Dynamic charging method, device and system based on autonomous valet parking technology

Abstract

The invention relates to the technical field of vehicle intelligent parking, in particular to a dynamic charging method, device and system based on an autonomous valet parking technology, and the method comprises the steps: obtaining the vehicle information of a vehicle at different stages in response to a settlement request; calculating the driving cost of the vehicle in the driving stage based on the vehicle speed information, the time information and the first dynamic pricing cost in the driving stage; based on the time information, the position information and the second dynamic pricing cost of the parking stage, the parking cost of the vehicle in the parking stage is calculated; and determining a total parking fee based on the driving fee and the parking fee. According to the method, the vehicle is charged in different stages of the target area, so that the charging standard is formulated for the intelligent service enjoyed by the vehicle in each stage, accurate charging is realized, in addition, dynamic pricing is carried out in combination with the parking space vacancy rate, the parking duration and the parking space type, and the charging reasonability is optimized.

Description

Background Art

[0002] With the rapid development of the autonomous driving field, intelligent parking lots based on the Automated Valet Parking (AVP) technology have emerged. Compared with traditional parking lots, after a vehicle enters such an AVP parking lot, automatic parking, automatic position swapping, and automatic vehicle retrieval of the vehicle can be realized, greatly improving the parking experience of users.

[0003] However, there is no reasonable standard for the charging of intelligent parking lots based on the autonomous valet parking technology in the prior art. Usually, the charging is based on recording the entry and exit times. In the AVP automatic parking scenario, intelligent services such as automatic parking, automatic position swapping, and automatic vehicle retrieval are provided, and such intelligent services cannot be accurately charged, resulting in losses in the parking revenue of the management party. Summary of the Invention

[0004] In order to overcome the problem that the intelligent services provided by AVP parking lots cannot be accurately charged, resulting in losses in the parking revenue of the management party, the present invention provides a dynamic charging method, device, and system based on the autonomous valet parking technology.

[0005] In a first aspect, to solve the above technical problem, the present invention provides a dynamic charging method based on the autonomous valet parking technology, including:

[0006] Responding to a settlement request, obtaining vehicle information at different stages; wherein, the different stages include a driving stage and a parking stage corresponding to the vehicle in the target area, and the vehicle information includes vehicle speed information, time information, and position information;

[0007] Based on the vehicle speed information, time information, and first dynamic pricing fee in the driving stage, calculating the driving fee of the vehicle in the driving stage; wherein, the first dynamic pricing fee is a fee dynamically adjusted according to the parking space vacancy rate;

[0008] Based on the time information, position information, and second dynamic pricing fee in the parking stage, calculating the parking fee of the vehicle in the parking stage; wherein, the second dynamic pricing fee is a fee dynamically adjusted according to the parking duration and parking space type;

[0009] Based on the driving fee and the parking fee, determining the total parking fee.

[0010] In a second aspect, the present invention provides a dynamic charging device based on the autonomous valet parking technology, including:

[0011] A vehicle information acquisition module, configured to respond to a settlement request and obtain vehicle information at different stages; wherein, the different stages include a driving stage and a parking stage corresponding to the vehicle in the target area, and the vehicle information includes vehicle speed information, time information, and position information;

[0012] A driving cost calculation module, configured to calculate the driving cost of a vehicle during the driving stage based on the vehicle speed information, time information, and the first dynamic pricing cost of the driving stage; wherein, the first dynamic pricing cost is the cost dynamically adjusted according to the parking space vacancy rate;

[0013] A parking cost calculation module, configured to calculate the parking cost of a vehicle during the parking stage based on the time information, location information, and the second dynamic pricing cost of the parking stage; wherein, the second dynamic pricing cost is the cost dynamically adjusted according to the parking duration and the parking space type;

[0014] A total cost calculation module, configured to determine the total parking cost based on the driving cost and the parking cost.

[0015] In a third aspect, the present invention provides a parking lot system based on autonomous valet parking technology, characterized by including a dynamic charging device based on autonomous valet parking technology as described above

[0016] The beneficial effects of the present invention are as follows: in response to a settlement request, vehicle information corresponding to different stages of a vehicle within a target area is acquired, so as to calculate the costs of the driving stage and the parking stage respectively based on the vehicle information, and finally calculate the total parking cost based on the costs of the two stages. By charging the vehicle separately for different stages within the target area, the present application formulates a charging standard for the intelligent services enjoyed by the vehicle in each stage, realizing accurate charging. In addition, dynamic pricing (the first dynamic pricing cost and the second dynamic pricing cost) is implemented in combination with the parking space vacancy rate, parking duration, and parking space type, optimizing the rationality of charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be further described below with reference to the drawings and embodiments.

[0018] Figure 1 It is a schematic flowchart of a dynamic charging method based on autonomous valet parking technology according to an embodiment of the present invention;

[0019] Figure 2 It is a schematic structural diagram of a dynamic charging device based on autonomous valet parking technology according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The following embodiments are further explanations and supplements to the present invention and do not constitute any limitation to the present invention.

[0021] The following describes a dynamic charging method, device, and system based on autonomous valet parking technology according to embodiments of the present invention with reference to the drawings.

[0022] As Figure 1As shown in the figure, an embodiment of the present invention provides a dynamic charging method based on autonomous valet parking technology, including:

[0023] S1. In response to a settlement request, obtain vehicle information at different stages; wherein, different stages include the driving stage and the parking stage corresponding to the vehicle within the target area, and the vehicle information includes vehicle speed information, time information, and location information.

[0024] In this embodiment, the settlement request can be initiated actively by the user, or automatically triggered by the in-vehicle system or the parking lot management system.

[0025] In this embodiment, the driving stage includes the stage from the entrance where the vehicle enters the target area until it completes automatic parking at the parking space, and the stage from when the vehicle wakes up again until it leaves the target area through the exit after leaving the parking space.

[0026] In this embodiment, the parking stage includes the stage from when the vehicle completes automatic parking until it wakes up again.

[0027] In addition:

[0028] (1) If the vehicle actively changes the parking space manually or is scheduled by the in-vehicle system to change the parking space, a service fee for changing positions needs to be added, and this situation will be elaborated in detail below.

[0029] (2) If the vehicle makes a temporary stop and is not parked in the parking space, it belongs to the driving stage and is charged according to the low-speed charging unit price. To prevent the vehicle from deliberately not parking in the parking space, a time threshold can be set. If the parking duration of the vehicle at a non-parking space exceeds the threshold, the in-vehicle system can control the vehicle to park in the parking space.

[0030] S2. Based on the vehicle speed information, time information, and the first dynamic pricing fee during the driving stage, calculate the driving fee of the vehicle during the driving stage; wherein, the first dynamic pricing fee is the fee dynamically adjusted according to the parking space vacancy rate.

[0031] S3. Based on the time information, location information, and the second dynamic pricing fee during the parking stage, calculate the parking fee of the vehicle during the parking stage; wherein, the second dynamic pricing fee is the fee dynamically adjusted according to the parking duration and the parking space type.

[0032] S4. Based on the driving fee and the parking fee, determine the total parking fee.

[0033] In this embodiment, in response to a settlement request, vehicle information corresponding to different stages within the target area is obtained, and based on this vehicle information, the fees for the driving stage and the parking stage are calculated respectively. Finally, the total parking fee is calculated based on the fees of the two stages. By charging separately for different stages of the vehicle within the target area, this application sets a charging standard for the intelligent services enjoyed by the vehicle in each stage, achieving accurate billing. In addition, by combining the parking space vacancy rate, parking duration, and parking space type to implement dynamic pricing (the first dynamic pricing fee and the second dynamic pricing fee), the rationality of charging is optimized.

[0034] The scenarios applicable to this embodiment include, but are not limited to, urban intelligent parking lots and scenic area intelligent parking lots that support AVP (Automated Valet Parking) technology. When a vehicle enters an AVP parking lot, identity verification is performed through technologies such as V2X (Vehicle-to-Everything, vehicle networking communication technology), license plate recognition, RFID (Radio Frequency Identification technology) / ETC (Electronic Toll Collection system), and Bluetooth, so as to record the vehicle's entry time and entry location. At the same time, when the vehicle recognizes through V2X (Vehicle-to-Everything, vehicle networking communication technology) signals that the parking lot supports AVP parking and detects that the vehicle speed has dropped to the parking state, the system automatically prompts whether to enter the AVP mode.

[0035] In addition, when the system on the vehicle automatically prompts whether to enter the AVP mode, a manually driven vehicle can click to confirm through the in-vehicle screen or issue a voice command (such as "start automatic parking") to turn on the AVP mode. An autonomous vehicle can automatically detect the parking lot environment and automatically switch to the AVP mode when the parking conditions are met, and the system takes over the parking.

[0036] After the vehicle enters the AVP mode, it can use high-precision positioning (RTK / IMU / LiDAR+SLAM) to record the vehicle's position information in real time. In addition, the vehicle's time information and speed information will also be recorded in real time.

[0037] In this embodiment, after calculating the total parking fee, the fee details (including information such as time, path, position change, and dynamic price adjustment) will be visualized through a digital twin platform and sent to the user's APP / miniprogram for the user to view. At the same time, the bill is transparent, and bill appeal and path backtracking are supported; in addition, the complete driving trajectory will also be displayed to the user.

[0038] In this embodiment, when the user receives the total fee, multiple payment methods are supported, such as ETC, contactless payment, mobile payment, etc.

[0039] In this disclosure, all actions for obtaining signals, information, or data are carried out on the basis of strictly following the relevant data protection regulations and policies of the country where the device is located and with the authorization of the owner of the corresponding device.

[0040] The owner refers to an individual or entity that owns or controls the relevant device (which may be a device, system, or other tool that can collect data).

[0041] In the field of intelligent connected vehicles, the "owner" mainly includes:

[0042] (1) Automobile manufacturers: As developers of vehicle hardware and systems, they control the vehicle's underlying hardware and software platforms and have management and control rights over the data generated during vehicle operation, such as driving and fault data.

[0043] (2) Component suppliers: Provide key components for the vehicle and have certain ownership of the data collected and processed by the components for product optimization and after-sales, such as data generated by sensors and chips.

[0044] (3) Vehicle owners or users: The actual users of the vehicle, who have the right to decide on the usage method and scope of vehicle data, such as whether to share driving trajectories, driving habits, etc. data, and have the need and right to protect their own relevant data privacy.

[0045] (4) Service providers: Provide services such as software and data analysis, and have the right to use and manage the data obtained and processed within the framework of the agreement, but the ownership usually belongs to other entities.

[0046] Optionally, the target area is an AVP parking lot. Based on the vehicle speed information, time information, and the first dynamic pricing fee during the driving stage, calculate the driving fee of the vehicle during the driving stage, including:

[0047] Based on the vehicle speed information and time information during the driving stage, determine the driving distance and the low-speed waiting duration; wherein, the low-speed waiting duration includes the duration when the vehicle speed is less than the preset speed;

[0048] Based on the parking space vacancy rate and the benchmark fee when the vehicle enters the AVP parking lot, determine the first charging unit price;

[0049] Based on the driving distance, low-speed waiting duration, and the first charging unit price, determine the driving fee of the vehicle during the driving stage.

[0050] In this embodiment, the preset speed is set according to the actual situation. For example:

[0051] Low-speed driving speed range: 0 ≤ speed < 5 km / h (refer to the setting of the low-speed driving mode of autonomous driving);

[0052] Waiting state: vehicle speed ≈ 0 km / h (e.g., a short stay inside the parking lot due to scheduling or an obstacle ahead).

[0053] In this embodiment, by combining vehicle speed information and time information, the driving distance of the vehicle and the cost of low-speed waiting duration are calculated in real time to ensure accurate charging for each section of the path and avoid resource waste.

[0054] Optionally, the calculation process of the first charging unit price is as follows:

[0055] When the parking space vacancy rate is greater than or equal to the first preset value, the calculation formula for the first charging unit price is:

[0056] p1 = P × (1 + k1 × (parking space vacancy rate - a))

[0057] Where, p1 is the first charging unit price, P is the benchmark fee, k1 is the first floating coefficient, and a is the first preset value;

[0058] When the parking space vacancy rate is greater than or equal to the second preset value and less than the first preset value, the benchmark fee is used as the first charging unit price;

[0059] When the parking space vacancy rate is greater than zero and less than the second preset value, the calculation formula for the first charging unit price is:

[0060] p1 = P × (1 + k2 × (b - parking space vacancy rate))

[0061] Where, k2 is the second floating coefficient, and b is the second preset value and less than the first preset value;

[0062] The first preset value and the second preset value correspond to the parking space vacancy degree of the target area, and the first preset value is greater than the second preset value.

[0063] In this embodiment, the first preset value, the first floating coefficient, the second floating coefficient, and the second preset value are all set according to the actual situation of the AVP parking lot. For example:

[0064] Parking space vacancy rate = current number of vacant parking spaces / total number of parking spaces * 100%.

[0065] Based on the above, when the parking space vacancy rate ≥ 80% (the first preset value) belongs to the off-peak period, a price reduction strategy can be implemented. Among them, the price reduction is not less than 60% of the benchmark fee, and the recommended range of the k1 first floating coefficient is 0.01 ∽ 0.03. For example:

[0066] 1) When the parking space vacancy rate = 90%, p1 = 10 × (1 + 0.02 × (90% - 80%)) = 8 yuan / km.

[0067] 2) When the parking space vacancy rate = 95%, p1 = 10×(1 + 0.03×(95% - 80%)) = 6 yuan / km.

[0068] When 50% (the second preset value) ≤ parking space vacancy rate < 80%, it belongs to the normal period, and the benchmark fee can be maintained.

[0069] When 0 < parking space vacancy rate < 50%, it belongs to the peak stage, and the price increase strategy is implemented. Among them, a maximum premium threshold (1.5P∽2P) can be set for the price increase, and the recommended range of the second floating coefficient k2 is 0.02∽0.05. For example:

[0070] 1) When the parking space vacancy rate = 20%, p1 = 10×(1 + 0.03×(50% - 20%)) = 19 yuan / km.

[0071] 2) When the parking space vacancy rate = 5%, the price reaches the upper limit, p1 = 2P = 20 yuan / km.

[0072] Optionally, the calculation formula for the driving cost is:

[0073] P1 = S1×p1 + T1×p1×c

[0074] Wherein, P1 is the driving cost, S1 is the driving distance, T1 is the low-speed waiting duration, and c is the third floating coefficient.

[0075] In this embodiment, although the road resources of the parking lot are still occupied during low-speed waiting, the road loss is small and the parking space occupancy is low. Therefore, the low-speed charging unit price can be set < the driving charging unit price, that is, a third floating coefficient c is set, and the recommended range can be 50%∽80%. For example, if the first charging unit price calculated is 1 yuan / km, then the charging unit price for low-speed waiting p1×c is 0.5∽0.8 yuan / km.

[0076] Optionally, the target area is an AVP parking lot. Based on the time information, location information, and second dynamic pricing cost during the parking stage, calculate the parking cost of the vehicle during the parking stage, including:

[0077] Based on the location information during the parking stage, determine the parking space type;

[0078] Based on the parking space type, calculate the second charging unit price;

[0079] Based on the time information during the parking stage, determine the parking duration;

[0080] Based on the parking duration and the second charging unit price, calculate the third charging unit price;

[0081] Based on the parking duration and the third charging unit price, determine the parking cost of the vehicle during the parking stage.

[0082] In this embodiment, the parking space types may include charging parking spaces (for new energy vehicles only), VIP parking spaces (exclusive parking spaces), regular parking spaces, and compact parking spaces. The charging unit prices corresponding to different types of parking spaces are different. The parking rates are dynamically adjusted according to different parking space types, so that different types of parking spaces form price differentiation, guiding users to park dispersedly according to their needs and alleviating the parking pressure in the same area.

[0083] In addition, the parking rates are dynamically adjusted according to the parking duration. The longer the time, the more preferential the price, which can attract more vehicles with longer parking durations to enter the AVP parking lot and increase the parking lot revenue.

[0084] Optionally, the calculation formula for the second charging unit price is:

[0085] p2 = P × e

[0086] Where p2 is the second charging unit price and e is the first preset coefficient corresponding to each type of parking space.

[0087] The calculation formula for the third charging unit price is:

[0088] p3 = p2 × (1 - d)

[0089] Where p3 is the third charging unit price and d is the second preset coefficient corresponding to each parking duration.

[0090] In this embodiment, the first preset coefficient is set according to the actual situation. Preferably, in this embodiment, the first preset coefficient corresponding to each parking space is: for the charging parking space, e = 1.5; for the VIP parking space, e = 1.3; for the compact parking space, e = 0.8.

[0091] For example, among the charging unit prices, the charging parking space > VIP parking space > regular parking space > compact parking space. Based on this, the second charging unit prices for different types of parking spaces are as follows:

[0092] Assume that the regular parking space p2 = 10 yuan / h.

[0093] For the charging parking space, p2 = 10 × 1.5 = 15 yuan / h, including electricity charges.

[0094] For the VIP parking space, p2 = 10 × 1.3 = 13 yuan / h, a specially designated parking space, such as near the entrance and exit.

[0095] For the compact parking space, p2 = 10 × 0.8 = 8 yuan / h, suitable for small cars.

[0096] In this embodiment, the second preset coefficient is set according to the actual situation. For example, the second preset coefficient is defined as follows:

[0097] When the parking duration is hours, d = 0.1.

[0098] When the parking duration is For parking duration less than or equal to 2 hours, d = 0.3.

[0099] For parking duration over 12 hours, d = 0.5.

[0100] Based on the above, taking the second charging unit price p2 = 10 yuan / h when the vehicle is in an ordinary parking space as an example, it is as follows:

[0101] Short-term parking (0 - 2 hours): normal price p3 = 10 yuan / h.

[0102] Medium and long-term parking (2 - 6 hours): the unit price is reduced by 10%, p3 = 10 * 0.9 = 9 yuan / h.

[0103] Long-term parking (6 - 12 hours): the unit price is reduced by 30%, p3 = 10 * 0.7 = 7 yuan / h.

[0104] Ultra-long-term parking (> 12 hours): the unit price is reduced by 50%, p3 = 10 * 0.5 = 5 yuan / h, but not less than the minimum guaranteed price of 5 yuan / h.

[0105] Optionally, the calculation formula for the parking fee is:

[0106] P2 = T2 × p

[0107] Wherein, P2 is the parking fee and T2 is the parking duration.

[0108] In this embodiment, by adjusting the price of popular parking spaces, users are guided to other areas. At the same time, the fee is reduced according to the parking duration, attracting more vehicles with long-term parking needs and providing users with more reasonable and flexible parking options.

[0109] Optionally, based on the driving fee and the parking fee, to determine the total parking fee, it further includes:

[0110] If the user actively changes the parking space, calculate the path fee for the vehicle from the old parking space to the new parking space;

[0111] Take the sum of the driving fee, the parking fee, the path fee and the preset transfer service fee as the total parking fee;

[0112] If the system schedules to change the parking space, take the sum of the driving fee and the parking fee as the total parking fee.

[0113] In this embodiment, if the user actively changes the parking space, the path fee between the old and new parking spaces needs to be calculated. The path fee adopts the calculation method of the driving fee during the driving stage. If the change of the parking space is based on the system scheduling to release more high-quality parking spaces, the user does not need to be additionally charged for the path fee and the preset transfer service fee.

[0114] In this embodiment, if the user actively changes the parking space, the vehicle may enter parking spaces of different types. At this time, the parking fees for the vehicle in different types of parking spaces can be calculated separately. For example, if the vehicle parks in a general parking space for 1 hour and then changes to a charging parking space for 1 hour, the total fee for the parking stage includes the parking fee for the general parking space, the parking fee for the charging parking space, the preset parking space change service fee, and the path fee for changing the parking space.

[0115] As Figure 2 shown, the present invention provides a dynamic charging device 100 based on autonomous valet parking technology, including:

[0116] A vehicle information acquisition module 101, configured to acquire vehicle information in different stages in response to a settlement request; wherein, the different stages include a driving stage and a parking stage, and the vehicle information includes vehicle speed information, time information, and position information;

[0117] A driving fee calculation module 102, configured to calculate the driving fee of the vehicle in the driving stage based on the vehicle speed information, time information, and the first dynamic pricing fee in the driving stage; wherein, the first dynamic pricing fee is the fee dynamically adjusted according to the parking space vacancy rate;

[0118] A parking fee calculation module 103, configured to calculate the parking fee of the vehicle in the parking stage based on the time information, position information, and the second dynamic pricing fee in the parking stage; wherein, the second dynamic pricing fee is the fee dynamically adjusted according to the parking duration and the parking space type;

[0119] A total fee calculation module 104, configured to determine the total parking fee based on the driving fee and the parking fee.

[0120] Optionally, the driving fee calculation module 102 is specifically configured to:

[0121] When the parking space vacancy rate is greater than or equal to the first preset value, the calculation formula for the first charging unit price is:

[0122] p1 = P × (1 + k1 × (parking space vacancy rate - a))

[0123] Wherein, p1 is the first charging unit price, P is the benchmark fee, k1 is the first floating coefficient, and a is the first preset value;

[0124] When the parking space vacancy rate is greater than or equal to the second preset value and less than the first preset value, the benchmark fee is used as the first charging unit price;

[0125] When the parking space vacancy rate is greater than zero and less than the second preset value, the calculation formula for the first charging unit price is:

[0126] p1 = P × (1 + k2 × (b - parking space vacancy rate))

[0127] Among them, k2 is the second floating coefficient, and b is the second preset value and is less than the first preset value;

[0128] The first preset value and the second preset value correspond to the parking space availability degree of the target area, and the first preset value is greater than the second preset value.

[0129] Optionally, the driving cost calculation module 102 is specifically configured to:

[0130] The calculation formula for the driving cost is:

[0131] P1 = S1 × p1 + T1 × p1 × c

[0132] Among them, P1 is the driving cost, S1 is the driving distance, T1 is the low-speed waiting duration, and c is the third floating coefficient.

[0133] Optionally, the parking cost calculation module 103 is specifically configured to:

[0134] Determine the parking space type based on the location information in the parking stage;

[0135] Calculate the second charging unit price based on the parking space type;

[0136] Determine the parking duration based on the time information in the parking stage;

[0137] Calculate the third charging unit price based on the parking duration and the second charging unit price;

[0138] Determine the parking cost of the vehicle in the parking stage based on the parking duration and the third charging unit price.

[0139] Optionally, the parking cost calculation module 103 is specifically configured to:

[0140] The calculation formula for the second charging unit price is:

[0141] p2 = P × e

[0142] Among them, p2 is the second charging unit price, and e is the first preset coefficient corresponding to each parking space type.

[0143] The calculation formula for the third charging unit price is:

[0144] p3 = p2 × (1 - d)

[0145] Among them, p3 is the third charging unit price, and d is the second preset coefficient corresponding to each parking duration.

[0146] Optionally, the parking cost calculation module 103 is specifically configured to:

[0147] The calculation formula for the parking cost is:

[0148] P2 = T2 × p3

[0149] Wherein, P2 is the parking fee and T2 is the parking duration.

[0150] Optionally, the system further includes a transposition module, which is specifically used for:

[0151] If the user actively changes the parking space, calculate the path cost of the vehicle from the old parking space to the new parking space;

[0152] Take the sum of the driving cost, parking cost, path cost and the preset transposition service fee as the total parking cost;

[0153] If the system schedules a change of parking space, take the sum of the driving cost and the parking cost as the total parking cost.

[0154] An embodiment of the present invention also provides a computer-readable storage medium, in which instructions are stored. When the instructions run on a terminal device, the terminal device is enabled to execute the steps of a dynamic charging method based on the autonomous valet parking technology as described above.

[0155] An embodiment of the present invention also provides an electronic device, including a memory, a processor, and a program stored on the memory and running on the processor. When the processor executes the program, it implements the steps of a dynamic charging method based on the autonomous valet parking technology as described above.

[0156] An embodiment of the present invention also provides a parking lot system based on the autonomous valet parking technology, including a dynamic charging device based on the autonomous valet parking technology as described above.

[0157] Those skilled in the art of the present technology field know that the present invention can be implemented as a system, a method, or a computer program product. Therefore, the present disclosure can be specifically implemented in the following forms: it can be completely hardware, can be completely software (including firmware, resident software, microcode, etc.), or can be a combination of hardware and software, generally referred to as "circuit", "module" or "system" in this article. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable media contains computer-readable program code. The computer-readable storage medium can be, for example, but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above.

[0158] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0159] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A dynamic charging method based on autonomous valet parking technology, characterized in that, Including: In response to a settlement request, obtain vehicle information at different stages; wherein, the different stages include the driving stage and the parking stage corresponding to the vehicle within the target area, and the vehicle information includes vehicle speed information, time information, and location information; Based on the vehicle speed information, time information, and the first dynamic pricing fee during the driving stage, calculate the driving fee of the vehicle during the driving stage; wherein, the first dynamic pricing fee is the fee dynamically adjusted according to the parking space vacancy rate; Based on the time information, location information, and the second dynamic pricing fee during the parking stage, calculate the parking fee of the vehicle during the parking stage; wherein, the second dynamic pricing fee is the fee dynamically adjusted according to the parking duration and the parking space type; Based on the driving fee and the parking fee, determine the total parking fee.

2. The method according to claim 1, wherein The target area is an AVP parking lot. The calculating the driving fee of the vehicle during the driving stage based on the vehicle speed information, time information, and the first dynamic pricing fee during the driving stage includes: Based on the vehicle speed information and time information during the driving stage, determine the driving distance and the low-speed waiting duration; wherein, the low-speed waiting duration includes the duration when the vehicle speed is less than the preset speed; Based on the parking space vacancy rate and the benchmark fee when the vehicle enters the AVP parking lot, determine the first billing unit price; Based on the driving distance, the low-speed waiting duration, and the first billing unit price, determine the driving fee of the vehicle during the driving stage.

3. The method according to claim 2, characterized in that, The calculation process of the first billing unit price is: When the parking space vacancy rate is greater than or equal to the first preset value, the calculation formula of the first billing unit price is: p1 = P × (1 + k1 × (parking space vacancy rate - a)) Wherein, p1 is the first billing unit price, P is the benchmark fee, k1 is the first floating coefficient, and a is the first preset value; When the parking space vacancy rate is greater than or equal to the second preset value and less than the first preset value, use the benchmark fee as the first billing unit price; When the parking space vacancy rate is greater than zero and less than the second preset value, the calculation formula of the first billing unit price is: p1 = P × (1 + k2 × (b - parking space vacancy rate)) Wherein, k2 is the second floating coefficient, and b is the second preset value and less than the first preset value; The first preset value and the second preset value correspond to the vacancy degree of the parking spaces in the target area, and the first preset value is greater than the second preset value.

4. The method according to claim 3, wherein The calculation formula of the driving fee is: P1 = S1 × p1 + T1 × p1 × c Wherein, P1 is the driving fee, S1 is the driving distance, T1 is the low-speed waiting duration, and c is the third floating coefficient.

5. The method according to claim 1, wherein The target area is an AVP parking lot. The calculating the parking fee of the vehicle during the parking stage based on the time information, location information, and the second dynamic pricing fee during the parking stage includes: Based on the location information during the parking stage, determine the parking space type; Based on the parking space type, calculate the second billing unit price; Based on the time information during the parking stage, determine the parking duration; Based on the parking duration and the second billing unit price, calculate the third billing unit price; Based on the parking duration and the third billing unit price, determine the parking fee of the vehicle during the parking stage.

6. The method according to claim 5, wherein The calculation formula of the second billing unit price is: p2 = P × e Among them, p2 is the second billing unit price, and e is the first preset coefficient corresponding to each parking space type; The calculation formula for the third billing unit price is: p3 = p2 × (1 - d) Among them, p3 is the third billing unit price, and d is the second preset coefficient corresponding to each parking duration.

7. The method according to claim 6, wherein The calculation formula for the parking fee is: P2 = T2 × p3 Among them, P2 is the parking fee, and T2 is the parking duration.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: If the user actively changes the parking space, calculate the path fee for the vehicle from the old parking space to the new parking space; Take the sum of the driving fee, the parking fee, the path fee, and the preset parking space change service fee as the total parking fee; If the system schedules a change of the parking space, take the sum of the driving fee and the parking fee as the total parking fee.

9. A dynamic charging device based on autonomous valet parking technology, characterized in that, It includes: A vehicle information acquisition module, configured to acquire vehicle information in different stages in response to a settlement request; among them, the different stages include the driving stage and the parking stage corresponding to the vehicle in the target area, and the vehicle information includes vehicle speed information, time information, and location information; A driving fee calculation module, configured to calculate the driving fee of the vehicle in the driving stage based on the vehicle speed information, time information, and the first dynamic pricing fee in the driving stage; among them, the first dynamic pricing fee is the fee dynamically adjusted according to the parking space vacancy rate; A parking fee calculation module, configured to calculate the parking fee of the vehicle in the parking stage based on the time information, location information, and the second dynamic pricing fee in the parking stage; among them, the second dynamic pricing fee is the fee dynamically adjusted according to the parking duration and the parking space type; A total fee calculation module, configured to determine the total parking fee based on the driving fee and the parking fee.

10. A parking lot system based on autonomous valet parking technology, characterized in that, It includes the device according to claim 9.

Images