Queuing charging method and related equipment

Abstract

The invention discloses a queuing charging method and related equipment, and relates to the technical field of vehicle charging, and the method comprises the steps: obtaining first charging states of all vehicles in a charging parking space group; based on the first charging states of all vehicles, determining a first target vehicle satisfying a charging completion state in the charging parking space group, and sending a target parking instruction to the first target vehicle; based on the target parking-out instruction, the first target vehicle is controlled to be parked from the charging parking space group to the parking space group; acquiring second charging states of all vehicles in the parking space group; based on the second charging states of all vehicles, determining a second target vehicle meeting the to-be-charged state in the parking space group, and sending a target parking instruction to the second target vehicle; based on the target parking instruction, controlling a second target vehicle to drive into an empty parking space of the charging parking space group; and charging the second target vehicle driven into the empty parking space.

Description

Technical Field

[0001] The present application relates to the field of vehicle charging technology, and in particular to a queuing charging method and related equipment. Background Art

[0002] With the increasing popularity of new energy vehicles, the demand for charging is growing, and existing charging systems face numerous challenges in practical application. After a vehicle has finished charging, it often occupies the charging space for a long time, preventing subsequent vehicles from connecting to the charging station in a timely manner. This significantly reduces the efficiency of the charging space and affects the overall smoothness of the charging system. Therefore, a queuing charging method is urgently needed to address the aforementioned technical issues. Summary of the Invention

[0003] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention of this application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] In a first aspect, the present application provides a queuing charging method, comprising:

[0005] Obtaining the first charging status of all vehicles in the charging parking space group, wherein the first charging status includes a charging completed state, a charging state, a waiting state, and a waiting-to-disconnect state;

[0006] Based on the first charging status of all vehicles, determining a first target vehicle in the charging parking space group that meets the charging completion status, and sending a target parking instruction to the first target vehicle;

[0007] Based on the target parking instruction, control the first target vehicle to park from the charging parking space group to the parking space group;

[0008] Obtaining a second charging state of all vehicles in the parking space group, wherein the second charging state includes a charging completed state and a waiting to be charged state;

[0009] Based on the second charging status of all vehicles, determining a second target vehicle in the parking space group that meets the to-be-charged status, and sending a target parking instruction to the second target vehicle;

[0010] Based on the target parking instruction, control the second target vehicle to drive into an empty parking space in the charging parking space group;

[0011] The second target vehicle that enters the empty parking space is charged.

[0012] In some embodiments, obtaining the first charging status of all vehicles in the charging parking space group includes:

[0013] Determine the current physical state of each vehicle's charging port based on the image data of the vehicle's charging port in the charging parking space group;

[0014] Determine the current battery state of charge of each vehicle based on the battery data of each vehicle in the charging parking group;

[0015] Based on the current physical state of the charging interface and the current state of charge of the battery, a first charging state of all vehicles in the charging parking space group is generated.

[0016] In some embodiments, generating a first charging state for all vehicles in a charging parking space group based on the current physical state of the charging interface and the current state of charge of the battery includes:

[0017] For each vehicle in the charging parking space group, determine the current connection state of the vehicle's charging interface based on the current physical state of the vehicle's charging interface, and determine the current battery charge state of the vehicle based on the vehicle's current battery charge state and a preset power threshold;

[0018] For each vehicle in the charging parking space group, if the current connection state of the vehicle is the connected state and the current battery charging state is the no-charging state, the first charging state of the vehicle is determined to be the to-be-disconnected state; if the current connection state of the vehicle is the connected state and the current battery charging state is the charging-required state, the first charging state of the vehicle is determined to be the charging state; if the current connection state of the vehicle is the disconnected state and the current battery charging state is the no-charging state, the first charging state of the vehicle is determined to be the charging completed state; if the current connection state of the vehicle is the disconnected state and the current battery charging state is the charging-required state, the first charging state of the vehicle is determined to be the to-be-charged state.

[0019] In some embodiments, based on the first charging status of all vehicles, determining a first target vehicle in the charging parking space group that meets the charging completion status, and sending a target parking instruction to the first target vehicle includes:

[0020] Based on the first charging status of all vehicles, all candidate vehicles in the charging parking space group that meet the charging completion status are screened out;

[0021] When the number of candidate vehicles is 1, the candidate vehicle is used as the first target vehicle; or,

[0022] When the number of candidate vehicles is greater than one, the retention time of each candidate vehicle is determined based on the charging completion timestamp of the candidate vehicle; a first vehicle priority sequence is generated based on a comparison result of the retention time with a first preset time threshold; and the candidate vehicle ranked first in the first vehicle priority sequence is selected as the first target vehicle;

[0023] A target parking exit instruction is generated based on the coordinate data of the empty parking spaces in the parking space group, and the target parking exit instruction is sent to the first target vehicle.

[0024] In some embodiments, based on the target parking instruction, controlling the first target vehicle to park from the charging parking space group to the parking parking space group includes:

[0025] generating a parking path trajectory for the first target vehicle based on the empty parking space coordinate data in the target parking instruction;

[0026] Based on the parking path trajectory, the first target vehicle is controlled to park from the charging parking space group to the parking space group.

[0027] In some embodiments, based on the second charging status of all vehicles, determining a second target vehicle in the parking space group that meets the charging status, and sending a target parking instruction to the second target vehicle, includes:

[0028] Based on the second charging status of all vehicles, all candidate vehicles in the parking space group that meet the state to be charged are screened out;

[0029] When the number of candidate vehicles is 1, the candidate vehicle is used as the second target vehicle; or,

[0030] When the number of candidate vehicles is greater than one, determining the waiting time of each candidate vehicle based on a historical waiting state record of the candidate vehicles, wherein the historical waiting state record is the timestamp of the earliest time the candidate vehicle was in the waiting state; generating a second vehicle priority sequence based on a comparison result of the waiting time with a second preset time threshold; and selecting the candidate vehicle ranked first in the second vehicle priority sequence as the second target vehicle;

[0031] Based on the coordinate data of the empty parking spaces in the charging parking space group, a target parking instruction is generated, and the target parking instruction is sent to the second target vehicle.

[0032] In some embodiments, further comprising:

[0033] Obtaining current vehicle position data of the first target vehicle;

[0034] Determine the parking completion status based on the current vehicle position data and the coordinate data of the empty parking space;

[0035] When the parking completion status satisfies a preset position tolerance condition, the current status of the empty parking spaces in the parking space group is updated.

[0036] In a second aspect, the present application proposes a queuing charging device, comprising:

[0037] A charging status acquisition unit, configured to acquire a first charging status of all vehicles in the charging parking space group, wherein the first charging status includes a charging completion status, a charging status, a waiting charging status, and a waiting disconnection status;

[0038] a parking instruction sending unit, which determines a first target vehicle in the charging parking space group that meets the charging completion state based on the first charging state of all vehicles, and sends a target parking instruction to the first target vehicle;

[0039] A parking operation control unit controls the first target vehicle to park from the charging parking space group to the parking parking space group based on the target parking instruction;

[0040] A parking status acquisition unit, configured to acquire a second charging status of all vehicles in the parking space group, wherein the second charging status includes a charging completion status and a waiting-to-charge status;

[0041] a parking instruction sending unit, which determines a second target vehicle in the parking space group that meets the to-be-charged state based on the second charging state of all vehicles, and sends a target parking instruction to the second target vehicle;

[0042] a parking operation control unit, which controls the second target vehicle to drive into an empty parking space in the charging parking space group based on the target parking instruction;

[0043] The vehicle charging control unit is used to charge the second target vehicle that enters the empty parking space.

[0044] In a third aspect, an electronic device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the queuing charging method of any one of the first aspects when executing the computer program stored in the memory.

[0045] In a fourth aspect, the present application proposes a computer-readable storage medium storing a computer program, which implements the queuing charging method of any one of the first aspects when executed by a processor.

[0046] In summary, this application obtains the charging status of all vehicles in the charging parking space group, can accurately identify vehicles that have completed charging and control them to park in the parking space group, and at the same time screen out vehicles to be charged from the parking space group and guide them into the empty parking spaces in the charging parking space group for charging. This application realizes the automated management of charging parking spaces and orderly queuing of vehicle charging, effectively solves the problem of long-term occupation of parking spaces after vehicles are charged, improves the utilization rate of charging parking spaces and the operating efficiency of the charging system, ensures the continuity and efficiency of the charging process, and provides a more convenient and efficient solution for charging new energy vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present description. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0048] Figure 1 A schematic diagram of a queuing charging method provided in an embodiment of the present application;

[0049] Figure 2 A schematic diagram of the structure of a queuing charging device provided in an embodiment of the present application;

[0050] Figure 3 A schematic diagram of the structure of an electronic device for queuing charging provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments.

[0052] See also Figure 1 , is a flow chart of a queuing charging method provided in an embodiment of the present application, which may specifically include:

[0053] S110, obtaining a first charging state of all vehicles in the charging parking space group, wherein the first charging state includes a charging complete state, a charging state, a waiting state, and a waiting-to-disconnect state;

[0054] For example, in a vehicle charging management scenario, efficient scheduling and automated management of charging spaces requires real-time access to the charging status of all vehicles within a group of charging spaces. This operation systematically monitors the current status of vehicles within a group of charging spaces by integrating multi-dimensional data collection methods, providing accurate data support for subsequent parking decisions, ensuring that the charging system can execute appropriate management strategies based on the actual status of vehicles.

[0055] The process of obtaining the first charging status requires a comprehensive analysis of the physical state of the vehicle's charging port and the battery's state of charge. By collecting charging port image data and battery data, a comprehensive assessment of the vehicle's charging connection status and battery level is made. The vehicle status is then classified into four categories: charging complete, charging, waiting to be charged, and waiting to be disconnected. This lays the data foundation for subsequent screening of fully charged vehicles and guiding waiting vehicles to charging spaces, enabling orderly management of the charging process.

[0056] S120: Based on the first charging status of all vehicles, determine a first target vehicle in the charging parking space group that meets the charging completion status, and send a target parking instruction to the first target vehicle;

[0057] For example, after obtaining the first charging status of all vehicles in the charging parking space group, vehicles that have completed charging are screened based on this status information to free up charging parking space resources. Through systematic analysis of vehicle charging status, vehicles that meet the charging completion status are located from the charging parking space group and are prioritized for removal. This creates space for subsequent charging vehicles to access the charging spaces, achieving dynamic management and efficient circulation of charging spaces.

[0058] After identifying the target vehicle, a target unparking command is generated and sent to the vehicle to execute the unparking operation. This command is generated based on the coordinate data of the empty parking spaces in the parking group, ensuring that the target vehicle can clearly identify the target parking location. By sending the unparking command containing the location information to the first target vehicle, the automatic unparking process is guided and controlled, laying the foundation for the recycling of charging spaces and ensuring the orderly operation of the charging system.

[0059] S130, based on the target parking instruction, controlling the first target vehicle to park from the charging parking space group to the parking space group;

[0060] For example, after the system sends a target exit command to the first target vehicle, it needs to further control the vehicle's exit process to achieve the transfer from the charging parking group to the parking group. This control process uses the target location information in the command as a basis, combined with the vehicle's automatic parking technology, to plan and guide the vehicle's driving path, ensuring that the vehicle can safely and accurately exit the charging parking group, freeing up charging space for the charging vehicle, and maintaining the charging system's parking resource recycling efficiency.

[0061] Controlling the parking of vehicles into a parking group relies on parking space coordinate data and vehicle motion control logic. Based on the coordinates of empty spaces, a parking path is generated. Through real-time control of vehicle parameters such as direction and speed, the first target vehicle is precisely parked along the planned path to the designated position in the parking group, completing the parking space status transition. This paves the way for subsequent charging vehicles to enter the parking group, achieving automated scheduling and management of charging space resources.

[0062] S140, obtaining a second charging state of all vehicles in the parking space group, wherein the second charging state includes a charging completed state and a waiting to be charged state;

[0063] For example, after a vehicle is unparked from a charging parking group, the status of the vehicles in the parking group must be systematically captured to ensure the orderly entry of vehicles waiting to be charged. By collecting the second charging status of all vehicles in the parking group, the charging needs of vehicles in the area can be fully understood, providing data support for subsequent screening of vehicles waiting to be charged and guiding them into the charging parking group. This ensures that the charging system can quickly respond to the needs of vehicles waiting to be charged after parking resources are released, maintaining the continuity of the charging process.

[0064] The process of obtaining the second charging status requires integrating the vehicle's charging-related data and status identifier. Based on the real-time interaction of vehicle status information by the communication module or the monitoring of vehicle status by the visual recognition component, the vehicle status within the parking space group is divided into two categories: "Charging Completed" and "Waiting for Charging." This status classification method accurately locates vehicles requiring charging, laying the foundation for subsequent generation of target parking instructions and guiding waiting vehicles to charging spaces, achieving automated matching and efficient scheduling of charging resources.

[0065] S150, based on the second charging status of all vehicles, determining a second target vehicle in the parking space group that meets the to-be-charged status, and sending a target parking instruction to the second target vehicle;

[0066] For example, after obtaining the second charging status of all vehicles in the parking group, vehicles with charging needs are screened based on this status information to fill the empty parking spaces in the charging group. By analyzing the second charging status of the vehicles, vehicles that meet the "waiting to charge" status are accurately located from the parking group and are prioritized for parking in the charging group. This provides a decision-making basis for the orderly access of vehicles waiting to be charged and ensures that charging parking spaces can be quickly matched with charging needs after they are released.

[0067] After identifying the second target vehicle, the system generates and sends a target parking instruction to drive the vehicle to park in the charging parking space group. This instruction is generated based on the coordinate data of the empty parking spaces in the charging parking space group, ensuring that the second target vehicle can clearly park at the target location. By sending the parking instruction containing the location information to the second target vehicle, the automatic parking process is guided and controlled, ensuring smooth access to the charging space for the vehicle to be charged, and maintaining the charging system's cycle charging efficiency.

[0068] S160: Based on the target parking instruction, control the second target vehicle to drive into an empty parking space in the charging parking space group;

[0069] For example, after the system sends a target parking instruction to the second target vehicle, it controls the vehicle's entry process to achieve its transfer from the parking group to an empty space in the charging group. This control process uses the coordinates of the empty space in the instruction as a reference, combined with the vehicle's automatic parking technology, to plan the vehicle's driving path and dynamically guide it, ensuring that the charging vehicle can safely and accurately enter the designated empty space in the charging group, completing the parking space resource replacement and preparing for subsequent charging operations.

[0070] Controlling the second target vehicle into an empty parking space relies on parking space coordinate data and vehicle motion control logic. The system generates a parking path based on the coordinates of the empty spaces in the charging group. By adjusting parameters such as the vehicle's direction and speed, the second target vehicle is accurately parked in an empty space along the planned path, transitioning from the waiting state to the charging state, ensuring the automated operation of the charging system and the continuous recycling of parking space resources.

[0071] S170: Charging the second target vehicle that enters the empty parking space.

[0072] For example, after the second target vehicle successfully enters an empty parking space in the charging parking group, a charging operation must be performed on it to meet the vehicle's charging needs. This operation relies on the charging system's hardware components and control logic. After the vehicle accurately parks at the designated location, the charging process is triggered to start, replenishing the energy of the vehicle entering the empty parking space. This completes the complete business cycle from vehicle parking to charging execution, ensuring the functionality of the charging system.

[0073] Charging the second target vehicle requires a combination of physical connection and electrical control of the charging components. The system establishes an energy transmission channel by controlling the connection between the charging components (such as the robotic arm and the charging station itself) and the vehicle's charging interface. It also adjusts charging parameters based on the vehicle's battery data to achieve a safe and efficient charging process, thereby meeting the energy needs of the vehicle being charged, maintaining the continuous operation of the charging system, and effectively utilizing resources.

[0074] In summary, the embodiment of the present application obtains the charging status of all vehicles in the charging parking space group to accurately identify vehicles that have completed charging and control them to park in the parking space group. At the same time, it obtains the charging status of vehicles in the parking space group to screen vehicles to be charged and guides them to drive into the empty parking spaces in the charging parking space group for charging, thereby realizing the automated management of charging spaces and orderly queuing of vehicles for charging, effectively solving the problem of low utilization of charging parking spaces caused by long-term occupation of parking spaces after vehicles are charged, avoiding the defect of insufficient power capacity of mobile charging devices, and eliminating the need for large-scale physical modification of existing charging devices. Automated control can be achieved only through interaction with the vehicle through the communication module, reducing the modification cost. At the same time, the accuracy of charging status judgment is ensured through comprehensive analysis of charging interface image data and battery data. The vehicle priority sequence generated based on detention time and waiting time ensures the rationality of scheduling, ultimately improving the operating efficiency of the charging system, ensuring the continuity and efficiency of the charging process, and providing a convenient, efficient and low-cost solution for charging new energy vehicles.

[0075] In some examples, obtaining the first charging status of all vehicles in the charging parking space group includes:

[0076] Determine the current physical state of each vehicle's charging port based on the image data of the vehicle's charging port in the charging parking space group;

[0077] Determine the current battery state of charge of each vehicle based on the battery data of each vehicle in the charging parking group;

[0078] Based on the current physical state of the charging interface and the current state of charge of the battery, a first charging state of all vehicles in the charging parking space group is generated.

[0079] For example, after acquiring the image data of the charging port of each vehicle in the charging parking space group, the image is processed and analyzed using computer vision technology to determine the current physical state of each vehicle's charging port. Specifically, the target detection algorithm is first used to locate the charging port area in the image, outputting its pixel coordinates and bounding box, and then identifying the physical state of the charging port: if the charging cover is detected to be in the open state and the proportion of the exposed area of the charging port meets the preset standard, it is determined to be in a "dockable state"; if the charging cover is in the closed state and the mechanical cover covers the charging port, it is determined to be in a "cover-required state"; if the charging port is detected to be covered by foreign objects such as snow or mud, it is determined to be in a "cleaning-required state." Through the above image recognition logic, the physical state of the charging port is converted into a discrete state identifier, providing a physical connection-level basis for the subsequent comprehensive determination of the charging state.

[0080] For each vehicle in the charging parking group, the current battery state of charge (SOC) of each vehicle is calculated and determined by obtaining its battery data (such as battery voltage, current, temperature, and charge and discharge history data). In the specific process, by communicating with the vehicle battery management system (BMS) or collecting real-time battery parameters from the vehicle data interface, the battery SOC is estimated using algorithms such as the ampere-hour integration method, the open circuit voltage method, or the equivalent circuit model. Subsequently, the estimated SOC value is compared with the preset power threshold: when the SOC is greater than or equal to the preset power threshold, it is determined to be "no charging required"; when the SOC is less than the preset power threshold, it is determined to be "charging required". This process quantifies the battery power state and provides core data support at the energy level for the comprehensive determination of the charging state.

[0081] After obtaining the physical status of each vehicle's charging port and battery state of charge, a logical combination is used to generate the vehicle's first charging state: If the vehicle's charging port's current connection state is "connected" (i.e., the charging gun is plugged into the charging port and the physical connection is normal) and the battery state of charge is "not requiring charging," the vehicle's first charging state is comprehensively determined to be "pending disconnection." If the charging port is in the "connected state" but the battery state of charge is "requiring charging," the vehicle is determined to be "charging." If the charging port is in the "disconnected state" and the battery state of charge is "not requiring charging," the vehicle is determined to be "charging completed." If the charging port is in the "disconnected state" and the battery state of charge is "requiring charging," the vehicle is determined to be "pending charging." By cross-validating the physical connection state and battery charge state, a state classification system covering the entire charging process is formed, providing a basis for scheduling vehicles within the charging parking group.

[0082] In summary, the embodiment of the present application can cross-verify the vehicle charging status from two dimensions, physical connection and battery power, through the above-mentioned charging status acquisition method based on charging interface image data and battery data, avoid the misjudgment problem caused by single-dimensional judgment, and improve the accuracy and reliability of charging status recognition. By using image recognition technology to monitor the physical state of the charging interface in real time, it is possible to accurately determine whether the charging gun is normally connected and whether there is any abnormality in the interface; combined with the quantitative analysis of the battery charge state, it is possible to identify whether the vehicle has truly completed charging, avoiding situations such as "full but not disconnected" or "not full but mistakenly judged as completed". The embodiment of the present application provides a reliable data basis for subsequent operations such as screening vehicles that have completed charging, generating parking instructions, and guiding vehicles to be charged to connect, thereby realizing automated and efficient scheduling of charging parking spaces and improving the overall operating efficiency and resource utilization of the charging system.

[0083] In some examples, generating a first charging state for all vehicles in a charging parking space group based on a current physical state of a charging interface and a current state of charge of a battery includes:

[0084] For each vehicle in the charging parking space group, determine the current connection state of the vehicle's charging interface based on the current physical state of the vehicle's charging interface, and determine the current battery charge state of the vehicle based on the vehicle's current battery charge state and a preset power threshold;

[0085] For each vehicle in the charging parking space group, if the current connection state of the vehicle is the connected state and the current battery charging state is the no-charging state, the first charging state of the vehicle is determined to be the to-be-disconnected state; if the current connection state of the vehicle is the connected state and the current battery charging state is the charging-required state, the first charging state of the vehicle is determined to be the charging state; if the current connection state of the vehicle is the disconnected state and the current battery charging state is the no-charging state, the first charging state of the vehicle is determined to be the charging completed state; if the current connection state of the vehicle is the disconnected state and the current battery charging state is the charging-required state, the first charging state of the vehicle is determined to be the to-be-charged state.

[0086] Exemplarily, for each of all the vehicles in the charging parking group, the system first determines the current connection status of the charging interface based on the current physical state of its charging interface. The physical state is obtained through the recognition of the charging interface image data. If it is detected that the charging gun has been inserted into the charging port and there is no abnormality in the physical connection (such as the charging cover is open and the interface is not blocked), it is determined to be "connected state"; if the charging gun is not inserted (including the charging cover is closed, the interface is blocked by foreign objects or the charging gun is not connected), it is determined to be "unconnected state". At the same time, the battery charging state is determined based on the comparison result of the vehicle's current battery state of charge (SOC) and the preset power threshold: when SOC ≥ the preset full charge threshold (such as 95%), it is determined to be "no need to charge state"; when SOC < the preset full charge threshold, it is determined to be "required charging state". This process provides standardized input parameters for subsequent state generation by quantifying the physical connection state and battery power state.

[0087] For each vehicle, a first charging state is generated by logically combining the current connection state and the current battery charge state: If the vehicle is in the "connected state" and the battery "does not require charging," it is determined to be in the "to-be-disconnected state," indicating that the vehicle is fully charged but the charging cable is still connected; if it is in the "connected state" and the battery "requires charging," it is determined to be in the "charging state," indicating that the vehicle is charging; if it is in the "disconnected state" and the battery "does not require charging," it is determined to be in the "charging completed state," indicating that the vehicle is fully charged and the charging cable is disconnected; if it is in the "disconnected state" and the battery "requires charging," it is determined to be in the "to-be-charged state," indicating that the vehicle is not connected to the charging cable but needs to be charged. This decision logic cross-validates the physical connection dimension with the power demand dimension to form a state classification system that covers the entire charging process. Each state definition is based on a clear combination of conditions to avoid ambiguity in state classification.

[0088] In summary, the embodiment of the present application uses a cross-validation mechanism based on the charging interface image data and battery data to perform a dual judgment on the vehicle charging status from two dimensions: physical connection and battery power, thus avoiding the misjudgment problem caused by single-dimensional judgment: using image recognition technology to monitor the physical state of the charging interface in real time, it can accurately judge the charging gun access status and interface abnormalities (such as foreign objects blocking, unopened cover), avoiding the misjudgment of "full but not disconnected"; combined with the quantitative analysis of the battery charge state, by comparing the preset power threshold, it eliminates the situation of "not fully charged but misjudged as completed", thereby improving the accuracy and reliability of charging status recognition. At the same time, this state generation method provides data support for the subsequent screening of charging completed vehicles, generation of parking instructions and scheduling of vehicles to be charged, effectively avoiding the waste of charging parking space resources due to state misjudgment, improving the automatic scheduling efficiency and parking space utilization rate of the charging system, and ensuring the orderliness and efficiency of the charging process.

[0089] In some examples, based on the first charging status of all vehicles, determining a first target vehicle in the charging parking space group that meets the charging completion status, and sending a target parking instruction to the first target vehicle includes:

[0090] Based on the first charging status of all vehicles, all candidate vehicles in the charging parking space group that meet the charging completion status are screened out;

[0091] When the number of candidate vehicles is 1, the candidate vehicle is used as the first target vehicle; or,

[0092] When the number of candidate vehicles is greater than one, the retention time of each candidate vehicle is determined based on the charging completion timestamp of the candidate vehicle; a first vehicle priority sequence is generated based on a comparison result of the retention time with a first preset time threshold; and the candidate vehicle ranked first in the first vehicle priority sequence is selected as the first target vehicle;

[0093] A target parking exit instruction is generated based on the coordinate data of the empty parking spaces in the parking space group, and the target parking exit instruction is sent to the first target vehicle.

[0094] For example, based on the acquired first charging status of all vehicles in the charging parking space group, screening is performed according to the "Charging Completed Status" judgment criteria. Specifically, when the current connection status of the vehicle's charging port is "Not Connected" and the current battery charging status is "Not Charging Required," its first charging status is determined to be "Charging Completed," and such vehicles are included in the candidate vehicle set. This screening process uses standardized status matching logic to accurately locate vehicles that have completed charging from the charging parking space group, providing a candidate pool for subsequent target vehicle identification. This ensures that all vehicles to be parked are in a state of actual charging completion, avoiding waste of parking space resources due to incorrect screening.

[0095] If the number of candidate vehicles screened is one, this single candidate is directly designated as the first target vehicle. This logic is based on the principle of scenario simplification. In the case of a single candidate vehicle, there is no need for complex priority sorting; it is directly prioritized for removal, freeing up the charging space as quickly as possible. This approach ensures process efficiency and avoids unnecessary computational consumption of system resources. It is suitable for scenarios where only one vehicle in a charging parking group has completed charging, enabling rapid response and timely release of parking resources.

[0096] If the number of candidate vehicles is greater than 1, first obtain the charging completion timestamp of each candidate vehicle, and calculate the detention time of each vehicle by the difference between the current system time and the timestamp. Subsequently, compare the detention time with the preset first time threshold (for example, 30 minutes or 1 hour), and generate a first vehicle priority sequence based on the comparison result. When the detention time exceeds the first preset time threshold, the priority of the vehicle is higher than that of the vehicle that does not exceed it. If both exceed or do not exceed, they are sorted from long to short according to the detention time. By quantifying the detention time, vehicles that occupy the parking space for a longer time after charging is completed are given priority as target parking objects to ensure the efficiency of the use of charging parking spaces and the fairness of scheduling.

[0097] After the first target vehicle is identified, a target exit instruction is generated based on the coordinate data of the empty parking spaces in the parking space group. This instruction contains the precise coordinates of the target empty parking space (such as X and Y axis coordinates or geographic positioning information), as well as the control parameters for the vehicle's exit (such as driving speed, steering angle, etc.). The instruction is sent to the first target vehicle via a communication module (such as a wireless communication protocol). After receiving the instruction, the vehicle parses the coordinate information and control parameters in the instruction, triggering the automatic parking system to execute the exit operation. During the instruction generation process, the validity of the empty parking space coordinates is verified (such as whether it is occupied or whether there are obstacles) to ensure that the target vehicle can park safely and accurately in the designated location.

[0098] In summary, the embodiment of the present application realizes efficient scheduling and fair allocation of charging parking space resources through a candidate vehicle screening mechanism based on the charging completion status, combined with a detention time priority sorting strategy and a coordinate instruction generation method. Specifically, status screening ensures that only vehicles that have completed charging are guided to park out, avoiding the waste of parking spaces caused by the "pseudo-completion" status; detention time priority sorting solves the scheduling conflicts when multiple vehicles complete charging, giving priority to releasing parking spaces that have been occupied for a long time, and improving the overall circulation efficiency; instruction generation based on the coordinates of empty parking spaces ensures the accuracy of the vehicle's parking path and reduces the cost of manual intervention. The embodiment of the present application effectively solves the problem of long-term occupation of charging parking spaces, improves the level of automated management of the charging system and the utilization rate of parking spaces, and provides an efficient and fair scheduling solution for new energy vehicle charging scenarios.

[0099] In some examples, based on the target parking exit instruction, controlling the first target vehicle to park from the charging parking space group to the parking parking space group includes:

[0100] generating a parking path trajectory for the first target vehicle based on the empty parking space coordinate data of the target parking instruction;

[0101] Based on the parking path trajectory, the first target vehicle is controlled to park from the charging parking space group to the parking space group.

[0102] Exemplarily, after obtaining the coordinate data of the empty parking space in the target parking instruction, the path planning algorithm is used to generate the parking trajectory of the first target vehicle in combination with the spatial layout model of the charging parking space group and the parking parking space group. Specifically, the environmental topology is first constructed through the parking lot map data to determine the spatial relationship between the current position of the vehicle and the coordinates of the empty parking space; then, based on the A* algorithm, RRT (rapidly expanding random tree) algorithm or other heuristic search algorithms, the optimal path from the current position of the charging parking space group to the empty parking space in the parking parking space group is calculated, taking into account environmental constraints such as lane boundaries and obstacles (such as other vehicles and pillars). The generated trajectory contains a series of discrete path points, each of which corresponds to the position, orientation and speed parameters of the vehicle during the parking process, ensuring the smoothness and feasibility of the path and avoiding collisions or sudden changes in the path during driving.

[0103] After generating a parking path trajectory, the vehicle motion control module executes trajectory tracking control. Specifically, the control unit obtains the deviation between the vehicle's current position (via onboard GPS, LiDAR, or visual positioning technology) and the trajectory reference point in real time. It then employs trajectory tracking strategies such as the Pure Pursuit algorithm or Model Predictive Control (MPC) to calculate control variables such as steering wheel angle, throttle opening, and braking force. For example, the Pure Pursuit algorithm predicts a trajectory point at a certain preview distance ahead of the vehicle and adjusts the steering angle to keep the vehicle on track. MPC optimizes the control sequence over a rolling period of time, balancing trajectory tracking accuracy and comfort. During the control process, the vehicle's motion state (such as speed and acceleration) is monitored in real time, and the trajectory is dynamically corrected based on changes in the parking environment (such as the sudden appearance of pedestrians) to ensure that the first target vehicle parks along the planned path into the designated vacant parking space in the parking group, completing the parking space status transition.

[0104] In summary, the present embodiment of the application, through a path generation and trajectory tracking control method based on empty parking space coordinate data, achieves automated and precise parking operations for vehicles that have completed charging, moving from a charging parking group to a parking group. This embodiment of the application can complete vehicle dispatch without human intervention, effectively reducing labor costs. At the same time, automated control avoids the risk of collisions caused by human error, improves the automated management level of the charging system and the efficiency of parking space turnover, and provides timely and reliable parking space resources for the rapid access of subsequent vehicles waiting to be charged.

[0105] In some instances, this also includes:

[0106] Obtaining current vehicle position data of the first target vehicle;

[0107] Determine the parking completion status based on the current vehicle position data and the coordinate data of the empty parking space;

[0108] When the parking completion status satisfies a preset position tolerance condition, the current status of the empty parking spaces in the parking space group is updated.

[0109] For example, the current position data of the first target vehicle is obtained through multi-sensor fusion technology to ensure the accuracy and reliability of the data. Specifically, the on-board positioning system simultaneously collects GPS coordinates, lidar point cloud data and visual SLAM (simultaneous localization and mapping) information, and fuses the multi-source data through the Kalman filter to eliminate the error of a single sensor. For example, GPS provides a global coordinate reference, lidar obtains the precise position by matching with the pre-built point cloud map of the parking lot, and visual SLAM assists in positioning by identifying ground markers or feature points. The final output of the current vehicle position data includes three-dimensional coordinates (X, Y, Z) and attitude angles (heading angle, pitch angle, roll angle), which provide basic data support for the subsequent determination of the parking completion status.

[0110] Based on the current vehicle position data and the target empty parking space coordinate data, the parking completion status is determined by calculating the Euclidean distance and comparing the attitude angle. First, the three-dimensional Euclidean distance between the vehicle's geometric center and the center point of the empty parking space is calculated as the position deviation value; at the same time, the angular difference between the vehicle's heading angle and the preset orientation of the empty parking space is calculated as the attitude deviation value. The above two deviation values are compared with the preset position tolerance threshold (such as ±10cm) and angle tolerance threshold (such as ±5°) respectively. If and only if both deviation values are less than the corresponding thresholds, the parking completion status is determined to meet the preset conditions. By quantifying the position and attitude deviations, it is ensured that the vehicle is parked accurately in the designated empty parking space, providing a reliable basis for updating the parking space status.

[0111] When the parking completion status meets the preset conditions, the current status of the empty parking spaces in the parking group is updated. The parking space management module maintains a finite state machine that includes idle and occupied states, with the initial state being "idle." When the first target vehicle is determined to have successfully parked, a state transition event is triggered, updating the status of the corresponding empty parking space from "idle" to "occupied," and recording the occupancy timestamp. Simultaneously, the parking space status identifier in the parking lot's electronic map is updated, and status change information is synchronized with the backend management system, providing real-time data support for subsequent parking space scheduling and resource statistics. This state update process ensures data consistency through atomic operations, avoiding state conflicts caused by concurrent access.

[0112] In summary, the embodiments of the present application achieve automated monitoring of the vehicle parking process and precise management of parking space status through multi-sensor fusion vehicle positioning technology, tolerance threshold-based parking completion judgment logic, and a state machine-driven parking space status update mechanism, thereby optimizing parking space resource allocation and improving overall operational efficiency.

[0113] In some examples, obtaining the second charging status of all vehicles in the parking space group, where the second charging status includes a charging completed status and a charging ready status, includes:

[0114] Exemplarily, a battery data request instruction is sent to each vehicle in the parking space group based on the communication module; in response to the battery data request instruction, real-time battery parameters returned by each vehicle through the on-board communication unit are received, and the real-time battery parameters include battery voltage, current, temperature and charge and discharge history data; the real-time battery parameters are processed by the open circuit voltage method or the equivalent circuit model algorithm to calculate the current SOC of each vehicle; the current battery state of charge is compared with the preset full charge threshold, if SOC ≥ the preset full charge threshold, the vehicle is determined to be in a charging complete state; if SOC < the preset full charge threshold, the vehicle is determined to be in a waiting state; the determination results of all vehicles are integrated to generate a second charging state of all vehicles in the parking space group classified as "charging complete state" and "waiting state", providing a unique data basis for the subsequent screening and parking scheduling of vehicles to be charged, ensuring that the charging system can accurately identify vehicles that need to be connected to the charging parking space group based on the power demand dimension, and avoid scheduling errors caused by misjudgment of the state.

[0115] In some examples, based on the second charging status of all vehicles, determining a second target vehicle in the parking space group that meets the charging status, and sending a target parking instruction to the second target vehicle, includes:

[0116] Based on the second charging status of all vehicles, all candidate vehicles in the parking space group that meet the state to be charged are screened out;

[0117] When the number of candidate vehicles is 1, the candidate vehicle is used as the second target vehicle; or,

[0118] When the number of candidate vehicles is greater than one, determining the waiting time of each candidate vehicle based on a historical waiting state record of the candidate vehicles, wherein the historical waiting state record is the timestamp of the earliest time the candidate vehicle was in the waiting state; generating a second vehicle priority sequence based on a comparison result of the waiting time with a second preset time threshold; and selecting the candidate vehicle ranked first in the second vehicle priority sequence as the second target vehicle;

[0119] Based on the coordinate data of the empty parking spaces in the charging parking space group, a target parking instruction is generated, and the target parking instruction is sent to the second target vehicle.

[0120] Exemplarily, the second charging status of all vehicles in the parking space group is acquired through the communication module, and the vehicles are screened according to the judgment criteria for the state to be charged, and the screened vehicles are included in the candidate vehicles.

[0121] If the number of candidate vehicles screened is one, this single candidate vehicle is directly designated as the second target vehicle. In scenarios with a single candidate vehicle, complex priority calculations are eliminated; it is directly prioritized for placement in the charging parking group, minimizing the time required to fill the charging space and improving the charging system's responsiveness. This approach simplifies the scheduling process and reduces system computing resource consumption. It is suitable for scenarios where only one vehicle in a parking group is waiting to charge, ensuring timely allocation of charging resources.

[0122] If the number of candidate vehicles is greater than 1, first obtain the historical waiting status record of each candidate vehicle. The record is the timestamp of the earliest time the vehicle was in the "waiting for charging state", and calculate the waiting time of each vehicle by the difference between the current system time and the timestamp. Subsequently, the waiting time is compared with the preset second time threshold, and a second vehicle priority sequence is generated based on the comparison result. Vehicles whose waiting time exceeds the second preset time threshold have a higher priority than vehicles that do not exceed it. If both exceed or do not exceed it, they are sorted from long to short by waiting time. By quantifying the waiting time of vehicles, vehicles with more urgent charging needs (longer waiting time) are given priority as target parking objects, which ensures the fairness and rationality of scheduling and avoids the decline in user experience caused by long waiting times.

[0123] After the second target vehicle is identified, a target parking instruction is generated based on the coordinates of an empty parking space in the charging group. This instruction is sent to the second target vehicle via the wireless communication module. Upon receipt, the vehicle interprets the coordinate information and control parameters in the instruction, triggering the automatic parking system to execute the parking operation. During the instruction generation process, the real-time status of the empty parking space coordinates is verified to ensure that the target vehicle can safely and accurately enter the designated empty space in the charging group.

[0124] In summary, the embodiment of the present application achieves efficient matching and fair scheduling of charging demand and parking resources through the above-mentioned candidate vehicle screening mechanism based on the second charging state, combined with the waiting time priority sorting strategy and precise coordinate instruction generation technology, effectively avoiding the problem of long waiting times for charging vehicles, improving the turnover efficiency of charging parking spaces and the level of automated management of the charging system, and providing a fair and efficient intelligent scheduling solution for new energy vehicle charging scenarios.

[0125] Based on the target parking instruction, controlling the second target vehicle to drive into an empty parking space of the charging parking space group includes:

[0126] Exemplarily, upon receiving a target parking instruction, the vehicle analyzes the coordinate data of the empty parking spaces in the charging group contained in the instruction. Combining this with the electronic parking lot map and the vehicle's current position, a path planning algorithm is used to generate an optimal driving trajectory from the current position of the parking group to the empty space in the charging group. During this trajectory generation process, fixed and dynamic obstacles in the parking lot are avoided to ensure the feasibility and safety of the trajectory. The generated trajectory consists of a series of discrete path points, each of which contains parameters such as position coordinates, driving speed, and heading angle. Subsequently, the vehicle motion control module uses either a pure tracking algorithm or a model predictive control strategy to track the parking path based on this trajectory. The pure tracking algorithm adjusts the steering wheel angle by calculating the deviation between the vehicle's forward aiming point and the trajectory. The MPC optimizes the future control sequence by rolling optimization, balancing tracking accuracy and comfort. Simultaneously, the vehicle dynamics model is used to adjust the throttle, brake, and steering parameters in real time, ensuring that the second target vehicle accurately drives along the planned trajectory into the empty space in the charging group. During the control process, the deviation between the vehicle position and trajectory is continuously monitored. When the deviation exceeds the preset tolerance threshold, the trajectory correction mechanism is automatically triggered to ensure that the vehicle accurately parks in an empty parking space and completes the entry operation.

[0127] The charging operation is performed on the second target vehicle that enters the empty parking space, including:

[0128] For example, when the second target vehicle enters an empty parking space in the charging parking group and stops steadily, the charging system first uses the visual recognition component to collect image data of the vehicle's charging port. Based on the target detection algorithm, it locates the charging port area and determines the status of the charging cover and whether the interface is obstructed. If the charging cover is closed, an opening command is sent to the vehicle; if the interface is covered by foreign objects, a cleaning alarm is triggered; if the charging cover is open and unobstructed, it is determined to be in a "dockable state." Subsequently, the control component drives the robotic arm in the charging component to slide along the charging pile body, accurately positioning the charging interface through visual servo control or laser positioning technology, and completing the physical docking of the charging gun and the vehicle's charging port. After docking is completed, the communication module interacts with the vehicle's battery management system to obtain battery state of charge, voltage, temperature, and other data. Based on the preset charging strategy (such as constant current-constant voltage charging mode) and safety thresholds (such as maximum charging current and upper temperature limit), charging parameters (such as charging current, voltage, and power) are generated and sent to the charging pile body to initiate charging operations. During the charging process, the battery data and charging status are monitored in real time. When the SOC reaches the preset full charge threshold, charging is automatically terminated, or the protection mechanism is triggered when abnormal conditions such as overtemperature and overvoltage are detected, ensuring the safety and efficiency of the charging process.

[0129] In some embodiments, the above steps are repeated until all vehicles in the charging parking space group and the parking parking space group complete the charging operation, including:

[0130] Exemplarily, a state machine-driven loop control mechanism repeatedly executes vehicle status monitoring, target vehicle scheduling, and charging operations for the charging and parking groups until all vehicles are fully charged. Specifically, after each round of vehicle parking, parking, and charging operations, the system automatically triggers a status inspection process: first, the first charging status of all vehicles in the charging group is obtained to identify whether there are any fully charged vehicles; simultaneously, the second charging status of vehicles in the parking group is obtained to determine whether there are any vehicles waiting to be charged. If there are fully charged vehicles or vehicles waiting to be charged, the next round of parking, parking, and charging operations is executed according to the preset logic. The number of cycles can be flexibly adjusted (e.g., once, twice, or more) based on the actual number of vehicles and charging progress. When the status inspection determines that all vehicles in the charging group are in a non-charging state (such as charging or other states) and all vehicles in the parking group are in a fully charged state, the system terminates the loop operation; or if no vehicles waiting to be charged are detected within the set cycle period, the system automatically enters a dormant monitoring mode and restarts the loop process after a new vehicle waiting to be charged is detected. This cycle mechanism ensures that the charging system can continuously and efficiently handle the charging needs of multiple vehicles through standardized status judgment logic and closed-loop control processes until all vehicles have completed charging or there is no need for charging, thereby maximizing the utilization and automated management of charging resources.

[0131] In some instances, this also includes:

[0132] The automated management of charging spaces and continuous charging of vehicles are achieved through the integration of a multi-module collaborative architecture, combining a fixed robotic arm structure charging pile with the vehicle automatic parking function. The automatic queuing charging system is mainly composed of charging components, visual recognition components, control components, charging spaces and communication modules: the charging component includes a charging pile body and a robotic arm that can slide along the body, and a docking interface is set at the end of the robotic arm. Its structure refers to the existing fixed robotic arm charging pile (such as a six-degree-of-freedom joint design to achieve precise positioning in three-dimensional space, and a servo motor drives the sliding mechanism to achieve vertical or horizontal movement along the charging pile body). The docking interface has a built-in electrical connector and imager for physical docking with the vehicle charging interface and status recognition; the visual recognition component is arranged above the charging space, using a multi-camera array or lidar, and uses computer vision algorithms (such as target detection and semantic segmentation) to monitor the charging interface of the vehicle in real time. The system can detect the vehicle's status, vehicle body position and surrounding safety environment, and output discrete identification of the vehicle status (such as charging, completed, waiting for connection, waiting for disconnection); the control component serves as the system hub, and establishes a two-way communication link with the charging component, visual recognition component and communication module through an industrial-grade controller to perform logical operations such as status data processing, path planning and command generation; the charging parking spaces are divided into charging parking space groups (single-row parking spaces) corresponding to the charging components and parking space groups for queuing (multi-row parking spaces), and a parking space coordinate system is constructed through ground markings and electronic maps; the communication module adopts a 5G / DSRC hybrid communication protocol to interact with the vehicle's OBU unit in real time about the battery charge status, parking authority and command data, forming an information closed loop among the vehicle, charging pile and system.

[0133] The visual recognition component uses a multi-camera array to build a parking space visual monitoring network, combining stereo vision with monocular vision to detect the position of the vehicle body. For the multi-camera array, the mapping relationship between the three-dimensional world coordinate system and the two-dimensional image coordinate system is established by calibrating the intrinsic and extrinsic matrix (rotation matrix and translation vector) of each camera. The three-dimensional coordinates of key points of the vehicle body (such as the four wheels and front and rear bumpers) are calculated using the principle of binocular parallax. The monocular camera uses a deep learning target detection algorithm to identify the relative position of the vehicle body contour and ground markings, and calculates the vehicle's yaw angle and offset. The system collects the vehicle's position data in the charging parking group in real time. When it detects that the Euclidean distance between the vehicle's geometric center and the parking space center point exceeds a preset threshold or the heading angle deviation is greater than a preset angle, it generates a position adjustment command and transmits it to the control component, providing a position deviation basis for subsequent automatic parking path planning.

[0134] The LiDAR is deployed above the charging parking space or on the charging pile itself. It scans the parking area by emitting a laser beam and generates a three-dimensional environmental model containing the vehicle point cloud data. The point cloud processing module first removes outliers through voxel filtering, then uses the RANSAC algorithm to fit the ground plane, extracts the body point cloud cluster through Euclidean clustering, and calculates the minimum bounding box of the body point cloud to determine the real-time position and orientation of the vehicle. In order to solve the measurement error of the LiDAR in strong light or rainy and snowy weather, multi-frame point cloud registration technology (such as the ICP algorithm) is used to match the current frame point cloud with the pre-built parking spot cloud map, and dynamically calibrate the body position by iteratively optimizing the rotation and translation parameters. When the vehicle undergoes a slight displacement within the charging parking space group (such as slipping due to uneven ground), the high-frequency sampling of the LiDAR can capture the position change in real time and trigger the trajectory correction process of the control component.

[0135] See also Figure 2 , is a schematic structural diagram of a queuing charging device provided in an embodiment of the present application, comprising:

[0136] The charging status acquisition unit 21 is used to acquire the first charging status of all vehicles in the charging parking space group, where the first charging status includes a charging completion status, a charging status, a waiting charging status, and a waiting disconnection status;

[0137] The parking instruction sending unit 22 determines a first target vehicle in the charging parking space group that meets the charging completion state based on the first charging state of all vehicles, and sends a target parking instruction to the first target vehicle;

[0138] The parking operation control unit 23 controls the first target vehicle to park from the charging parking space group to the parking parking space group based on the target parking instruction;

[0139] The parking status acquisition unit 24 is used to acquire the second charging status of all vehicles in the parking space group, wherein the second charging status includes a charging completion status and a waiting charging status;

[0140] The parking instruction sending unit 25 determines a second target vehicle in the parking space group that meets the charging state based on the second charging state of all vehicles, and sends a target parking instruction to the second target vehicle;

[0141] The parking operation control unit 26 controls the second target vehicle to drive into an empty parking space in the charging parking space group based on the target parking instruction;

[0142] The vehicle charging control unit 27 is configured to charge the second target vehicle that enters the empty parking space.

[0143] See also Figure 3An embodiment of the present application also provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor. When the processor 320 executes the computer program 311, the steps of any method of queuing charging are implemented.

[0144] Since the electronic device introduced in this embodiment is a device used to implement a queuing charging device in the embodiment of the present application, based on the method introduced in the embodiment of the present application, technical personnel in this field can understand the specific implementation of the electronic device of this embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of the present application is not introduced in detail here. As long as the equipment used by technical personnel in this field to implement the method in the embodiment of the present application falls within the scope of protection of this application.

[0145] During the specific implementation process, when the computer program 311 is executed by the processor, any implementation method of the embodiments corresponding to the first aspect can be implemented.

[0146] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0147] Those skilled in the art will appreciate that embodiments of the present application may provide methods, systems, or computer program products. Thus, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media containing computer-readable program code.

[0148] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0149] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0150] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0151] The present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes Figure 1 The flowchart of a queuing charging method in the corresponding embodiment.

[0152] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium can be a magnetic medium, an optical medium or a semiconductor medium, etc.

[0153] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0154] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0155] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0156] In addition, the functional units in the various embodiments of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The above-mentioned integrated units may be implemented in the form of hardware and / or software functional units.

[0157] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.

[0158] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0159] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0160] Obviously, those skilled in the art may make various changes to this specification without departing from the spirit and scope of this specification. Thus, if such changes to this specification fall within the scope of the claims and their equivalents, this specification is intended to include such changes.

Claims

1. A queuing charging method, characterized in that: include: Obtaining a first charging status of all vehicles in the charging parking space group, wherein the first charging status includes a charging completed state, a charging state, a waiting to be charged state, and a waiting to be disconnected state; Based on the first charging status of all vehicles, determining a first target vehicle in the charging parking space group that meets the charging completion status, and sending a target parking instruction to the first target vehicle; Based on the target parking instruction, control the first target vehicle to park from the charging parking space group to the parking space group; Acquire a second charging state of all vehicles in the parking space group, wherein the second charging state includes the charging completed state and the waiting to be charged state; determining, based on the second charging status of all vehicles, a second target vehicle in the parking space group that meets the to-be-charged status, and sending a target parking instruction to the second target vehicle; Based on the target parking instruction, controlling the second target vehicle to drive into an empty parking space in the charging parking space group; The second target vehicle that enters the empty parking space is charged.

2. The method according to claim 1, characterized in that The obtaining of the first charging status of all vehicles in the charging parking space group includes: Determining the current physical state of the charging interface of each vehicle in the charging parking space group based on the charging interface image data of each vehicle; Determining the current battery state of charge of each vehicle based on the battery data of each vehicle in the charging parking space group; Based on the current physical state of the charging interface and the current state of charge of the battery, a first charging state of all vehicles in the charging parking space group is generated.

3. The method according to claim 2, characterized in that The generating of the first charging state of all vehicles in the charging parking space group based on the current physical state of the charging interface and the current state of charge of the battery includes: For each of all vehicles in the charging parking space group, determine a current connection state of the charging interface of the vehicle based on the current physical state of the charging interface of the vehicle, and determine a current battery charge state of the vehicle based on the current battery charge state of the vehicle and a preset power threshold; For each vehicle among all the vehicles in the charging parking space group, if the current connection state of the vehicle is the connected state and the current battery charging state is the no-charging state, the first charging state of the vehicle is determined to be the to-be-disconnected state; if the current connection state of the vehicle is the connected state and the current battery charging state is the to-be-charged state, the first charging state of the vehicle is determined to be the charging state; if the current connection state of the vehicle is the disconnected state and the current battery charging state is the no-charging state, the first charging state of the vehicle is determined to be the charging completed state; if the current connection state of the vehicle is the disconnected state and the current battery charging state is the to-be-charged state, the first charging state of the vehicle is determined to be the to-be-charged state.

4. The method according to claim 1, wherein The determining, based on the first charging status of all vehicles, a first target vehicle in the charging parking space group that meets the charging completion status, and sending a target parking instruction to the first target vehicle includes: Based on the first charging status of all vehicles, screening out all candidate vehicles in the charging parking space group that meet the charging completion status; When the number of the candidate vehicles is 1, the candidate vehicle is used as the first target vehicle; or, When the number of candidate vehicles is greater than one, determining the detention time of each candidate vehicle based on the charging completion timestamp of the candidate vehicles; generating a first vehicle priority sequence based on a comparison result of the detention time with a first preset time threshold; and selecting the candidate vehicle ranked first in the first vehicle priority sequence as the first target vehicle; The target parking exit instruction is generated based on the coordinate data of the empty parking spaces in the parking space group, and the target parking exit instruction is sent to the first target vehicle.

5. The method according to claim 4, characterized in that The controlling the first target vehicle to park from the charging parking space group to the parking parking space group based on the target parking exit instruction includes: generating a parking path trajectory of the first target vehicle based on the empty parking space coordinate data in the target parking instruction; Based on the parking path trajectory, the first target vehicle is controlled to park from the charging parking space group to the parking space group.

6. The method according to claim 1, characterized in that The determining, based on the second charging status of all vehicles, a second target vehicle in the parking space group that meets the to-be-charged status, and sending a target parking instruction to the second target vehicle includes: Based on the second charging status of all vehicles, screening out all candidate vehicles in the parking space group that meet the state to be charged; When the number of the candidate vehicles is 1, the candidate vehicle is used as the second target vehicle; or, When the number of candidate vehicles is greater than one, determining the waiting time of each candidate vehicle based on a historical waiting state record of the candidate vehicles, wherein the historical waiting state record is a timestamp of the earliest time the candidate vehicle was in the waiting state; generating a second vehicle priority sequence based on a comparison result of the waiting time with a second preset time threshold; and selecting the candidate vehicle ranked first in the second vehicle priority sequence as the second target vehicle; The target parking instruction is generated based on the coordinate data of the empty parking spaces in the charging parking space group, and the target parking instruction is sent to the second target vehicle.

7. The method according to claim 5, characterized in that Also includes: Obtaining current vehicle position data of the first target vehicle; determining a parking completion status based on the current vehicle position data and the vacant parking space coordinate data; When the parking completion status satisfies a preset position tolerance condition, the current status of the empty parking space in the parking space group is updated.

8. A queuing charging device, characterized in that: include: A charging status acquisition unit, configured to acquire a first charging status of all vehicles in the charging parking space group, wherein the first charging status includes a charging completed status, a charging status, a waiting-to-disconnect status, and a waiting-to-charge status; a parking-out instruction sending unit, which determines a first target vehicle in the charging parking space group that meets the charging completion state based on the first charging state of all vehicles, and sends a target parking-out instruction to the first target vehicle; a parking operation control unit, which controls the first target vehicle to park from the charging parking space group to the parking parking space group based on the target parking instruction; a parking status acquiring unit, configured to acquire a second charging status of all vehicles in the parking space group, wherein the second charging status includes the charging completed status and the waiting charging status; a parking instruction sending unit, which determines a second target vehicle in the parking space group that meets the to-be-charged state based on the second charging state of all vehicles, and sends a target parking instruction to the second target vehicle; a parking operation control unit, which controls the second target vehicle to drive into an empty parking space in the charging parking space group based on the target parking instruction; A vehicle charging control unit is used to charge the second target vehicle that enters the empty parking space.

9. An electronic device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the queuing charging method according to any one of claims 1 to 7 when executing the computer program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the queuing charging method according to any one of claims 1 to 7 is implemented.

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