Parking space guiding method and device, readable storage medium and electronic equipment

Abstract

The invention relates to a parking space guiding method and device, a readable storage medium and electronic equipment, and the method comprises the steps: obtaining the position of a to-be-parked vehicle in a parking lot, the number of the to-be-parked vehicle, the position of an idle parking space, and the number of the idle parking space, and enabling the to-be-parked vehicle to be a vehicle which enters the parking lot and is searching for the idle parking space for parking; a target parking space is determined from the idle parking spaces according to the positions of the to-be-parked vehicles, the number of the to-be-parked vehicles, the driving states of the to-be-parked vehicles, the positions of the idle parking spaces and the number of the idle parking spaces, guiding information is sent to the to-be-entered vehicles, and the guiding information is used for guiding the to-be-entered vehicles to drive to the target parking space. Therefore, the driver can accurately and quickly find the available parking space, the situation that the driver searches the available parking space while driving is avoided, the time of the driver is saved, the energy consumption of the automobile is avoided, and the use efficiency of the parking space of the parking lot is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of intelligent parking, in particular, to a parking space guiding method and device, a readable storage medium and an electronic device. BACKGROUND

[0002] The number of users owning private cars is increasing, and when driving a car into a parking lot to find an available parking space, the method of driving and looking for an available parking space at the same time is inefficient, not only wasting the time of the driver, but also increasing the energy consumption of the car, and also reducing the use efficiency of the parking space.

[0003] For the above reasons, there is an urgent need for an effective method to find an available parking space to help drivers quickly find an idle parking space to park. SUMMARY

[0004] The purpose of the present disclosure is to provide a parking space guiding method and device, an electronic device and a readable storage medium to solve the problem of energy and time waste caused by the low efficiency of the existing method of finding an available parking space.

[0005] According to a first aspect of the embodiments of the present disclosure, a parking space guiding method is provided, comprising: obtaining the positions of vehicles to be parked in a parking lot, the number of vehicles to be parked, the positions of idle parking spaces, and the number of idle parking spaces; the vehicle to be parked is a vehicle that has entered the parking lot and is looking for an idle parking space to park;

[0006] determining a target parking space from the idle parking spaces according to the positions of the vehicles to be parked, the number of vehicles to be parked, the driving state of the vehicles to be parked, the positions of the idle parking spaces, and the number of idle parking spaces;

[0007] sending guiding information to a vehicle to be entered into the parking lot; the guiding information is used to guide the vehicle to be entered into the parking lot to drive to the target parking space.

[0008] Optionally, the obtaining the positions of vehicles to be parked in a parking lot, the number of vehicles to be parked, the positions of idle parking spaces, and the number of idle parking spaces comprises:

[0009] obtaining the total number of vehicles in the parking lot, the number of occupied parking spaces, the number of vehicles leaving the parking spaces, and the total number of parking spaces;

[0010] obtaining the number of vehicles to be parked according to the total number of vehicles, the number of occupied parking spaces, and the number of vehicles leaving the parking spaces;

[0011] obtaining the number of idle parking spaces according to the total number of parking spaces and the number of occupied parking spaces.

[0012] Optionally, the determining the target parking space from the idle parking spaces according to the positions of the to-be-parked vehicles, the number of the to-be-parked vehicles, the positions of the idle parking spaces, and the number of the idle parking spaces comprises:

[0013] Let the number of the to-be-parked vehicles be m, and let the number of the idle parking spaces be n.

[0014] In the case of m=0 and n=1, the only idle parking space is taken as the target parking space.

[0015] Optionally, the determining the target parking space from the idle parking spaces according to the positions of the to-be-parked vehicles, the number of the to-be-parked vehicles, the positions of the idle parking spaces, and the number of the idle parking spaces comprises:

[0016] Let the number of the to-be-parked vehicles be m, and let the number of the idle parking spaces be n.

[0017] In the case of m=0 and n>1, the distance between each idle parking space and the to-be-parked vehicle is obtained, and the idle parking space with the minimum distance is taken as the target parking space.

[0018] Optionally, the determining the target parking space from the idle parking spaces according to the positions of the to-be-parked vehicles, the number of the to-be-parked vehicles, the positions of the idle parking spaces, and the number of the idle parking spaces comprises:

[0019] Let the number of the to-be-parked vehicles be m, and let the number of the idle parking spaces be n.

[0020] In the case of m≥1 and n>m, the probability that each idle parking space is occupied by the to-be-parked vehicles is obtained.

[0021] The target parking space is determined from the idle parking spaces according to the probability that each idle parking space is occupied.

[0022] Optionally, the obtaining the probability that each idle parking space is occupied by the to-be-parked vehicles comprises:

[0023] For each idle parking space, the probability that the idle parking space is occupied by each to-be-parked vehicle is obtained,

[0024] The probabilities that the idle parking space is occupied by each to-be-parked vehicle are superimposed to obtain the probability that the idle parking space is occupied by the to-be-parked vehicles.

[0025] Optionally, in the case that the to-be-parked vehicle is in a forward driving state when searching for the idle parking space,

[0026] The probability of each of the idle parking spaces being occupied by each of the to-be-parked vehicles is obtained, including:

[0027] The distance between each of the idle parking spaces and each of the to-be-parked vehicles is obtained.

[0028] The k idle parking spaces with smaller distances are selected as candidate parking spaces, where 1 < k < n.

[0029] The probability of each of the candidate parking spaces being occupied by each of the to-be-parked vehicles is determined according to the position of each of the to-be-parked vehicles, the driving direction of each of the to-be-parked vehicles, and the distance between each of the candidate parking spaces and each of the to-be-parked vehicles.

[0030] The probability of the n-k idle parking spaces with larger distances being occupied is set to 0.

[0031] Optionally, in the case that the driving state of the to-be-parked vehicle is a reverse parking preparation,

[0032] The probability of each of the idle parking spaces being occupied by each of the to-be-parked vehicles is obtained, including:

[0033] The distance between each of the idle parking spaces and each of the to-be-parked vehicles is obtained.

[0034] The idle parking spaces with distances less than a first specified distance threshold are selected as candidate parking spaces.

[0035] In the case that there is only one candidate parking space, the probability of the candidate parking space being occupied is set to 1.

[0036] In the case that there are two or more candidate parking spaces, the probability of each of the candidate parking spaces being occupied by each of the to-be-parked vehicles is determined according to the position of each of the to-be-parked vehicles, the driving direction of each of the to-be-parked vehicles, and the distance between each of the candidate parking spaces and each of the to-be-parked vehicles.

[0037] The probability of the idle parking spaces with distances greater than or equal to the first specified distance threshold being occupied is set to 0.

[0038] Optionally, the target parking space is determined from the idle parking spaces according to the probability of each of the idle parking spaces being occupied, including:

[0039] The candidate parking space with a probability of being occupied less than a specified probability threshold is determined as the target parking space.

[0040] Optionally, the target parking space is determined from the idle parking spaces according to the probability of each of the idle parking spaces being occupied, including:

[0041] In the case that there are two or more candidate parking spaces whose occupied probability is less than the specified probability threshold, the candidate parking spaces whose occupied probability is less than the specified probability threshold are recorded as guiding candidate parking spaces;

[0042] The distance between the guiding candidate parking space and the vehicle to be parked is obtained.

[0043] The guiding value of each guiding candidate parking space is obtained according to the distance between the guiding candidate parking space and the vehicle to be parked and the occupied probability of the guiding candidate parking space.

[0044] The target parking space is determined from the guiding candidate parking spaces according to the guiding values.

[0045] Optionally, the distance between the guiding candidate parking space and the vehicle to be parked is obtained by:

[0046] In the case that there is a vehicle reversing into a parking space on the driving path of the vehicle to be parked to the guiding candidate parking space,

[0047] The distance between the guiding candidate parking space and the vehicle to be parked is corrected according to the distance between the vehicle to be parked and the vehicle reversing into a parking space, the driving speed of the vehicle to be parked, the time of reversing into a parking space, and the distance between the guiding candidate parking space and the vehicle to be parked.

[0048] Optionally, the correction formula of the distance between the guiding candidate parking space and the vehicle to be parked includes:

[0049] l j ′=max(w j / v,T)*v+(l j -w j )

[0050] wherein, l j ′ is the corrected distance between the guiding candidate parking space and the vehicle to be parked, w j is the distance between the vehicle to be parked and the vehicle reversing into a parking space, v is the driving speed of the vehicle to be parked, T is the time of reversing into a parking space, and l j is the distance between the guiding candidate parking space and the vehicle to be parked.

[0051] According to a second aspect of the embodiments of the present disclosure, a parking space guiding device is provided, which comprises an obtaining module configured to obtain the position of a vehicle to be parked in a parking lot, the number of the vehicle to be parked, the position of an idle parking space, and the number of the idle parking space; the vehicle to be parked is a vehicle that has entered the parking lot and is searching for the idle parking space to be parked.

[0052] determine a target parking space from the idle parking spaces according to the positions of the to-be-parked vehicles, the number of the to-be-parked vehicles, the driving states of the to-be-parked vehicles, the positions of the idle parking spaces, and the number of the idle parking spaces;

[0053] send guiding information to a to-be-entered vehicle, the guiding information being used to guide the to-be-entered vehicle to drive to the target parking space, the to-be-entered vehicle being a vehicle to be entered into the parking lot.

[0054] According to a third aspect of the embodiments of the present disclosure, a non-transitory computer readable storage medium is provided, which has a computer program stored thereon, and the computer program is executed by a processor to implement the steps of the parking space guiding method.

[0055] According to a fourth aspect of the embodiments of the present disclosure, an electronic device is provided, which includes a memory having a computer program stored thereon, and a processor configured to execute the computer program in the memory to implement the steps of the parking space guiding method.

[0056] The technical solution provided by the embodiments of the present disclosure can have the following beneficial effects: the present disclosure can acquire the positions of to-be-parked vehicles, the number of to-be-parked vehicles, the positions of idle parking spaces, and the number of idle parking spaces in a parking lot, the to-be-parked vehicles being vehicles that have entered the parking lot and are looking for idle parking spaces, determine a target parking space from the idle parking spaces according to the positions of the to-be-parked vehicles, the number of the to-be-parked vehicles, the driving states of the to-be-parked vehicles, the positions of the idle parking spaces, and the number of the idle parking spaces, and send guiding information to a to-be-entered vehicle, the guiding information being used to guide the to-be-entered vehicle to drive to the target parking space. By determining a target parking space from the idle parking spaces according to the positions and the number of vehicles that have entered the parking lot and the positions and the number of idle parking spaces in the parking lot, and then sending guiding information to a to-be-entered vehicle, the to-be-entered vehicle is guided to drive to the target parking space, so that the driver can quickly find an available parking space, avoiding the situation that the driver drives while looking for an available parking space, saving the time of the driver, avoiding the energy consumption of the vehicle, and improving the use efficiency of parking spaces in the parking lot.

[0057] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0058] The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and are used to explain the present disclosure together with the following detailed description, but do not constitute a limitation to the present disclosure. In the drawings:

[0059] Figure 1 is a schematic diagram of a parking space being occupied according to an exemplary embodiment of the present disclosure

[0060] Figure 2 This is a schematic diagram illustrating an exemplary embodiment of the present disclosure of how reversing affects parking.

[0061] Figure 3 This is a flowchart illustrating an exemplary embodiment of the present disclosure of a parking space guidance method.

[0062] Figure 4 This is a flowchart of a sub-step of step S102 as illustrated in an exemplary embodiment of this disclosure.

[0063] Figure 5 This is a block diagram illustrating a parking guidance device according to an exemplary embodiment of the present disclosure.

[0064] Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0065] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0066] The method of drivers searching for available parking spaces while driving into a parking lot is inefficient. It not only wastes the driver's time but also increases the car's energy consumption and reduces the utilization efficiency of parking spaces.

[0067] In related technologies, to address the aforementioned issues, some parking lots have introduced high-precision maps and parking space sensors to locate available spaces and guide vehicles to the nearest available space based on the shortest path distance. However, the applicant has found that such solutions still have some problems, such as... Figure 1 As shown, Figure 1 This is an exemplary embodiment of the present disclosure illustrating a parking space being occupied. There are two unoccupied available parking spaces, A and B. A is closer to the vehicle waiting to enter, while B is farther away. Although A is closer to the vehicle waiting to enter, there is a high probability that A will be occupied by other vehicles. If only the shortest path distance is used for guidance, it is very likely that A will be occupied.

[0068] In addition, the applicant also found the following problems with guiding vehicles to the site based on the shortest path distance: for example, if Figure 2 As shown, Figure 2is a schematic diagram of a reverse parking affecting parking shown in an example embodiment of the present disclosure, there are two available parking spaces A and B that are not occupied, A is closer to the vehicle to be parked, and B is farther away from the vehicle to be parked, but since the vehicle to be parked will encounter a situation of waiting for the vehicle to be parked to complete the parking in the process of going to the parking space A, directly guiding the vehicle to be parked to the available parking space B can make the parking efficiency higher.

[0069] To solve the above problems, the present disclosure provides a parking space guiding method for guiding a vehicle to park, a vehicle that is ready to enter a parking lot to find an available idle parking space is defined as a vehicle to be parked, when the vehicle is ready to enter the parking lot to find an available idle parking space, not only the distance between the vehicle to be parked and the idle parking space is considered, but also the probability that each idle parking space is occupied by other vehicles to be parked is further considered, wherein the vehicle to be parked is a vehicle that has entered the parking lot and is searching for an idle parking space to park, and the vehicle to be parked includes two driving states of a vehicle searching for an idle parking space in forward gear and a vehicle preparing to park in reverse gear; modeling analysis is performed based on the driving state of the vehicle to be parked; in addition, the present disclosure also considers the situation that the vehicle to be parked may encounter other vehicles that are parking in reverse in the process of driving to the idle parking space, thereby increasing the waiting time, and the situation of encountering other vehicles that are parking in reverse is also included in the modeled model; finally, through voice or picture prompt, the guiding suggestion of the optimal parking space is given to the vehicle owner, thereby improving the parking efficiency in the parking lot.

[0070] Please refer to Figure 3 , Figure 3 is a flowchart of a parking space guiding method according to an example embodiment of the present disclosure. The method is performed by a computer device, for example, at least one of a server, a notebook computer, a desktop computer, a tablet computer, or a smart robot. Figure 3 The parking space guiding method shown includes the following steps:

[0071] In step S101, the positions of the vehicles to be parked, the number of vehicles to be parked, the positions of idle parking spaces, and the number of idle parking spaces in the parking lot are obtained.

[0072] The vehicle to be parked is a vehicle that has entered the parking lot and is searching for an idle parking space to park, and the vehicle to be parked includes two driving states of a vehicle searching for an idle parking space in forward gear and a vehicle preparing to park in reverse gear; the idle parking space is a parking space in the parking lot that is not occupied by a vehicle.

[0073] It should be noted that the parking space guiding method provided by the present disclosure collects key data such as vehicle position and vehicle speed during vehicle driving based on high-precision maps, roadside unit devices, and networked V2X (vehicle-to-everything) devices, and performs information transmission and data sharing.

[0074] For example, the parameter information of each vehicle to be parked can be obtained by arranging road side units in the parking lot, wherein the road side units include but are not limited to cameras, radars, V2X devices and the like, and the parameter information of the vehicle to be parked includes position, driving direction, driving speed and driving state information, and the driving state includes forward driving state and reverse parking state.

[0075] For example, a parking space sensor can be installed on each parking space in the parking lot, and the parking space sensor is used to store the position information of the parking space, which can be but is not limited to the center position information of the parking space. The parking space sensor can detect that the parking space is occupied by a vehicle, and can also detect that the vehicle has driven away from the parking space. When a parking space is occupied, the parking space sensor can record the state of the parking space being occupied, the center position of the parking space, and the license plate information of the vehicle occupying the parking space. When the vehicle drives away from the parking space and prepares to exit the parking lot, the license plate information of the vehicle driving away from the parking space is recorded, the state of the parking space being occupied and the center position of the parking space are released. In this way, the number of occupied parking spaces, the specific positions of the occupied parking spaces, the number of idle parking spaces and the specific positions of the idle parking spaces in the parking lot can be counted in real time, and the number of vehicles driving away from the parking spaces can be obtained.

[0076] In an embodiment, after obtaining the total number of vehicles in the parking lot, the number of occupied parking spaces, the number of vehicles driving away from the parking spaces, and the total number of parking spaces, the number of vehicles to be parked and the number of idle parking spaces can be calculated. Wherein the number of vehicles to be parked = total number of vehicles - number of occupied parking spaces - number of vehicles driving away from the parking spaces; the number of idle parking spaces = total number of parking spaces - number of occupied parking spaces.

[0077] In step S102, a target parking space is determined from the idle parking spaces according to the position of the vehicle to be parked, the number of vehicles to be parked, the driving state of the vehicle to be parked, the position of the idle parking space and the number of idle parking spaces.

[0078] Wherein the driving state of the vehicle to be parked includes forward driving state and reverse parking state.

[0079] In the case where the vehicle to be parked prepares to drive into the parking lot, the position of the vehicle to be parked, the number of vehicles to be parked, the driving state of the vehicle to be parked, the position of the idle parking space and the number of idle parking spaces are obtained in real time, and then a target parking space is determined from the idle parking spaces according to the position of the vehicle to be parked, the number of vehicles to be parked, the driving state of the vehicle to be parked, the position of the idle parking space and the number of idle parking spaces.

[0080] For example, the number of vehicles to be parked can be denoted as m, and the number of idle parking spaces can be denoted as n.

[0081] In the case of m=0 and n=1, it is indicated that there is no vehicle to be parked in the parking lot, and there is only one idle parking space in the parking lot, so the only idle parking space can be used as the target parking space.

[0082] In the case of m=0 and n>1, it is indicated that there is no vehicle to be parked in the parking lot, and there is more than one idle parking space in the parking lot, so the distance between each idle parking space and the vehicle to be parked can be obtained, and the idle parking space with the smallest distance can be used as the target parking space. The distance between the idle parking space and the vehicle to be parked can be calculated based on a high-precision map and an A-star algorithm, which is a method for solving the shortest path in a static road network. The specific acquisition method is a mature conventional technical means in the art, which will not be described here.

[0083] In the case of m≥1 and n>m, it is indicated that there is one or more vehicles to be parked in the parking lot, and the number of idle parking spaces in the parking lot is greater than the number of vehicles to be parked, so the probability that the existing idle parking space can be occupied needs to be predicted.

[0084] It should be noted that in the case of m≥1 and n>m, step S102 further includes sub-step S1021 and sub-step S1022, and the specific acquisition method of the probability that the idle parking space can be occupied will be described in detail in the sub-step of step S102. Please refer to Figure 4 , Figure 4 is a flowchart of the sub-step of step S102 shown in the example embodiment of the present disclosure.

[0085] In sub-step S1021, the probability that each idle parking space is occupied by the vehicle to be parked is obtained.

[0086] In an embodiment, the probability that each idle parking space is occupied by the vehicle to be parked can be obtained first, and then the target parking space can be determined from the idle parking spaces according to the probability that each idle parking space is occupied. For example, the idle parking space with a probability of being occupied less than a specified probability threshold can be determined as the target parking space.

[0087] In which, the probability that each idle parking space is occupied by the vehicle to be parked is obtained. For each idle parking space, the probability that the idle parking space is occupied by each vehicle to be parked needs to be considered, and then the probabilities that the idle parking space is occupied by each vehicle to be parked are superimposed to obtain the probability that the idle parking space is occupied by the vehicle to be parked. It should be noted that superimposing the probabilities that the idle parking space is occupied by each vehicle to be parked may result in a probability greater than 1, and if this occurs, the probability greater than 1 is set to 1.

[0088] The probability that each idle parking space is occupied by each vehicle to be parked is described in detail below. Based on the current driving state of the vehicle to be parked, the vehicle to be parked is divided into two categories: a vehicle driving forward to find a parking space and a vehicle driving backward to prepare for parking. The probability that each idle parking space is occupied by a vehicle to be parked driving forward to find a parking space and the probability that each idle parking space is occupied by a vehicle to be parked driving backward to prepare for parking are described below in scenario one and scenario two, respectively.

[0089] Scenario one: if it is identified that a vehicle to be parked is currently in a state of driving forward to find a parking space, the distance between each idle parking space and the vehicle to be parked is obtained, all distances are arranged in ascending order or descending order according to the distance size, the k idle parking spaces with smaller distances are selected as candidate parking spaces, where 1 < k ≤ n, the probability that the n-k idle parking spaces with larger distances are occupied is set to 0, and then the probability that each candidate parking space is occupied is obtained. The value of k is obtained based on empirical data or other feasible ways, and the present disclosure does not limit this. For example, the value of k can be, but is not limited to, 3.

[0090] For example, the distance of the vehicle to be parked driving forward to find a parking space relative to n idle parking spaces is calculated based on the position information and driving direction of the vehicle to be parked, and is arranged in ascending order according to the distance size, and is respectively set as d1, d2, …, dn. n wherein d1 is the smallest, d2 is the second smallest, …, and dn is the largest. n Then, the k idle parking spaces with the smallest distances are selected as candidate parking spaces according to the distance size from small to large, where 1 < k ≤ n, and the probability that the k candidate parking spaces are occupied is modeled and estimated, and the probability that the remaining idle parking spaces are occupied is set to 0.

[0091] In an embodiment, the probability that each candidate parking space is occupied can be determined according to the position of the vehicle to be parked, the driving direction of the vehicle to be parked, and the distance between the candidate parking space and the vehicle to be parked. For example, for a vehicle to be parked driving forward to find a parking space, the calculation formula of the probability that each candidate parking space is occupied can be:

[0092]

[0093] wherein p(i) is the probability that the ith candidate parking space is occupied, 1 ≤ i ≤ k, k is the number of candidate parking spaces, di is the distance between the ith candidate parking space and the vehicle to be parked. i

[0094] ​For example, there are 6 free parking spaces, i.e. n = 6, for a certain vehicle to be parked, according to the position information and driving direction of the vehicle to be parked, the distances of the vehicle to be parked relative to the 6 free parking spaces are 3 meters, 5 meters, 8 meters, 13 meters, 16 meters and 18 meters respectively; select the 3 closest free parking spaces as candidate parking spaces, i.e. k = 3, calculate the probabilities that the 3 candidate parking spaces may be occupied, then the probabilities that the candidate parking spaces with distances of 3 meters, 5 meters and 8 meters are occupied are 13 / 32, 11 / 32 and 8 / 32 respectively; the probabilities that the other free parking spaces with longer distances are occupied are set to 0, i.e. the probabilities that the free parking spaces with distances greater than 8 meters are occupied are set to 0.

[0095] Case two: if it is identified that a certain vehicle to be parked is currently in the state of reversing into the garage, for each free parking space, the probability that the free parking space is occupied by each vehicle to be parked is obtained, including: obtaining the distance between the free parking space and each vehicle to be parked, setting the probability that the free parking space with a distance greater than or equal to a first specified distance threshold to 0; setting the free parking spaces with distances less than the first specified distance threshold as candidate parking spaces, in the case of only one candidate parking space, i.e. there is only one free parking space with a distance less than the first specified distance threshold, the probability that the only candidate parking space is occupied is set to 1; wherein the first specified distance threshold is obtained based on empirical data or other feasible ways, and the present disclosure does not limit this, for example, the first specified distance threshold can be but is not limited to 5 meters.

[0096] In the case of two or more candidate parking spaces, i.e. there are two or more free parking spaces with distances less than the first specified distance threshold, the probability that the candidate parking space is occupied can be determined according to the calculation formula in case one, i.e. according to the position of each vehicle to be parked, the driving direction of each vehicle to be parked, and the distance between the candidate parking space and each vehicle to be parked to determine the probability that the candidate parking space is occupied by each vehicle to be parked, which can be referred to the description in case one and will not be repeated here.

[0097] For example, combined with the position information and reversing direction of the vehicle to be parked in the reversing into the garage state, the distance of the vehicle to be parked relative to each free parking space is calculated and arranged in ascending order according to the distance, which are respectively denoted as r1, r2, …, r n wherein r1 is the smallest, r n is the largest, at this time, the free parking spaces with distances less than 5 meters are set as candidate parking spaces, in the case of only one candidate parking space, it is indicated that the candidate parking space is the parking space prepared for the vehicle to be parked to reverse into the garage, if there is no free parking space within the range of 5 meters, the probability that the free parking space outside the range of 5 meters is occupied is set to 0.

[0098] In sub-step S1022, a target parking space is determined from the free parking spaces according to the probability that each free parking space is occupied.

[0099] Through the above two cases, the probability that each idle parking space is occupied by the vehicle to be parked can be determined.

[0100] After obtaining the probability that each idle parking space is occupied by the vehicle to be parked, a target parking space is determined from the idle parking spaces according to the probability that each idle parking space is occupied.

[0101] Determining a target parking space from the idle parking spaces according to the probability that each idle parking space is occupied includes three cases.

[0102] First, there is no candidate parking space with an occupied probability less than a specified probability threshold, and in this case, there is no target parking space. The specified probability threshold is obtained based on empirical data or other feasible ways, and the present disclosure does not limit this, for example, the specified probability threshold can be but is not limited to 0.6.

[0103] Second, there is only one candidate parking space with an occupied probability less than the specified probability threshold, and in this case, the only candidate parking space is determined as the target parking space.

[0104] Third, there are two or more candidate parking spaces with an occupied probability less than the specified probability threshold, and in this case, the candidate parking spaces with an occupied probability less than the specified probability threshold are recorded as guide candidate parking spaces, the distances between the guide candidate parking spaces and the vehicle to be parked are obtained, and according to the distances between the guide candidate parking spaces and the vehicle to be parked and the occupied probabilities of the guide candidate parking spaces, the guide values of each guide candidate parking space are obtained, and the target parking space is determined from the guide candidate parking spaces according to the guide values.

[0105] For example, for the vehicle to be parked, in combination with the position information of the vehicle to be parked, the distances between the vehicle to be parked and those guide candidate parking spaces with an occupied probability less than the specified probability threshold g are counted, and are arranged in ascending order according to the distance size, respectively l1, l2,...l c , where l1 is the smallest, l c is the largest, and correspondingly, the occupied probabilities of these guide candidate parking spaces are P1, P2,...P c , respectively. Obviously, P1, P2,...P c are all less than the specified probability threshold g, and for the jth (1≤j≤c) guide candidate parking space, the guide value y j is calculated according to the following calculation formula of the guide value. j The guide values are sorted, and the guide candidate parking space corresponding to the smallest guide value is selected as the target parking space. The calculation formula of the guide value includes:

[0106]

[0107] where y j is the guide value, l jP is the distance between the vehicle to be parked and the guiding candidate parking space j P is the probability that the guiding candidate parking space is occupied.

[0108] For example, there are two guiding candidate parking spaces, and the probabilities that the two guiding candidate parking spaces are occupied are both less than a specified probability threshold g, one of which is 0.5, and the distance between the vehicle to be parked and the guiding candidate parking space is 12 meters, and the other is 0.3, and the distance between the vehicle to be parked and the guiding candidate parking space is 14 meters, and the guiding values of the two guiding candidate parking spaces obtained by using the above calculation formula of the guiding value are 24 and 20 respectively, and the guiding candidate parking space with the guiding value of 20 is taken as the target parking space.

[0109] It should be noted that in the case that there is a vehicle that is reversing into the garage on the driving path of the vehicle to be parked, the distance between the guiding candidate parking space and the vehicle to be parked needs to be corrected, which specifically includes: correcting the distance between the guiding candidate parking space and the vehicle to be parked according to the distance between the vehicle to be parked and the vehicle that is reversing into the garage, the driving speed of the vehicle to be parked, the reversing time, and the distance between the guiding candidate parking space and the vehicle to be parked.

[0110] For example, the calculation formula for correcting the distance between the guiding candidate parking space and the vehicle to be parked includes:

[0111] l j ′=max(w j / v,T)*v+(l j -w j )

[0112] wherein l j ′ is the corrected distance between the guiding candidate parking space and the vehicle to be parked, w j is the distance between the vehicle to be parked and the vehicle that is reversing into the garage, v is the driving speed of the vehicle to be parked, T is the reversing time, and l j is the distance between the guiding candidate parking space and the vehicle to be parked.

[0113] In step S103, the guiding information is sent to the vehicle to be parked.

[0114] In the foregoing step, the target parking space with the smallest occupied probability is determined, and in this step, the guiding information containing the position information of the target parking space is generated according to the position information of the target parking space, and the guiding information is sent to the vehicle to be parked, and the guiding information is used to guide the vehicle to be parked to drive to the target parking space, so that the vehicle to be parked drives to the target parking space according to the guiding information.

[0115] The guiding information can be, but is not limited to, voice information, video information, etc., which gives the driver the guiding suggestion of the optimal parking space through voice or video picture prompt, and improves the efficiency of parking in the parking lot.

[0116] In summary, the parking space guiding method provided by the present disclosure comprises the following steps: obtaining the positions of vehicles to be parked in a parking lot, the number of vehicles to be parked, the positions of idle parking spaces, and the number of idle parking spaces; determining a target parking space from the idle parking spaces according to the positions of vehicles to be parked, the number of vehicles to be parked, the driving state of vehicles to be parked, the positions of idle parking spaces, and the number of idle parking spaces; and sending guiding information to vehicles to be parked in the parking lot, wherein the guiding information is used to guide the vehicles to be parked to drive to the target parking space. The target parking space is determined from the idle parking spaces according to the positions and number of vehicles that have already entered the parking lot and the positions and number of idle parking spaces in the parking lot, and then the guiding information is sent to the vehicles to be parked, so as to guide the vehicles to be parked to drive to the target parking space. As a result, the driver can quickly find an available parking space, and the situation that the driver drives while looking for an available parking space is avoided, the time of the driver is saved, the energy consumption of the vehicle is avoided, and the use efficiency of parking spaces in the parking lot is improved.

[0117] Figure 5 is a block diagram of a parking space guiding device according to an example embodiment of the present disclosure. Referring to Figure 5 , the parking space guiding device 20 comprises an obtaining module 201, a processing module 202, and a sending module 203.

[0118] The obtaining module 201 is configured to obtain the positions of vehicles to be parked in a parking lot, the number of vehicles to be parked, the positions of idle parking spaces, and the number of idle parking spaces, wherein the vehicles to be parked are vehicles that have already entered the parking lot and are looking for idle parking spaces.

[0119] The processing module 202 is configured to determine a target parking space from the idle parking spaces according to the positions of vehicles to be parked, the number of vehicles to be parked, the driving state of vehicles to be parked, the positions of idle parking spaces, and the number of idle parking spaces.

[0120] The sending module 203 is configured to send guiding information to vehicles to be parked in the parking lot, wherein the guiding information is used to guide the vehicles to be parked to drive to the target parking space, and the vehicles to be parked are vehicles to be parked in the parking lot.

[0121] Optionally, the obtaining module 201 is further configured to obtain the total number of vehicles in the parking lot, the number of occupied parking spaces, the number of vehicles that have left the parking spaces, and the total number of parking spaces.

[0122] The number of vehicles to be parked is obtained according to the total number of vehicles, the number of occupied parking spaces, and the number of vehicles that have left the parking spaces.

[0123] The number of idle parking spaces is obtained according to the total number of parking spaces and the number of occupied parking spaces.

[0124] Optionally, the processing module 202 is further configured to record the number of the to-be-parked vehicles as m, and record the number of the idle parking spaces as n.

[0125] In a case where m=0 and n=1, the only idle parking space is taken as the target parking space.

[0126] Optionally, the processing module 202 is further configured to record the number of the to-be-parked vehicles as m, and record the number of the idle parking spaces as n.

[0127] In a case where m=0 and n>1, distances between each idle parking space and the to-be-entered vehicles are obtained, and the idle parking space with the smallest distance is taken as the target parking space.

[0128] Optionally, the processing module 202 is further configured to record the number of the to-be-parked vehicles as m, and record the number of the idle parking spaces as n.

[0129] In a case where m≥1 and n>m, probabilities that each idle parking space is occupied by the to-be-parked vehicles are obtained.

[0130] The target parking space is determined from the idle parking spaces according to the probabilities that each idle parking space is occupied.

[0131] Optionally, the processing module 202 is further configured to, for each idle parking space, obtain a probability that the idle parking space is occupied by each to-be-parked vehicle,

[0132] The probability that the idle parking space is occupied by the to-be-parked vehicles is obtained by superimposing the probabilities that the idle parking space is occupied by each to-be-parked vehicle.

[0133] Optionally, the processing module 202 is further configured to, for each idle parking space, obtain a probability that the idle parking space is occupied by each to-be-parked vehicle, including:

[0134] Obtaining distances between the idle parking space and each to-be-parked vehicle;

[0135] Taking k idle parking spaces with smaller distances as candidate parking spaces, where 1<k≤n;

[0136] Determining, according to positions of each to-be-parked vehicle, driving directions of each to-be-parked vehicle, and distances between the candidate parking spaces and each to-be-parked vehicle, the probability that each candidate parking space is occupied by each to-be-parked vehicle;

[0137] Setting the probability that n-k idle parking spaces with larger distances are occupied as 0.

[0138] Optionally, the processing module 202 is further configured to, for each of the idle parking spaces: obtain a probability that the idle parking space is occupied by each of the to-be-parked vehicles, including:

[0139] obtain a distance between the idle parking space and each of the to-be-parked vehicles;

[0140] regard the idle parking space with a distance less than a first specified distance threshold as a candidate parking space;

[0141] in a case where there is only one candidate parking space, set the probability that the candidate parking space is occupied as 1;

[0142] in a case where there are two or more candidate parking spaces, determine the probability that each of the candidate parking spaces is occupied by each of the to-be-parked vehicles according to the position of each of the to-be-parked vehicles, the driving direction of each of the to-be-parked vehicles, and the distance between each of the candidate parking spaces and each of the to-be-parked vehicles;

[0143] set the probability that the idle parking space with a distance greater than or equal to the first specified distance threshold is occupied as 0.

[0144] Optionally, the processing module 202 is further configured to determine the candidate parking space with a probability less than a specified probability threshold as the target parking space.

[0145] Optionally, the processing module 202 is further configured to, in a case where there are two or more candidate parking spaces with a probability less than a specified probability threshold, regard the candidate parking space with a probability less than a specified probability threshold as a guide candidate parking space;

[0146] obtain a distance between the guide candidate parking space and the to-be-entered vehicle;

[0147] obtain a guide value of each of the guide candidate parking spaces according to the distance between the guide candidate parking space and the to-be-entered vehicle, and the probability that the guide candidate parking space is occupied;

[0148] determine the target parking space from the guide candidate parking spaces according to the guide values.

[0149] Optionally, the processing module 202 is further configured to, in a case where there is a vehicle that is reversing into a parking space on a driving path of the to-be-entered vehicle to the guide candidate parking space,

[0150] correct the distance between the guide candidate parking space and the to-be-entered vehicle according to the distance between the to-be-entered vehicle and the vehicle that is reversing into a parking space, the driving speed of the to-be-entered vehicle, the time of reversing into a parking space, and the distance between the guide candidate parking space and the to-be-entered vehicle.

[0151] Optionally, the calculation formula for correcting the distance between the guiding candidate parking space and the incoming vehicle comprises:

[0152] l j ′=max(w j / v,T)*v+(l j -w j )

[0153] wherein, l j ′ is the corrected distance between the guiding candidate parking space and the incoming vehicle, w j is the distance between the incoming vehicle and the vehicle that is reversing into the garage, v is the driving speed of the incoming vehicle, T is the reversing time into the garage, and l j is the distance between the guiding candidate parking space and the incoming vehicle.

[0154] As to the apparatus in the above-mentioned embodiments, the specific manners in which the various modules perform operations have been described in detail in the embodiments of the method, and thus will not be described in detail here.

[0155] Figure 6 is a block diagram of an electronic device 600 according to an exemplary embodiment. As shown in the figure, the electronic device 600 can be at least one of a notebook computer, a desktop computer, a tablet computer, a smart robot, or a server. The electronic device 600 can include a processor 601 and a memory 602. The electronic device 600 can further include one or more of a multimedia component 603, an input / output (I / O) interface 604, and a communication component 605. Figure 6

[0156] Optionally, the processor 601 can be one or more integrated circuit chips. Alternatively, the processor 601 can be a general-purpose processor, such as a central processing unit (CPU) or a network processor (NP). Exemplarily, the processor 601 can implement the parking guiding method provided by the present disclosure by executing a program stored in the memory 602.

[0157] ​The program is stored in the memory 602 and is invoked by the processor 601 to implement the parking guiding method provided by the present disclosure. The memory 602 can include, but is not limited to, the following: random access memory (RAM), read only memory (ROM), programmable read only memory (PROM), erasable programmable read only memory (EPROM), and electrically erasable programmable read only memory (EEPROM).

[0158] The I / O interface 604 provides an interface between the processor 601 and other interface modules, which can be a keyboard, a mouse, a button, and the like.

[0159] The communication component 605 is configured to perform wired or wireless communication between the electronic device 600 and other devices. The wireless communication, such as Wi-Fi, Bluetooth, 2G, 3G, 6G, or other 5G, and the like, or a combination of one or more of them, is not limited herein.

[0160] In an exemplary embodiment, the electronic device 600 can be implemented by one or more digital signal processing devices (DSPD), field programmable gate arrays (FPGA), programmable logic devices (PLD), application specific integrated circuits (ASIC), digital signal processors (DSP), controllers, microprocessors, or other electronic elements, for executing the above-mentioned parking guiding method.

[0161] In another exemplary embodiment, a computer readable storage medium including program instructions is also provided, which, when executed by a processor, implements the steps of the above-mentioned parking guiding method. For example, the computer readable storage medium can be the above-mentioned memory 602 including program instructions, and the above-mentioned program instructions can be executed by the processor 601 of the electronic device 600 to complete the above-mentioned parking guiding method.

[0162] In another exemplary embodiment, there is also provided a non-transitory computer readable storage medium containing a computer program executable by a programmable device, the computer program having code portions for performing the above-described parking space guidance method when executed by the programmable device.

[0163] The above merely provides illustrative embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be encompassed in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0164] Furthermore, any combination of the various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, which should also be considered as disclosed by the present disclosure.

Claims

1. A parking space guidance method characterized by, The method comprises the following steps: acquiring the position of a vehicle to be parked in a parking lot, the number of the vehicle to be parked, the position of an idle parking space, and the number of the idle parking space; the vehicle to be parked is a vehicle that has entered the parking lot and is searching for the idle parking space; determining a target parking space from the idle parking spaces according to the position of the vehicle to be parked, the number of the vehicle to be parked, the driving state of the vehicle to be parked, the position of the idle parking space, and the number of the idle parking space; sending guidance information to a vehicle to be entered into the parking lot; the guidance information is used to guide the vehicle to be entered into the parking lot to drive to the target parking space.

2. The method of claim 1, wherein, The method comprises the following steps: acquiring the total number of vehicles in the parking lot, the number of occupied parking spaces, the number of vehicles that have left the parking spaces, and the total number of parking spaces; acquiring the number of vehicles to be parked according to the total number of vehicles, the number of occupied parking spaces, and the number of vehicles that have left the parking spaces; acquiring the number of idle parking spaces according to the total number of parking spaces and the number of occupied parking spaces.

3. The method according to claim 1 or 2, characterized in that, The method comprises the following steps: the number of vehicles to be parked is denoted as m, and the number of idle parking spaces is denoted as n; in the case that m = 0 and n = 1, the only idle parking space is taken as the target parking space.

4. The method according to claim 1 or 2, characterized in that, The method comprises the following steps: the number of vehicles to be parked is denoted as m, and the number of idle parking spaces is denoted as n; in the case that m = 0 and n > 1, the distance between each idle parking space and the vehicle to be entered into the parking lot is acquired, and the idle parking space with the minimum distance is taken as the target parking space.

5. The method according to claim 1 or 2, characterized in that, The method comprises the following steps: the number of vehicles to be parked is denoted as m, and the number of idle parking spaces is denoted as n; in the case that m ≥ 1 and n > m, the probability that each idle parking space is occupied by the vehicle to be parked is acquired; the target parking space is determined from the idle parking spaces according to the probability that each idle parking space is occupied.

6. The method of claim 5, wherein, The method comprises the following steps: for each idle parking space, the probability that the idle parking space is occupied by each vehicle to be parked is acquired, the probability that the idle parking space is occupied by the vehicle to be parked is obtained by superimposing the probability that the idle parking space is occupied by each vehicle to be parked.

7. The method of claim 6, wherein, in the case that the driving state of the vehicle to be parked is forward driving and searching for the idle parking space, the method comprises the following steps: for each idle parking space, the probability that the idle parking space is occupied by each vehicle to be parked is acquired, acquiring a distance between each of the idle parking spaces and each of the to-be-parked vehicles; selecting k idle parking spaces with smaller distances as candidate parking spaces, where 1 < k ≤ n; determining a probability that each of the candidate parking spaces is occupied by each of the to-be-parked vehicles according to a position of each of the to-be-parked vehicles, a driving direction of each of the to-be-parked vehicles, and the distance between each of the candidate parking spaces and each of the to-be-parked vehicles; setting a probability that n-k idle parking spaces with larger distances are occupied as 0.

8. The method of claim 6, wherein, in a case where a driving state of the to-be-parked vehicle is a reverse parking preparation, the acquiring, for each of the idle parking spaces, the probability that each of the idle parking spaces is occupied by each of the to-be-parked vehicles, includes: acquiring a distance between each of the idle parking spaces and each of the to-be-parked vehicles; selecting an idle parking space with a distance less than a first specified distance threshold as a candidate parking space; in a case where there is only one candidate parking space, setting a probability that the candidate parking space is occupied as 1; in a case where there are two or more candidate parking spaces, determining a probability that each of the candidate parking spaces is occupied by each of the to-be-parked vehicles according to a position of each of the to-be-parked vehicles, a driving direction of each of the to-be-parked vehicles, and the distance between each of the candidate parking spaces and each of the to-be-parked vehicles; setting a probability that an idle parking space with a distance greater than or equal to the first specified distance threshold is occupied as 0.

9. The method of claim 5, wherein, the determining the target parking space from the idle parking spaces according to the probability that each of the idle parking spaces is occupied, includes: determining a candidate parking space with a probability less than a specified probability threshold as the target parking space.

10. The method of claim 5, wherein, the determining the target parking space from the idle parking spaces according to the probability that each of the idle parking spaces is occupied, includes: in a case where there are two or more candidate parking spaces with a probability less than a specified probability threshold, recording the candidate parking spaces with a probability less than a specified probability threshold as guide candidate parking spaces; acquiring a distance between the guide candidate parking spaces and the to-be-entering vehicle; acquiring a guide value of each of the guide candidate parking spaces according to the distance between the guide candidate parking spaces and the to-be-entering vehicle, and the probability that the guide candidate parking spaces are occupied; determining the target parking space from the guide candidate parking spaces according to the guide value.

11. The method of claim 10, wherein, the acquiring the distance between the guide candidate parking spaces and the to-be-entering vehicle, includes: in a case where there is a vehicle that is reversing into a garage on a driving path of the to-be-entering vehicle to the guide candidate parking space, correcting the distance between the guide candidate parking space and the to-be-entering vehicle according to a distance between the to-be-entering vehicle and the vehicle that is reversing into the garage, a driving speed of the to-be-entering vehicle, a reverse parking time, and the distance between the guide candidate parking space and the to-be-entering vehicle.

12. The method of claim 11, wherein, the correction formula of the distance between the guide candidate parking space and the to-be-entering vehicle includes: l j ′ = max(w j / v,T) * v + (l j -w j ) wherein, l j is the distance between the guiding candidate parking space and the vehicle to be parked, w j is the distance between the vehicle to be parked and the vehicle which is parking in reverse, v is the driving speed of the vehicle to be parked, T is the parking time in reverse, l j is the distance between the guiding candidate parking space and the vehicle to be parked.

13. A parking space guidance device, characterized by includes: an acquiring module, configured to acquire a position of a to-be-parked vehicle, a number of the to-be-parked vehicles, a position of an idle parking space, and a number of the idle parking spaces in a parking lot; The vehicle to be parked is a vehicle that has entered the parking lot and is looking for the idle parking space to park; The processing module is configured to determine a target parking space from the idle parking spaces according to the positions of the vehicles to be parked, the number of the vehicles to be parked, the driving states of the vehicles to be parked, the positions of the idle parking spaces, and the number of the idle parking spaces. The sending module is configured to send guidance information to a vehicle to be entered. The guidance information is used to guide the vehicle to be entered to drive to the target parking space.

14. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1-12.

15. An electronic device, comprising: Comprise: A memory having a computer program stored thereon; A processor configured to execute the computer program in the memory to implement the steps of the method in any one of claims 1-12.

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