual area of the parking lot into uniform two-dimensional grids and determine several LED lamp arrays; wherein, the size of each grid is a square bright frame corresponding to when each LED lamp is lit. Obtain the grid range of the LED lamp array according to the uniform two-dimensional grid. Obtain the grid status corresponding to the grid range, and the grid status includes one or both of occupied and unoccupied. Convert the grid status into a two-dimensional array, and the two-dimensional array includes one or both of a first result and a second result, the first result corresponding to occupied and the second result corresponding to unoccupied. Starting from the row closest to the entrance of the parking lot in the two-dimensional array, obtain the grid status of each row row by row and record all the idle grids. Record the largest rectangle formed by adjacent idle grids as an idle area; determine all the current idle areas in the parking lot according to all the idle grids.

6. The intelligent parking method with dynamic parking spaces according to claim 5, wherein In response to the determination instruction of the target parking area, turn on the LED lights corresponding to the target parking area through the array controller to generate a dynamic parking space that meets the size information, including: Determine the target grid area corresponding to the target parking area; the length of the target grid area is the quotient of the vehicle length and the grid side length, and the width is the quotient of the vehicle width and the grid side length. Call the array controller corresponding to the LED lamp array to which the target parking area belongs, and control the boundary LED lights of the target grid area to be turned on to generate a dynamic parking space that meets the size information.

7. The intelligent parking method with dynamic parking spaces according to claim 1, characterized in that, It also includes: In response to the departure vehicle information detected at the exit of the parking lot, obtain the dynamic parking space corresponding to the departure vehicle and release the dynamic parking space.

8. An intelligent parking system with dynamic parking spaces, characterized in that, It includes: A vehicle identification subsystem for identifying a vehicle to enter the parking lot to obtain target information. The target information includes vehicle license plate information and size information. A dynamic parking space subsystem, including an array controller and an LED lamp array uniformly laid in the parking area of the parking lot. The LED lamp array includes several LED lamp points embedded in the parking area, and the top surface of the LED lamp points is flush with the parking area; the array controller is used to control the opening and closing of each LED lamp in the LED lamp array. A dynamic parking space management subsystem for determining a desired parking area according to the received size information and determining a target parking area according to the currently available information of the parking lot. In response to the determination instruction of the target parking area, turn on the LED lights corresponding to the target parking area through the array controller to generate a dynamic parking space. The parking space guiding subsystem is used to generate the optimal driving path of the vehicle corresponding to the vehicle license plate information from the parking lot entrance to the target parking area in response to the determination instruction of the target parking area, generate a navigation instruction according to the optimal driving path, and send the optimal driving path and the navigation instruction to the in-vehicle navigation to guide the vehicle to the dynamic parking space.

9. The intelligent parking system with dynamic parking spaces according to claim 8, characterized in that, The dynamic parking space management subsystem includes: A parking space allocation unit, configured to determine a desired parking area according to the received size information, determine an idle area that meets the desired parking area from all idle areas, and denote it as the target idle area. When there are at least two target idle areas, determine whether at least two of the target idle areas belong to the same LED light array. If so, determine the target parking area based on the first strategy; if not, determine the target parking area based on the second strategy; A dynamic parking space generation unit, configured to generate a dynamic parking space by controlling the LED lights corresponding to the target parking area to turn on in response to the determination instruction of the target parking area.

10. The intelligent parking system with dynamic parking spaces according to claim 9, characterized in that, The parking space allocation unit includes: A coordinate system construction unit, configured to construct a target coordinate system according to the actual area of the parking lot, where the coordinate origin of the target coordinate system is the parking lot entrance, the x direction is the horizontal direction of the parking lot, and the y direction is the longitudinal direction of the parking lot; A grid division unit, configured to divide the actual area of the parking lot into uniform two-dimensional grids and determine several LED light arrays; the size of each grid is the square bright frame corresponding to each LED light when it is lit; A parking lot idle information acquisition sub-unit, configured to obtain the grid range of the LED light array according to the uniform two-dimensional grid; obtain the grid status corresponding to the grid range, where the grid status includes one or both of occupied and unoccupied; convert the grid status into a two-dimensional array, where the two-dimensional array includes one or both of the first result and the second result, the first result corresponds to occupied, and the second result corresponds to unoccupied; start from the row closest to the parking lot entrance in the two-dimensional array, obtain the grid status of each row row by row, and record all the idle grids; denote the largest rectangle formed by adjacent idle grids as an idle area; determine all the current idle areas of the parking lot according to all the idle grids; A parking space analysis unit, configured to analyze whether there is an idle area that meets the size information according to the received size information, and when there is a corresponding idle area, determine the target idle area, trigger the first target parking area determination unit when the target idle area is one, and trigger the second target parking area determination unit when the target idle area is at least two; A first target parking area determination unit, configured to determine the target idle area as the target parking area when the target idle area is one; The second target parking area determination unit is configured to, when there are at least two target idle areas, obtain the actual shortest distance from each target idle area to the parking lot entrance; obtain the area ratio of the vehicles to be parked in the parking lot in each target idle area to the target idle area; determine the weighted score of each target idle area according to the distance preset weight, the area ratio preset weight, the actual shortest distance, and the idle area density; obtain the target idle area corresponding to the minimum weighted score, denoted as the first area; if there are at least two first areas, randomly select one of the first areas as the target parking area.

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