Vehicle parking method and device

Abstract

The invention relates to a vehicle garage entering method and device, and the method comprises the steps: receiving a first target driving path corresponding to a target vehicle sent by an external controller, the first target driving path being used for indicating the target vehicle to drive from a starting point position to a garage entering position, the garage entering position being a position where the target vehicle needs to enter a garage, the external controller is physically connected with the target vehicle; based on the first target driving path, controlling the target vehicle to drive; when the target vehicle travels from the starting point position to the garage entering position, the target vehicle is controlled to travel from the garage entering position to the target parking space position according to the target parking space position, the target parking space position is determined by the cloud end, the target parking space position is received by the external controller from the cloud end, and the target parking space position is obtained before the target vehicle enters the garage. The information is received from the external controller.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and particularly to a method and device for a vehicle to enter a warehouse. Background Art

[0002] In the automotive manufacturing industry, production efficiency and cost control are key factors in measuring a company's competitiveness. Currently, most automotive manufacturing plants still mainly use manual driving to move vehicles during the warehousing process after the vehicles roll off the production line. This method relies on the operation of professional drivers who need to have proficient driving skills and closely monitor the vehicle status and the surrounding environment during driving to ensure that the vehicle is safely and accurately transferred to the designated location.

[0003] However, the manual vehicle moving mode requires a large number of professional drivers, which not only includes direct labor costs (such as wages, bonuses, benefits, etc.), but also involves driver training costs and indirect costs generated by personnel management. With the increase in automobile production, these costs will increase significantly and become an important part of the factory's operating costs.

[0004] Moreover, long-time driving by drivers is likely to cause fatigue, which not only affects the vehicle moving efficiency and quality, but also increases safety risks such as vehicle collisions.

[0005] Therefore, how to improve the efficiency of vehicle warehousing while reducing costs has become a problem to be solved. Summary of the Invention

[0006] In view of this, this application provides a method and device for a vehicle to enter a warehouse.

[0007] According to the first aspect of this application, a method for a vehicle to enter a warehouse is provided. The method includes: receiving a first target driving path corresponding to a target vehicle sent by an external controller, where the first target driving path is used to indicate that the target vehicle travels from a starting position to a warehousing position, and the warehousing position is the position when the target vehicle needs to enter the warehouse, and the external controller is physically connected to the target vehicle; controlling the target vehicle to travel based on the first target driving path; when the target vehicle travels from the starting position to the warehousing position, controlling the target vehicle to travel from the warehousing position to a target parking space position according to the target parking space position, where the target parking space position is determined by the cloud, the target parking space position is received by the external controller from the cloud, and the target parking space position is received from the external controller before the target vehicle enters the warehouse.

[0008] In a possible implementation, controlling the target vehicle to travel from the entry position to the target parking space position according to the target parking space position includes: receiving a second target travel path corresponding to the target vehicle sent by an external controller, where the second target travel path is used to indicate that the target vehicle travels from the entry position to the target parking space position; and controlling the target vehicle to travel from the entry position to the target parking space position according to the second target travel path.

[0009] In a possible implementation, the second target travel path includes: a parking point position. The second target travel path includes: a first travel path, a second travel path, and controlling the target vehicle to travel from the entry position to the target parking space position according to the second target travel path includes: controlling the target vehicle to travel from the entry position to the parking point position according to the first travel path, where the parking point position is the position where the target vehicle needs to park, and the first travel path is the path from the entry position to the parking point position; and controlling the target vehicle to travel from the parking point position to the target parking space position according to the second travel path, and the second travel path is the path from the parking point position to the target parking space position.

[0010] In a possible implementation, an autonomous driving system is configured on the target vehicle, and controlling the target vehicle to travel from the entry position to the target parking space position according to the target parking space position includes: receiving a travel trajectory sent by the autonomous driving system, where the travel trajectory is generated by the autonomous driving system according to the obstacle information in the warehouse; and controlling the target vehicle to travel from the entry position to the target parking space position according to the travel trajectory.

[0011] In a possible implementation, the external controller is communicatively connected to the cloud, the target parking space position is determined by the cloud and sent to the external controller, and the first travel path is determined by the cloud and sent to the external controller.

[0012] In a possible implementation, the external controller is communicatively connected to the cloud, and controlling the target vehicle to travel based on the first target travel path includes: receiving an updated travel path obtained by the external controller based on the road anomaly situation during the travel of the target vehicle, where the updated travel path indicates that the target vehicle travels from the current position to the entry position in combination with the road anomaly situation, the updated travel path is generated by the external controller when receiving a path adjustment instruction, and the path adjustment instruction is generated by the cloud when detecting a road anomaly situation during the process of controlling the target vehicle to travel based on the first travel path; and controlling the target vehicle to travel to the entry position based on the updated travel path.

[0013] In a possible implementation, the external controller is communicatively connected to the cloud, and the method further includes: receiving a correction instruction sent by the external controller, where the correction instruction is generated by the cloud monitoring the deviation position of the target vehicle from the first target driving path, and the correction instruction is received by the external controller from the cloud and sent when the driving offset of the target vehicle is less than the deviation reference value; controlling the target vehicle according to the correction instruction so that the position of the target vehicle is on the first target driving path.

[0014] In a possible implementation, the method further includes: receiving an emergency stop instruction sent by the external controller, where the emergency stop instruction is generated when the external controller receives the correction instruction and the driving offset of the target vehicle is not less than the deviation reference value; controlling the target vehicle to stop according to the emergency stop instruction.

[0015] In a possible implementation, the external controller is communicatively connected to the cloud, the target parking space position is determined by the cloud and sent to the external controller, and the method further includes: when the target vehicle travels to the target parking space position, generating a parking space occupancy result for the target parking space position; sending the parking space occupancy result to the external controller so that the external controller sends the parking space occupancy result to the cloud, where the cloud updates the current occupancy status of the target parking space position according to the parking space occupancy result.

[0016] In a possible implementation, before receiving the first target driving path corresponding to the target vehicle sent by the external controller, the method further includes: in response to the external controller accessing a preset interface on the target vehicle, establishing a communication connection between the target vehicle and the external controller.

[0017] According to a second aspect of the present application, the present application provides a vehicle warehousing device, the device includes: a receiving module, configured to receive a first target driving path corresponding to the target vehicle sent by the external controller, where the first target driving path is used to instruct the target vehicle to travel from a starting position to a warehousing position, and the warehousing position is the position when the target vehicle needs to enter the warehouse, and the external controller and the target vehicle are physically connected; a first control module, configured to control the target vehicle to travel based on the first target driving path; a second control module, configured to, when the target vehicle travels from the starting position to the warehousing position, control the target vehicle to travel from the warehousing position to the target parking space position according to the target parking space position, where the target parking space position is determined by the cloud, the target parking space position is received by the external controller from the cloud, and the target parking space position is received from the external controller before the target vehicle enters the warehouse.

[0018] In a third aspect, the present application provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the vehicle warehousing method according to the first aspect or any corresponding embodiment thereof as described above.

[0019] In a fourth aspect, the present application provides a vehicle, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the vehicle warehousing method according to the first aspect or any corresponding embodiment thereof as described above.

[0020] In a fifth aspect, the present application provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the vehicle warehousing method according to the first aspect or any corresponding embodiment thereof as described above.

[0021] In a sixth aspect, the present application provides a computer program product, including computer instructions, and the computer instructions are used to cause a computer to execute the vehicle warehousing method according to the first aspect or any corresponding embodiment thereof as described above.

[0022] The beneficial effects of the vehicle warehousing method provided by the embodiments of the present disclosure are as follows:

[0023] First, after receiving the first target driving path corresponding to the target vehicle and the target parking space position sent by the external controller, first control the target vehicle to drive, so that the target vehicle drives from the starting position to the position when the target vehicle needs to enter the warehouse. Since the target parking space position has been determined, the target vehicle can be controlled to directly drive from the position when it needs to enter the warehouse to the target parking space position. That is, during the driving process of the vehicle, there is no need for a professional driver to manually drive the vehicle to the target parking space position, which reduces the cost. Moreover, through intelligent driving, not only the efficiency of vehicle warehousing is improved, but also the problem that the driver is prone to fatigue due to long-term driving is avoided, thereby improving the safety during the driving process of the vehicle.

[0024] Second, on the one hand, considering that integrating path-related software into the vehicle may modify the original program on the vehicle side, in the present application, the external controller is physically connected to the target vehicle, and the external controller accesses the target vehicle and sends the path. When the external controller accesses the target vehicle and sends the path, the external controller does not modify the program originally possessed by the target vehicle itself, which improves the safety of the vehicle.

[0025] On the other hand, the external controller can provide a path for the vehicle. After the vehicle drives to the target parking space, the external controller can be unplugged to disconnect the communication between the external controller and the vehicle. Moreover, the external controller can also be applied to other vehicles that need to enter the warehouse, reducing the cost of the target vehicle entering the warehouse while improving the efficiency of vehicle warehousing.

[0026] Again, during the process of the target vehicle driving to the warehousing position according to the first target driving path, the cloud can plan in real time the position of the target parking space where the target vehicle needs to park. That is to say, the position of the target parking space is not fixed and can be adjusted in real time during the process of the target vehicle driving to the warehousing position according to the cloud's plan. Description of the Drawings

[0027] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 is a schematic structural diagram of a vehicle warehousing system provided according to an embodiment of the present application;

[0029] Figure 2 is a schematic flowchart of a vehicle warehousing method provided according to an embodiment of the present application;

[0030] Figure 3 is a schematic path diagram of a vehicle warehousing method provided according to an embodiment of the present application;

[0031] Figure 4 is a schematic path diagram of another vehicle warehousing method provided according to an embodiment of the present application;

[0032] Figure 5 is a schematic hardware structure diagram of a computer device provided according to an embodiment of the present application. Detailed Embodiments

[0033] The following will illustrate the embodiments of the present application with reference to the drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. 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 application. It should be understood that the preferred embodiments are only for illustrating the present application and not for limiting the protection scope of the present application.

[0034] It should be noted that the illustrations provided in the following embodiments only schematically illustrate the basic concept of the present application. Therefore, only the components related to the present application are shown in the drawings, rather than being 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] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of a vehicle warehousing system according to an embodiment of the present application. The vehicle warehousing system includes an external controller, a server, and a target vehicle. Among them, the server can be a remote server such as a cloud for communicating and interacting with the external controller. The target vehicle can be a vehicle among the off-line vehicles that is about to perform a warehousing operation.

[0036] The server and the target vehicle can respectively establish communication with the external controller. Among them, the external controller can be physically connected to the target vehicle.

[0037] As an example, the external controller can be connected to the OnBoard Diagnostics (OBD) interface of the target vehicle.

[0038] After the external controller is connected to the OBD interface of the target vehicle, the external controller can identify the specific model of the target vehicle, the version of the intelligent driving system, and other key parameter information (such as the type and quantity of sensors, the performance of the processor, etc.), so that the external controller can be more effectively adapted to the target vehicle. The external controller can upload the basic information of the target vehicle (such as the vehicle identification number, vehicle model, off-line time), the initial position of the target vehicle (such as the off-line point position of the target vehicle), and the status information of the autonomous driving system to the server. The server registers and stores the above information uploaded by the external controller, and during the process of the target vehicle performing the warehousing operation, feeds back information such as the status of the parking spaces in the warehouse and the internal traffic conditions of the factory to the external controller, providing data support for subsequent path planning and the driving of the target vehicle.

[0039] According to an embodiment of the present application, a vehicle warehousing method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from here.

[0040] In this embodiment, a vehicle warehousing method is provided, which can be used at the vehicle end of the target vehicle, such as the vehicle's vehicle controller, the vehicle's body controller, etc. Among them, Figure 2 is a flowchart of the vehicle warehousing method according to an embodiment of the present application, as Figure 2As shown in the figure, the process includes the following steps:

[0041] Step S201: Receive the first target driving path corresponding to the target vehicle sent by the external controller. The first target driving path is used to indicate that the target vehicle drives from the starting position to the warehousing position, where the warehousing position is the position when the target vehicle needs to enter the warehouse, and the external controller is physically connected to the target vehicle.

[0042] The target vehicle can be any vehicle to which the method provided by any embodiment of the present disclosure can be applied.

[0043] The first target driving path can be used to indicate that the target vehicle drives from the starting position to the warehousing position, that is, the starting position and the warehousing position can be included in the first target driving path. Among them, the starting position can be the vehicle off-line point position of the factory where the vehicle is produced, and the warehousing position can be the position when the target vehicle needs to enter the warehouse.

[0044] The first target driving path can be a driving path pre-stored in the external controller. When the external controller is connected to the target vehicle, the vehicle terminal can receive the first target driving path stored in the external controller and control the target vehicle to drive according to the first target driving path.

[0045] Specifically, in implementation, the first target driving path can be a driving path pre-stored in the external controller. After the target vehicle is off-line, a professional technician can connect the external controller to the OBD interface of the target vehicle so that the target vehicle and the external controller establish a communication connection. The external controller can send the first target driving path corresponding to the target vehicle to the vehicle terminal of the target vehicle.

[0046] In a possible implementation manner, the first target driving path can also be a driving path planned by the external controller according to the built-in high-precision factory map data.

[0047] As an example, the high-precision factory map data can include the width of the road, the slope of the road, the turning radius of the road, and the position of obstacles. When the first target driving path is a path planned by the external controller according to the built-in high-precision factory map data, the first target driving path can be composed of segmented driving trajectories, and each driving trajectory can be determined during the process of the external controller driving the target vehicle from the starting position to the warehousing position. For example: when the target vehicle drives from the starting position to position B1, the corresponding driving trajectory is C1; when driving from position B1 to position B2, the corresponding driving trajectory is C2; when driving from position B2 to the warehousing position, the corresponding driving trajectory is C3.

[0048] In a possible implementation, before step S201, the method further includes: in response to the external controller accessing a preset interface on the target vehicle, establishing a communication connection between the target vehicle and the external controller.

[0049] The preset interface may be an OBD interface, wherein, when the target vehicle reaches the offline point, the external controller may be connected to the OBD interface of the target vehicle to establish a communication connection between the target vehicle and the external controller, so that the external controller may send the first target driving path to the target vehicle.

[0050] Step S202: Control the target vehicle to travel based on the first target driving path.

[0051] After the vehicle end of the target vehicle receives the first target driving path corresponding to the target vehicle sent by the external controller, the external controller can control the target vehicle to activate the moving mode, wherein the moving mode of the target vehicle can be a mode for the target vehicle to drive from the off-line point to the target parking space, and when the target vehicle performs the storage operation, the moving mode activated by the target vehicle is automatically turned off. In specific implementation, the vehicle end of the target vehicle can control the target vehicle to drive according to the first target driving path so that the target vehicle drives from the starting position to the storage position.

[0052] In one possible implementation, after the vehicle is successfully put into storage, the external controller can send a recovery command to the target vehicle, that is, control the vehicle to disconnect the communication interaction with the external controller, so that the target vehicle can be restored to the mode of the target vehicle when it is normally sold (that is, mass production mode). In mass production mode, the vehicle's intelligent driving system adjusts various parameters back to the standard configuration under normal sales status, and turns off special functions enabled when the target vehicle is put into storage, such as temporary loading of high-precision maps, enhanced scanning mode of specific sensors, etc. Finally, the staff goes to the parking space, unplugs the external controller, and completes the entire automatic car moving and parking process. After unplugging the external controller, the staff takes the external controller back to the designated maintenance area and performs maintenance operations such as data cleaning, charging, and hardware inspection on the external controller to ensure that it can be used normally for the next automatic car moving and parking task.

[0053] Step S203, when the target vehicle travels from the starting position to the storage position, the target vehicle is controlled to travel from the storage position to the target parking position according to the target parking position, wherein the target parking position is determined by the cloud, the target parking position is received by the external controller from the cloud, and the target parking position is received from the external controller before the target vehicle enters the warehouse.

[0054] The target parking space position can be a pre-determined parking space position. Among them, the target parking space position can be the final parking position reached after the target vehicle drives into the warehouse and the target vehicle performs a parking operation. The target parking space position can be pre-stored by an external controller and sent to the vehicle terminal of the target vehicle, or can be determined by the cloud and sent down to the external controller, and then sent by the external controller to the vehicle terminal of the target vehicle.

[0055] As an example, the path for the target vehicle to travel from the warehousing position to the target parking space position can be planned according to the high-precision factory map data built in the external controller.

[0056] As an example, the pre-set path for traveling from the warehousing position to the target parking space position sent by the external controller can be received.

[0057] As an example, the external controller can receive the path for traveling from the warehousing position to the target parking space position from the cloud.

[0058] As an example, the path for traveling from the warehousing position to the target parking space position can be determined according to the autonomous driving system configured in the target vehicle.

[0059] In the vehicle warehousing method provided by the embodiments of the present application, first, after receiving the first target driving path corresponding to the target vehicle and the target parking space position sent by the external controller, the target vehicle is first controlled to travel so that the target vehicle travels from the starting position to the position when the target vehicle needs to enter the warehouse. Since the target parking space position has been determined, the target vehicle can be controlled to directly travel from the position when it needs to enter the warehouse to the target parking space position, that is, there is no need for a professional driver to drive the vehicle manually to the target parking space position during the driving process of the vehicle, reducing the cost. And, through intelligent driving, not only the efficiency of vehicle warehousing is improved, but also the problem that the driver is prone to fatigue due to long-term driving is avoided, thereby improving the safety during the driving process of the vehicle.

[0060] Secondly, on the one hand, considering that the way of integrating path-related software in the vehicle may modify the original program of the vehicle terminal, in this application, the external controller is physically connected to the target vehicle, and the external controller accesses the target vehicle and sends the path. When the external controller accesses the target vehicle and sends the path, the external controller will not modify the program that the target vehicle itself has, improving the safety of the vehicle.

[0061] On the other hand, the external controller can provide the path to the vehicle. After the vehicle travels to the target parking space, the external controller can be unplugged to disconnect the communication between the external controller and the vehicle, and the external controller can also be applied to other vehicles that need to enter the warehouse, reducing the cost of the target vehicle entering the warehouse while improving the efficiency of vehicle warehousing.

[0062] Again, during the process of the target vehicle driving to the parking position according to the first target driving path, the cloud can plan in real time the position of the target parking space where the target vehicle needs to park. That is to say, the position of the target parking space is not fixed and can be adjusted in real time during the process of the target vehicle driving to the parking position according to the cloud's plan.

[0063] In a possible implementation manner, in step S203, controlling the target vehicle to drive from the parking position to the target parking space position according to the target parking space position includes:

[0064] Step S2031, receiving the second target driving path corresponding to the target vehicle sent by the external controller, where the second target driving path is used to instruct the target vehicle to drive from the parking position to the target parking space position.

[0065] The second target driving path can be a driving path pre-stored in the external controller. The vehicle terminal of the target vehicle can receive the second target driving path stored in the external controller.

[0066] In a possible implementation manner, the external controller can pre-store the to-be-driven path, where the to-be-driven path can include the first target driving path and the second target driving path. That is to say, the external controller can pre-store the entire route of the target vehicle driving from the starting position to the target parking space position. After receiving the to-be-driven path sent by the external controller, the target vehicle can directly drive from the starting position to the target parking space position according to the to-be-driven path.

[0067] Step S2032, controlling the target vehicle to drive from the parking position to the target parking space position according to the second target driving path.

[0068] As can be seen from the above, the second target driving path can be a driving path pre-stored in the external controller. After the vehicle terminal of the target vehicle receives the second target driving path, it can control the target vehicle to drive according to the second target driving path so that the target vehicle drives from the parking position to the target parking space position.

[0069] Specifically, the second target driving path includes: the position of the parking point. The second target driving path includes: the first driving path and the second driving path. The above step S2032 includes:

[0070] Step S2032A, controlling the target vehicle to drive from the parking position to the parking point position according to the first driving path, where the parking point position is the position where the target vehicle needs to park, and the first driving path is the path from the parking position to the parking point position.

[0071] The first driving path is the path from the storage position to the parking point position. Among them, the storage position is the starting point of the first driving path, and the parking point position can be the end point of the first driving path. When the target vehicle travels from the storage position to the target parking space position, the target vehicle can first travel from the storage position to the parking point position according to the first driving path.

[0072] Step S2032B, control the target vehicle to travel from the parking point position to the target parking space position according to the second driving path, where the second driving path is the path from the parking point position to the target parking space position.

[0073] The second driving path is the path from the parking point position to the target parking space position. Among them, the parking point position can be the starting point of the second driving path, and the target parking space position can be the end point of the second driving path. After the target vehicle travels from the storage position to the parking point position according to the first driving path, it can travel from the parking point position to the target parking space position according to the second driving path.

[0074] Please refer to Figure 3 , Figure 3 which is a schematic diagram of the path of the vehicle entry method provided by the embodiment of the present application.

[0075] Combined with Figure 3 shown in Figure 3 ① in can be the first target driving path, Figure 3 ② in can be the first driving path, Figure 3 ③ in can be the second driving path. Among them, ①, ② and ③ can be pre-stored in the external controller. The target vehicle can first travel from the starting point position to the storage position according to ①, then travel from the storage position to the parking point position according to ②, and finally travel from the parking point position to the target parking space position according to ③.

[0076] The vehicle entry method provided by the embodiment of the present application controls the target vehicle to travel from the storage position to the target parking space position through the second target driving path preset in the external controller, without the need for a professional driver to manually drive the vehicle to the target parking space position, reducing costs. Moreover, through intelligent driving, not only the efficiency of vehicle entry is improved, but also the problem that the driver is prone to fatigue due to long-term driving is avoided, thereby improving the safety during the vehicle driving process.

[0077] In addition, considering that the environment inside the warehouse is more complex than that outside the warehouse when the vehicle enters the warehouse, the route planning in the embodiment of the present application is divided into two sections. The first driving path is from the off-line point to the garage; the second driving path is from the garage gate to the parking lot. The first driving path is a preset path, and the second driving path is a path adjusted in real time according to the cloud. On the one hand, it can improve the efficiency when the vehicle enters the warehouse through the first driving path. On the other hand, in the case of complex layout or limited space inside the warehouse, it can control the vehicle to make more effective use of the space inside the warehouse, so that the target vehicle can drive more smoothly to the target parking space position.

[0078] In a possible implementation manner, in the above step S203, controlling the target vehicle to drive from the warehousing position to the target parking space position according to the target parking space position includes:

[0079] Step S2033, receiving the driving trajectory sent by the automatic driving system, where the driving trajectory is generated by the automatic driving system according to the obstacle information in the warehouse.

[0080] The obstacle information can indicate static obstacles, such as fixed obstacles in the warehouse, stationary vehicles already existing in the warehouse, etc. It can also be dynamic obstacles, such as vehicles running in the warehouse, pedestrians in the warehouse, etc.

[0081] As an example, when the warehouse map is stored in the cloud, the obstacle information can include the obstacles in the warehouse recorded on the map, and during the operation of the target vehicle, the automatic driving system of the target vehicle can detect the obstacles within the sensing range of the sensors of the target vehicle, such as static obstacles and dynamic obstacles, where the sensing range is a preset range.

[0082] As an example, when the warehouse map is not stored in the cloud, the obstacle information can include the obstacles within the sensing range of the sensors of the target vehicle detected by the automatic driving system of the target vehicle during the operation of the target vehicle, such as static obstacles and dynamic obstacles.

[0083] The driving trajectory sent by the automatic driving system can be generated by the automatic driving system according to the obstacle information in the warehouse. The driving trajectory can be received by the vehicle end of the target vehicle from the automatic driving system, and the driving trajectory can be a trajectory used for the vehicle end of the target vehicle to control the target vehicle to drive from the warehousing position to the target parking space position.

[0084] As an example, the autonomous driving system of the target vehicle can determine the driving trajectory of the target vehicle based on the obstacles within the sensing range of the sensors of the autonomous driving system of the target vehicle. Among them, the driving trajectory can be a section of the trajectory during the process of driving from the storage position to the target parking space position. For example: when the target vehicle drives from the storage position to position B3, the corresponding driving trajectory is C4; when driving from position B3 to position B4, the corresponding driving trajectory is C5; when driving from position B4 to the storage position, the corresponding driving trajectory is C6.

[0085] As an example, a path from the storage position to the target parking space position can be automatically planned according to the warehouse map stored in the cloud, and then this path can be sent to an external controller. Then, the vehicle end of the target vehicle receives this path from the external controller and controls the target vehicle to drive according to this path. During the process of controlling the target vehicle to drive according to this path, the autonomous driving system of the target vehicle can adjust this path in real time according to the detected obstacles within the sensing range, so that the vehicle end of the target vehicle drives from the storage position to the target parking space position.

[0086] In a possible implementation manner, after establishing a communication connection between the external controller and the target vehicle, the external controller can start an initialization program. First, it performs a hardware self-check of the external controller to ensure that each module of the external controller, such as the communication module, data processing module, power supply module, etc., works normally. Then, the external controller conducts a communication handshake with the autonomous driving system of the target vehicle through a specific communication protocol (such as the CAN communication protocol), sends the identification information and function parameters of the external controller to the autonomous driving system of the target vehicle, and at the same time the external controller receives information such as the vehicle model, autonomous driving system version, and sensor status feedback by the autonomous driving system, completing the adaptation and parameter configuration between the external controller and the autonomous driving system.

[0087] Step S2034, control the target vehicle to drive from the storage position to the target parking space position according to the driving trajectory.

[0088] After determining the driving trajectory, the target vehicle can be controlled to drive from the storage position to the target parking space position according to the driving trajectory.

[0089] In a possible implementation manner, the process of controlling the target vehicle to drive from the storage position to the target parking space position can be divided into controlling the target vehicle to drive from the storage position to the parking point position, and then controlling the target vehicle to drive from the parking point position to the target parking space position.

[0090] Among them, the path for controlling the target vehicle to travel from the storage position to the parking point position can be a path pre-stored in an external controller, or a path determined by the cloud based on the warehouse layout detected by cameras in the warehouse. Controlling the target vehicle to travel from the parking point position to the target parking space position can be achieved by the parking function of the autonomous driving system.

[0091] As an example, the autonomous driving system of the target vehicle can determine the driving trajectory and operation parameters required for the target vehicle to enter the target parking space position from the parking point position based on the data detected by sensors and the target parking space position. Then, control the target vehicle to slowly and precisely drive towards the target parking space. Among them, when controlling the target vehicle to travel from the parking point position to the target parking space position, the ultrasonic sensor of the target vehicle can continuously monitor the distance between the target vehicle and obstacles. When the distance between the target vehicle and obstacles is too close, adjust the driving speed and steering angle of the target vehicle. At the same time, the camera of the target vehicle monitors the driving position and driving posture of the target vehicle, so that the target vehicle can accurately travel from the parking point position to the target parking space position.

[0092] In a possible implementation, during the process of controlling the target vehicle to travel along the first target driving path, the autonomous driving system of the target vehicle can capture the image information around the target vehicle at a set frequency (such as T1). Among them, the image information can include the environmental image of the road ahead, and can also include the object images of moving objects that may appear on the side road and the rear road of the target vehicle. And it can also scan the surrounding space of the target vehicle in real time according to the millimeter-wave radar configured in the target vehicle to determine the distance change between the target vehicle and surrounding objects. Then, the autonomous driving system of the target vehicle can adjust the first target driving path according to the image information around the target vehicle, the distance change between the target vehicle and surrounding objects, etc., and the vehicle terminal of the target vehicle can control the target vehicle to travel according to the adjusted first target driving path.

[0093] In a possible implementation, during the driving process of the target vehicle, the decision-making module configured in the target vehicle can automatically adjust the vehicle speed of the target vehicle according to the distance and speed of the vehicle ahead detected by the millimeter-wave radar, combined with the map data and traffic rules configured in the target vehicle to maintain a safe distance between the target vehicle and the vehicle ahead. For example, when the millimeter-wave radar configured in the target vehicle detects that the vehicle ahead of the target vehicle decelerates, the decision-making module can quickly calculate the deceleration of the target vehicle and send a deceleration instruction to the power system and braking system of the target vehicle to achieve a smooth deceleration of the vehicle and maintain a safe distance between the target vehicle and the vehicle ahead.

[0094] The vehicle parking method provided by the embodiment of the present application enables the autonomous driving system to dynamically adjust the driving trajectory based on the obstacle information in the warehouse, so as to determine the optimal driving trajectory, thereby improving the efficiency of the target vehicle driving to the target parking space position while ensuring the driving safety of the target vehicle.

[0095] In a possible implementation, the first driving path is determined by the cloud and sent to the external controller.

[0096] The cloud can be communicatively connected to the external controller, and the external controller can be communicatively connected to the target vehicle. When the vehicle terminal of the target vehicle communicates with the cloud through the external controller, the cloud can determine and send the target parking space position to the external controller, and the cloud can send the first driving path to the external controller when the target vehicle travels to the parking position. The vehicle terminal of the target vehicle can receive the first driving path from the external controller to control the target vehicle to travel from the parking position to the parking point position according to the first driving path.

[0097] As an example, the cloud can obtain the parking space layout status, parking space occupancy status, and obstacle information detected by the cameras in the warehouse, and then determine the first driving path according to the parking space layout status, parking space occupancy status, and obstacle information. Among them, the parking space layout status can represent the layout of the parking spaces inside the warehouse. The parking space occupancy status can represent the occupancy situation of each parking space in the warehouse. For example, parking spaces V1 and V2 are vacant, and parking spaces V3 and V4 are occupied. The obstacle information can represent the objects in the warehouse that affect vehicle driving, such as boxes, pillars, etc., which are not specifically limited here.

[0098] In a possible implementation, during the process of controlling the target vehicle to travel according to the first target driving path, the external controller can also upload information such as the position, speed, and driving status of the target vehicle to the cloud at regular intervals (such as every 10s, etc.). The cloud can display the driving trajectory of the target vehicle during the process of traveling according to the first target driving path through the electronic map configured in the cloud, and adjust the driving trajectory in combination with the position, speed, and driving status of the target vehicle.

[0099] In a possible implementation, as described above, the target vehicle is a vehicle about to perform a parking operation among the offline vehicles. When there are multiple offline vehicles, the cloud can record the offline time of each offline vehicle, and the cloud can reasonably arrange the entry order and driving route of the vehicles according to the real-time usage situation of the parking spaces in the warehouse, the order of the offline time of the vehicles, and the production plan arrangement of the factory. For example, when a parking space in a certain area of the warehouse becomes vacant, the cloud can quickly screen out the vehicle that is the closest to the area and has an earlier offline time as the target vehicle, and give priority to arranging the target vehicle to drive to the parking space.

[0100] In a possible implementation, when the target vehicle travels from the starting position to the parking position, the target vehicle can first stop, and then wait until the vehicle end of the target vehicle receives the target parking position sent by the cloud to the external controller, and then control the target vehicle to travel from the parking position to the target parking position.

[0101] As an example, the vacant parking space closest to the current position of the target vehicle can be used as the parking space that the target vehicle needs to drive into, and the position of this parking space can be the target parking position.

[0102] In a possible implementation, when there are multiple vehicles traveling from the off-line point to the parking position and the parking positions of the multiple vehicles are different, when the number of vehicles traveling from the off-line point to the parking position reaches the target number (such as 5, 6, etc.), according to the time sequence of the vehicles traveling from the off-line point to the parking position sent by the cloud to the external controller, the vehicles are sequentially controlled to receive the target parking position sent by the external controller.

[0103] The vehicle parking method provided by the embodiments of the present application enables the target vehicle to avoid the problem that the signal is poor and the vehicle cannot be accurately controlled due to the direct interaction between the cloud and the target vehicle when the target vehicle travels in an area with weak signals in the warehouse through the interaction mode among the cloud, the external controller, and the vehicle end of the target vehicle.

[0104] In a possible implementation, the external controller is communicatively connected to the cloud, and the above step S202 includes:

[0105] Step S2021, receiving the updated driving path obtained by the external controller based on the road abnormal conditions during the driving of the target vehicle, where the updated driving path instructs the target vehicle to travel from the current position to the parking position in combination with the road abnormal conditions, the updated driving path is generated by the external controller when receiving the path adjustment instruction, and the path adjustment instruction is generated by the cloud when detecting road abnormal conditions during the process of controlling the target vehicle to travel based on the first driving path.

[0106] The updated driving path is generated by the external controller when receiving the path adjustment instruction, and the path adjustment instruction is generated by the cloud when detecting road abnormal conditions during the process of controlling the target vehicle to travel based on the initial driving path.

[0107] The updated driving path may include the updated starting point and the parking position. Among them, the updated starting point can be the starting point when the target vehicle detours due to road abnormal conditions in the road. For example, when there is a crack in front of the road and the target vehicle needs to detour to avoid the crack, the updated starting point can be the starting point when the target vehicle detours.

[0108] The abnormal road conditions can be obstacles that suddenly appear in front of the target vehicle, such as materials left over from road construction, fallen trees, scattered goods, etc. They can also be damaged road surfaces, such as potholes, cracks, collapses, etc. They can also be abnormal traffic flow, such as sudden congestion.

[0109] Step S2022: Based on the updated driving route, control the target vehicle to drive to the storage position.

[0110] The cloud platform can monitor the driving conditions and driving trajectories of vehicles. When an abnormal road condition appears on the road where the target vehicle is driving, such as a congested section on the road where the target vehicle is driving, the cloud sends a path adjustment instruction to the external controller. After receiving the path adjustment instruction, the external controller generates an updated driving route and sends the updated driving route to the vehicle end of the target vehicle. The vehicle end of the target vehicle controls the target vehicle to drive to the storage position according to the updated driving route, so that the target vehicle can avoid the congested section.

[0111] Please refer to Figure 4 , Figure 4 It is a path schematic diagram of another vehicle storage method provided by an embodiment of the present application.

[0112] Figure 4 ① in Figure 4 can be the first target driving route, and the first target driving route can include a starting position and a storage position. Among them, during the process of the target vehicle driving from the starting position to the storage position, when an abnormal road condition is encountered (that is,

[0113] the crack in

[0114] In a possible implementation, the external controller is communicatively connected to the cloud, and the method further includes:

[0115] Step S2023: Receive the correction instruction sent by the external controller, where the correction instruction is generated by the cloud monitoring the deviation position of the target vehicle from the first target driving route, and the correction instruction is sent by the external controller after receiving it from the cloud and the driving offset of the target vehicle is less than the deviation reference value.

[0116] ​​The deviation from the reference value can be a critical value for determining that the target vehicle has a driving fault. Among them, the deviation from the reference value can be a preset deviation from the reference value. The driving offset of the first target driving path can be the distance by which the target vehicle deviates from the first target driving path during the driving process of the target vehicle along the first target driving path. Among them, when the external controller detects that the driving offset of the target vehicle is less than the deviation from the reference value, it indicates that the target vehicle has a driving fault.

[0117] The correction instruction can be used to correct the current driving route of the target vehicle. The correction instruction is received by the external controller from the cloud, and the correction instruction is generated by the cloud monitoring that the target vehicle deviates from the first target driving path. When the external controller detects that the driving offset of the target vehicle is less than the deviation from the reference value, the external controller can send the correction instruction to the vehicle terminal of the target vehicle, and the vehicle terminal of the target vehicle can receive the correction instruction from the external controller.

[0118] Step S2024, according to the correction instruction, control the target vehicle so that the position of the target vehicle is on the first target driving path.

[0119] After the vehicle terminal of the target vehicle obtains the correction instruction, the vehicle terminal of the target vehicle can control the target vehicle to adjust the route according to the correction instruction so that the position of the target vehicle is on the first target driving path.

[0120] As an example, after receiving the correction instruction, the vehicle terminal of the target vehicle can control the steering wheel controller of the target vehicle according to the correction instruction to adjust the driving direction of the target vehicle so that the target vehicle travels to the first target driving path.

[0121] In the vehicle warehousing method provided by the embodiments of the present application, the cloud can timely detect the situation where the target vehicle deviates from the first target driving path by monitoring the position information of the target vehicle, and send a correction instruction to the external controller. At the same time, when the external controller detects that the vehicle has no driving fault, it can send the correction instruction to the vehicle terminal of the target vehicle, so that the target vehicle can quickly return to the correct driving path, thereby improving the accuracy and reliability of driving.

[0122] In a possible implementation manner, the method further includes:

[0123] Step S2025, receive the emergency stop instruction sent by the external controller, where the emergency stop instruction is generated when the external controller receives the correction instruction and the driving offset of the target vehicle is not less than the deviation from the reference value.

[0124] The emergency stop instruction can be an instruction to control the target vehicle to stop, which is generated by the external controller when it receives the correction instruction sent by the cloud and the external controller detects that the driving offset of the target vehicle is not less than the deviation reference value. For example: the deviation reference value is M1, and the driving offset is M2, where M2 is greater than M1, indicating that the target vehicle has a driving fault.

[0125] Step S2026, according to the emergency stop instruction, control the target vehicle to stop.

[0126] When the driving offset of the target vehicle is not less than the deviation reference value, it indicates that the target vehicle has a driving fault, and then it is necessary to control the target vehicle to stop.

[0127] In the vehicle parking method provided by the embodiments of the present application, when the driving offset of the target vehicle is not less than the deviation reference value, the external controller can send an emergency stop instruction to control the target vehicle to stop, avoiding the danger of collision caused by the failure of the target vehicle.

[0128] In a possible implementation manner, the external controller is communicatively connected to the cloud, the target parking space position is determined by the cloud and sent to the external controller, and the method further includes:

[0129] Step S301, when the target vehicle travels to the target parking space position, generate a parking space occupancy result for the target parking space position.

[0130] The parking space occupancy result can indicate whether the target parking space position has been occupied. Among them, when the target vehicle travels to the target parking space position, the parking space occupancy result can indicate that the target parking space position has been occupied.

[0131] Step S302, send the parking space occupancy result to the external controller, so that the external controller sends the parking space occupancy result to the cloud, where the cloud updates the current occupancy status of the target parking space position according to the parking space occupancy result.

[0132] When the target vehicle travels to the target parking space position, the parking space occupancy result can indicate that the target parking space position has been occupied, the parking space occupancy result can be sent to the external controller, the external controller can send the parking space occupancy result to the cloud, and the cloud can modify the current occupancy status of the target parking space position to the occupied status.

[0133] As an example, the cloud can pre-store a parking space occupancy table, where the parking space occupancy table can record the position status of each parking space. When there is no vehicle in the parking spaces in the warehouse, the position status of each parking space in the parking space occupancy table can be the unoccupied status. When there is a vehicle in a certain parking space, the position status of that parking space can be modified to the occupied status.

[0134] The vehicle warehousing method provided by the embodiments of the present application can avoid the problem of warehousing failure of the next vehicle when the next vehicle performs a warehousing operation by updating the parking space occupancy stored in the cloud, thereby improving the accuracy and efficiency of the next vehicle's warehousing.

[0135] An embodiment of the present application also provides a vehicle warehousing device. The device is used to implement the above method embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "unit" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated. The devices in the embodiments of the present application are presented in the form of functional units. Here, the functional unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0136] The device includes: a receiving module, configured to receive a first target driving path corresponding to a target vehicle sent by an external controller, where the first target driving path is used to indicate that the target vehicle drives from a starting position to a warehousing position, and the warehousing position is the position where the target vehicle needs to enter the warehouse, and the external controller is physically connected to the target vehicle; a first control module, configured to control the target vehicle to drive based on the first target driving path; a second control module, configured to, when the target vehicle drives from the starting position to the warehousing position, control the target vehicle to drive from the warehousing position to a target parking space position according to the target parking space position, where the target parking space position is determined by the cloud, the target parking space position is received by the external controller from the cloud, and the target parking space position is received from the external controller before the target vehicle enters the warehouse.

[0137] In a possible implementation manner, the second control module includes: a first receiving unit, configured to receive a second target driving path corresponding to the target vehicle sent by the external controller, where the second target driving path is used to indicate that the target vehicle drives from the warehousing position to the target parking space position; a first control unit, configured to control the target vehicle to drive from the warehousing position to the target parking space position according to the second target driving path.

[0138] In a possible implementation, the second target driving path includes: the parking point position. The second target driving path includes: the first driving path, the second driving path, and the above-mentioned first control unit includes: a first control subunit, configured to control the target vehicle to travel from the warehousing position to the parking point position according to the first driving path, where the parking point position is the position when the target vehicle needs to park, and the first driving path is the path from the warehousing position to the parking point position; a second control subunit, configured to control the target vehicle to travel from the parking point position to the target parking space position according to the second driving path, and the second driving path is the path from the parking point position to the target parking space position.

[0139] In a possible implementation, the second control module includes: a second receiving unit, configured to receive a driving trajectory sent by the autonomous driving system, where the driving trajectory is generated by the autonomous driving system according to the obstacle information in the warehouse; a second control unit, configured to control the target vehicle to travel from the warehousing position to the target parking space position according to the driving trajectory.

[0140] In a possible implementation, the first driving path is determined by the cloud and sent to the external controller.

[0141] In a possible implementation, the external controller is communicatively connected to the cloud, and the above-mentioned first control module includes: a third receiving unit, configured to receive an updated driving path obtained by the external controller based on the road anomaly situation during the driving of the target vehicle, where the updated driving path instructs the target vehicle to travel from the current position to the warehousing position in combination with the road anomaly situation, the updated driving path is generated by the external controller when receiving a path adjustment instruction, and the path adjustment instruction is generated by the cloud when detecting a road anomaly during the process of controlling the target vehicle to travel based on the first driving path; a third control unit, configured to control the target vehicle to travel to the warehousing position based on the updated driving path.

[0142] In a possible implementation, the external controller is communicatively connected to the cloud, and the above-mentioned device further includes: a fourth receiving unit, configured to receive a correction instruction sent by the external controller, where the correction instruction is generated by the cloud monitoring the deviation position of the target vehicle from the first target driving path, and the correction instruction is sent by the external controller after receiving it from the cloud and when the driving offset of the target vehicle is less than the deviation reference value; a fourth control unit, configured to control the target vehicle according to the correction instruction so that the position of the target vehicle is on the first target driving path.

[0143] In a possible implementation, the above device further includes: a fifth receiving unit, configured to receive an emergency stop instruction sent by an external controller, where the emergency stop instruction is generated when the external controller receives a correction instruction and the driving offset of the target vehicle is not less than a deviation reference value; and a fifth control unit, configured to control the target vehicle to stop according to the emergency stop instruction.

[0144] In a possible implementation, the external controller is communicatively connected to the cloud, the target parking space position is determined by the cloud and sent to the external controller, and the above device further includes: a generating module, configured to generate a parking space occupancy result of the target parking space position when the target vehicle travels to the target parking space position; and a sending module, configured to send the parking space occupancy result to the external controller, so that the external controller sends the parking space occupancy result to the cloud, where the cloud updates the current occupancy status of the target parking space position according to the parking space occupancy result.

[0145] In a possible implementation, the above device further includes: a communication connection module, configured to establish a communication connection between the target vehicle and the external controller in response to the external controller accessing a preset interface on the target vehicle.

[0146] Reference Figure 5 , Figure 5It is a schematic diagram of the hardware structure of a computer device provided according to an embodiment of the present application. The computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple vehicles can be connected, and each device provides some necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system). The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field programmable gate array, a general array logic, or any combination thereof. Among them, the memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment. The memory 20 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the vehicle, etc. In addition, the memory 20 can include high-speed random access memory and can also include non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 can optionally include a memory remotely set relative to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof. The memory 20 can include volatile memory, such as random access memory; the memory can also include non-volatile memory, such as flash memory, a hard disk, or a solid-state drive; the memory 20 can also include a combination of the above types of memory. The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 can be connected through a bus or other means. The input device 30 can receive input digital or character information and generate key signal inputs related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc.The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED), a haptic feedback device (e.g., a vibration motor), etc. The above display device includes, but is not limited to, a liquid crystal display, a light emitting diode, a display, and a plasma display. In some alternative embodiments, the display device may be a touch screen.

[0147] The embodiments of the present application also provide a computer-readable storage medium. The method according to the embodiments of the present application can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0148] A part of the embodiments of the present application can be applied as a computer program product, for example, computer program instructions. When executed by a computer, through the operation of the computer, the methods and / or technical solutions according to the present application can be called or provided. Those skilled in the art should be able to understand that the forms of existence of computer program instructions in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0149] The above embodiments are only preferred embodiments given to fully illustrate the present application, and the protection scope of the present application is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present application are all within the protection scope of the present application.

Claims

1. A method for a vehicle to enter a warehouse, characterized in that, The method includes: Receiving a first target driving path corresponding to a target vehicle sent by an external controller, where the first target driving path is used to indicate that the target vehicle drives from a starting position to a storage position, and the storage position is the position when the target vehicle needs to enter the warehouse, and the external controller and the target vehicle are physically connected; Controlling the target vehicle to drive based on the first target driving path; When the target vehicle drives from the starting position to the storage position, controlling the target vehicle to drive from the storage position to the target parking space position according to the target parking space position, where the target parking space position is determined by the cloud, the target parking space position is received by the external controller from the cloud, and the target parking space position is received from the external controller before the target vehicle enters the warehouse.

2. The vehicle warehousing method according to claim 1, wherein The controlling the target vehicle to drive from the storage position to the target parking space position according to the target parking space position includes: Receiving a second target driving path corresponding to the target vehicle sent by the external controller, where the second target driving path is used to indicate that the target vehicle drives from the storage position to the target parking space position; Controlling the target vehicle to drive from the storage position to the target parking space position according to the second target driving path.

3. The vehicle warehousing method according to claim 2, characterized in that, The second target driving path includes: a parking point position, the second target driving path includes: a first driving path, a second driving path, and the controlling the target vehicle to drive from the storage position to the target parking space position according to the second target driving path includes: Controlling the target vehicle to drive from the storage position to the parking point position according to the first driving path, where the parking point position is the position when the target vehicle needs to park, and the first driving path is the path from the storage position to the parking point position; Controlling the target vehicle to drive from the parking point position to the target parking space position according to the second driving path, and the second driving path is the path from the parking point position to the target parking space position.

4. The vehicle storage method according to claim 1, characterized in that An autonomous driving system is configured on the target vehicle, and the controlling the target vehicle to drive from the storage position to the target parking space position according to the target parking space position includes: Receiving a driving trajectory sent by the autonomous driving system, where the driving trajectory is generated by the autonomous driving system according to obstacle information in the warehouse; Controlling the target vehicle to drive from the storage position to the target parking space position according to the driving trajectory.

5. The vehicle parking method according to claim 3, wherein The first driving path is determined by the cloud and sent to the external controller.

6. The vehicle warehousing method according to claim 1, wherein, The external controller is communicatively connected to the cloud, and the controlling the target vehicle to drive based on the first target driving path includes: Receive the updated driving path obtained by the external controller based on the road anomalies during the driving of the target vehicle, wherein the updated driving path indicates that the target vehicle combines the road anomalies and drives from the current position to the storage position, and the updated driving path is generated by the external controller when receiving a path adjustment instruction, and the path adjustment instruction is generated by the cloud when detecting the occurrence of the road anomalies during the process of controlling the target vehicle to drive based on the first driving path; Control the target vehicle to drive to the storage position based on the updated driving path.

7. The vehicle storage method according to claim 1, characterized in that The external controller is communicatively connected to the cloud, and the method further includes: Receive a correction instruction sent by the external controller, wherein the correction instruction is generated by the cloud monitoring the deviation position of the target vehicle from the first target driving path, and the correction instruction is sent by the external controller after receiving it from the cloud and the driving offset of the target vehicle is less than the deviation reference value; Control the target vehicle according to the correction instruction so that the position of the target vehicle is on the first target driving path.

8. The method for a vehicle to enter a warehouse according to claim 7, characterized in that, The method further includes: Receive an emergency stop instruction sent by the external controller, wherein the emergency stop instruction is generated when the external controller receives the correction instruction and the driving offset of the target vehicle is not less than the deviation reference value; Control the target vehicle to stop according to the emergency stop instruction.

9. The method for a vehicle to enter a warehouse according to claim 1, characterized in that, The external controller is communicatively connected to the cloud, the target parking space position is determined by the cloud and sent to the external controller, and the method further includes: Generate a parking space occupancy result of the target parking space position when the target vehicle drives to the target parking space position; Send the parking space occupancy result to the external controller so that the external controller sends the parking space occupancy result to the cloud, wherein the cloud updates the current occupancy status of the target parking space position according to the parking space occupancy result.

10. The vehicle warehousing method according to any one of claims 1-9, characterized in that Before receiving the first target driving path corresponding to the target vehicle sent by the external controller, the method further includes: Respond to the external controller accessing a preset interface on the target vehicle and establish a communication connection between the target vehicle and the external controller.

11. An in-warehouse device for a vehicle, characterized in that, The device includes: A receiving module, configured to receive the first target driving path corresponding to the target vehicle sent by the external controller, wherein the first target driving path is used to indicate that the target vehicle drives from the starting position to the storage position, and the storage position is the position when the target vehicle needs to enter the warehouse, and the external controller is physically connected to the target vehicle; A first control module, configured to control the driving of the target vehicle based on the first target driving path; A second control module, configured to, when the target vehicle travels from the starting position to the warehousing position, control the target vehicle to travel from the warehousing position to the target parking space position according to the target parking space position, wherein the target parking space position is determined by the cloud, the target parking space position is received by an external controller from the cloud, and the target parking space position is received from the external controller before the target vehicle enters the warehouse.

12. A vehicle, characterized in that, Comprising: A memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the warehousing method of the vehicle according to any one of claims 1 to 10.

13. A computer program product, characterized in that, Comprising computer instructions for causing a computer to execute the warehousing method of the vehicle according to any one of claims 1 to 10.

Images