Formation vehicle parking method and device

Abstract

The invention relates to the technical field of vehicle control, and discloses a formation vehicle parking method and device, and the method comprises the steps: detecting the information of a first available parking space in a driving process, and broadcasting the information of the first available parking space to a vehicle team, and the vehicles in the vehicle team are used for determining respective target parking spaces from the first parking space information capable of being parked according to the destination and driving to the first target parking space of the first vehicle. By applying the technical scheme of the invention, collaborative parking and information sharing among motorcades can be realized, and the parking efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, specifically to a method and apparatus for parking platooned vehicles. Background Technology

[0002] Currently, parking information sharing in a vehicle-to-everything (V2X) environment is a popular technology, aiming to provide vehicles with available parking spaces in advance and to program control strategies for each vehicle to enter a suitable parking space. However, current solutions are mainly centralized. Each parking space is equipped with sensors to detect whether a car is in the space, and the sensor data is then uploaded to a data center. The data center analyzes the sensor data to determine available parking spaces and then centrally dispatches vehicles in the parking lot for parking. However, this type of solution relies too heavily on the data center, resulting in low resilience to risks in parking scheduling. If the data center fails, the normal scheduling of vehicles in the fleet cannot be carried out. Furthermore, the deployment cost of the data center and parking space sensors is high, which is not conducive to reuse in any scenario. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention provide a method and apparatus for parking platooned vehicles, which solves the problems of high cost and low reliability in finding parking spaces for platooned vehicles in the prior art.

[0004] According to one aspect of the present invention, a platooning parking method is provided, applied to a first vehicle, which is any vehicle in a platoon, wherein the vehicles in the platoon have the same or similar destinations. The method includes: detecting first available parking space information while driving; broadcasting the first available parking space information to the platoon, wherein the vehicles in the platoon determine their respective target parking spaces from the first available parking space information based on their destinations; and driving to the first target parking space of the first vehicle.

[0005] According to another aspect of the present invention, a platooning vehicle parking device is provided, comprising: a parking information scanning module for detecting first available parking space information during driving; and an available parking information broadcasting module for broadcasting the first available parking space information to the platoon, wherein the vehicles in the platoon determine their respective target parking spaces from the first available parking space information according to their destinations. The parking module is used to drive to the first target parking space of the first vehicle.

[0006] According to another aspect of the present invention, a vehicle is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, which causes the processor to perform an operation of a platooning vehicle parking method according to any one of the first aspects.

[0007] This invention enables real-time parking space detection within the same platoon and directly pushes this information to subsequent vehicles. It achieves real-time communication and seamless information sharing among vehicles in the platoon, enabling precise guidance and autonomous parking planning for subsequent vehicles. Ultimately, it achieves a seamless, automated parking experience where vehicles in the platoon can park immediately upon arrival, building a real-time, reliable parking information sharing network. This invention not only breaks down "information silos" within the platoon but also forms a dynamic "information inheritance chain," from detecting parking space information to parking, from space release to reallocation, ensuring that subsequent vehicles can lock in parking spaces in advance and navigate directly to their destination, solving the uncertainty and time delay of following vehicles finding parking spaces. Furthermore, vehicles within the platoon reserve target parking spaces consistent with the overall destination of the platoon based on shared parking space information, maintaining the platoon's compactness as much as possible, reducing the frequency of platoon disbandment, and improving the efficiency of subsequent platoon rearrangement and re-call. In addition, the parking control strategy provided by this invention does not rely on data centers and parking space sensors, reducing implementation costs.

[0008] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0009] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This diagram illustrates a first embodiment of a platooning vehicle parking method provided by the present invention. Figure 2 A flowchart illustrating a second embodiment of a platooning vehicle parking method provided by the present invention is shown. Figure 3 A schematic diagram of the structure of a first embodiment of a platooning vehicle parking device provided by the present invention is shown. Figure 4 A structural schematic diagram of an embodiment of a vehicle provided by the present invention is shown. Detailed Implementation

[0010] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0011] Figure 1A flowchart of a first embodiment of a platooning vehicle parking method according to the present invention is shown, the method being performed by vehicles. Figure 1 As shown, the method is applied to the first vehicle and includes the following steps: Step S101: Detect the first available parking space information while driving.

[0012] Step S102: Broadcast the first available parking space information to the fleet, and the vehicles in the fleet use it to determine their respective target parking spaces from the first available parking space information according to their destination.

[0013] Step S103: Drive to the first target parking space of the first vehicle.

[0014] Specifically, this embodiment of the invention provides an intelligent parking method for a convoy, wherein the first vehicle refers to any vehicle in the convoy, which can be the lead vehicle, middle vehicle, or tail vehicle. The first vehicle is only used as the execution subject in this embodiment to describe the method logic; therefore, this embodiment does not specifically limit the identity of the first vehicle. For ease of description, other vehicles refer to the remaining vehicles in the convoy other than the first vehicle.

[0015] First, in this embodiment of the invention, any vehicle in the fleet can obtain parking space information during its journey through methods such as visual recognition (camera), spatial perception (radar or lidar), receiving intelligent parking space broadcasts (Vehicle-to-Infrastructure, V2I), receiving vehicle-to-vehicle (V2V) information sharing, querying cloud platforms or parking data centers, and parking space detection algorithms. This parking space information includes parking space ID, location, size, and other information. The parking space information elements are encapsulated into parking information (ParkingInfoMessage) and encrypted. This parking information is the first available parking space information, for example, represented as a list of available parking spaces.

[0016] In one example, a vehicle in a convoy has sensors on its side continuously emitting beams (ultrasound, electromagnetic waves, or lasers) and precisely calculating the time and phase changes of its reflected signals to construct a contour model of the surrounding environment. As the vehicle moves along a row of parked cars, the sensors steadily receive strong echoes from adjacent vehicles, identifying continuous areas that are "occupied." When the sensors suddenly detect a "gap" where the echo signal disappears, and the geometry (length and depth) of this gap meets the preset parking space standards, the system immediately marks this area as a candidate empty parking space, acquiring information including identity and location information (ID / coordinates / heading angle), detailed spatial physical attributes (size / type / confidence level), and real-time status (idle / occupied). The V2V communication module encapsulates the parking space information, encrypting elements such as parking space identifier, timestamp, parking space size, and surrounding environment into parking information, which serves as the first available parking space information.

[0017] After obtaining the first available parking space information, in one example, the first vehicle broadcasts the obtained first available parking space information to its own fleet. The broadcasting method includes, but is not limited to, V2V communication, Bluetooth networking, WIFI networking, etc. As long as a broadcasting mechanism can realize the sharing of information among vehicles in the fleet, this embodiment can be adopted.

[0018] A convoy refers to a group of vehicles traveling to the same or similar destinations, such as wedding cars or a performance convoy. Because the vehicles in a convoy have the same or similar destinations, they generally maintain a certain intelligent convoy strategy, and the final parking spaces should be close together. Therefore, the parking space information scanned by any vehicle in the convoy can be shared with other vehicles.

[0019] For example, a real-time communication network within the platoon can be built using a V2V communication module to achieve seamless information exchange between vehicles. This module employs low-latency V2V direct communication technology or a cellular-based C-V2X (Cellular-V2X) link. Each vehicle, through its built-in communication module, actively initiates or responds to connection requests according to preset communication protocols and standards, establishing a stable and reliable real-time communication link with other vehicles in the platoon. After the link is successfully established, vehicles begin exchanging their first available parking space information, broadcasting it to all members of the same platoon.

[0020] Finally, based on the first target parking space determined or receiving navigation instructions, a vehicle, either autonomously or under driver control, smoothly drives from its current location to the selected first target parking space. Throughout the driving and parking process, the vehicle continuously senses its surroundings to ensure path safety and ultimately parks precisely in the designated space.

[0021] This embodiment achieves real-time synchronous updates of parking space information through information sharing between vehicles. It introduces a real-time information sharing mechanism between vehicles and leverages vehicle-to-everything (V2V) communication technologies (such as V2V direct communication and 5G vehicle-road cooperative networks) to make each vehicle in the fleet a terminal for collecting parking space information and a node for sharing. Whether a parked vehicle notices a change in the status of surrounding parking spaces or a moving vehicle detects a new vacant parking space, the relevant information will be synchronized to the onboard terminals or dispatch system of all vehicles waiting to park in the fleet within milliseconds. This upgrades parking space information from single-point collection to network-wide sharing, completely breaking the information blind spot of a single vehicle and ensuring that each vehicle waiting to park can obtain the latest and most accurate parking space dynamics, providing data support for subsequent accurate parking space selection based on preset clustering conditions.

[0022] Furthermore, in this embodiment of the invention, the available parking space information broadcast to the convoy is used to allow each vehicle in the convoy to determine its target parking space from the first available parking space information based on its destination. In other words, each vehicle in the convoy will filter parking spaces from the first available parking space information based on its destination, ensuring that the target parking space determined by each vehicle is not too far from its destination. This reduces the frequency of convoy disbandment and the dispersion of the convoy in the parking strategy, which is more conducive to the next convoy formation and improves the efficiency and flexibility of convoy vehicle formation.

[0023] Figure 2 A flowchart of a second embodiment of a platooning vehicle parking method according to the present invention is shown, the method being performed by vehicles. Figure 2 As shown, the method is applied to the first vehicle and includes the following steps: Step S201: Detect the first available parking space information while driving. For details, please refer to [link / reference needed]. Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0024] Step S202: The information on the first available parking space is broadcast to the convoy, and the vehicles in the convoy use it to determine their respective target parking spaces from the information on the first available parking spaces based on their destinations. For details, please refer to [link to relevant documentation]. Figure 1 Step S102 of the illustrated embodiment will not be described again here.

[0025] Step S203: Reserve a first target parking space from the first available parking space information according to the destination. The first target parking space is the parking space where the first vehicle will drive into.

[0026] Step S204: Based on the reservation information of the first target parking space, perform a first type of update on the information of the first available parking space to remove the first target parking space from the information of the first available parking space.

[0027] Step S205: Broadcast the updated first available parking space information of the first category to the fleet so that any vehicle in the fleet other than the first vehicle can re-determine the target parking space from the updated first available parking space information of the first category according to the destination.

[0028] Step S206: Drive to the first target parking space for the first vehicle. For details, please refer to [link / reference]. Figure 1 Step S103 of the illustrated embodiment will not be described again here.

[0029] Specifically, the first vehicle can reserve a parking space by sending and storing the first available parking space information internally. The first vehicle parses the first available parking space information, compares the destination with the parsed parking space location information, selects a parking space, and reserves it. Based on this parking space, it generates reservation information for the first target parking space. The reservation information includes basic information such as the specific location of the parking space (e.g., parking lot zone, floor, parking space number), parking space size, and available time range. After reserving the parking space, the first vehicle associates the vehicle's identification information (e.g., license plate number, vehicle model) with the first target parking space in the first available parking space information. Finally, it removes the information for the first target parking space from the first available parking space information (e.g., marking the first target parking space in yellow in the first available parking space information), and then rebroadcasts the removed first available parking space information to all members of the fleet, so that all vehicles in the fleet except the first vehicle can quickly know that the first target parking space has been reserved and cannot be reserved by other vehicles.

[0030] This embodiment accurately selects and reserves parking spaces, generating detailed reservation information for the first target parking space, while dynamically updating available parking information, greatly improving the user parking experience. Users can quickly locate their desired parking space and obtain comprehensive parking information, avoiding ineffective searches due to inaccurate parking information, saving time and effort, and making the parking process more convenient and efficient.

[0031] In an optional implementation, step S203 includes: Step a1: Determine the first candidate parking space based on the vehicle size and the size information of each parking space in the first available parking space information.

[0032] Step a2: Based on the destination, the driving route of the fleet and / or the fleet formation strategy, filter the first candidate parking spaces to obtain the second candidate parking spaces.

[0033] Step a3: Reserve the first target parking space from the second candidate parking spaces.

[0034] Specifically, this embodiment of the invention comprehensively considers the specific size parameters of the vehicle and the size specifications of each parking space in the parking space information database. Through precise comparison and matching, a set of parking spaces that meet the parking requirements of the vehicle are selected as the first candidate parking spaces. Based on the set destination location (e.g., opposite or in the same direction), the current driving route planning of the fleet (e.g., whether it is on the planned route road), and the relevant requirements in the fleet formation strategy (e.g., the principle of consistent route and the principle of latest disbandment), the first candidate parking spaces are further screened and filtered to eliminate parking spaces that do not meet the conditions, thereby obtaining a more accurate second candidate parking space. According to preset principles (e.g., the principle of closest to the destination and the principle of fleet concentration), the most suitable target parking space is selected to complete the reservation of the parking space.

[0035] This embodiment first performs an initial screening of parking space sizes. This screening process utilizes sensor technology and intelligent algorithms to avoid secondary searches due to mismatched parking space sizes, effectively narrowing down the range of available parking spaces. It then prioritizes parking spaces that are close to the destination and have convenient driving routes, reducing the driver's walking distance and driving time after parking. Simultaneously, based on the pre-planned driving routes of the convoy, parking spaces located in conflict zones or that would complicate the convoy's route are excluded. Parking spaces that meet the requirements for platooning are also selected, ensuring that convoy vehicles can be parked in an orderly and compact manner, facilitating subsequent unified management and scheduling. Through a series of comprehensive screenings, a high degree of matching between parking spaces and vehicles is achieved, further eliminating unsuitable parking spaces, making the remaining spaces more suitable for efficient parking. This enables vehicles to quickly and accurately find suitable parking spaces and complete parking.

[0036] In one optional implementation, step a2 above includes: Step a21: Based on the driving path, remove the reverse parking spaces from the first candidate parking spaces that require detours or violations of traffic rules to reach, and obtain the forward candidate parking space set.

[0037] Step a22: Based on the fleet formation strategy, identify several parking space clusters that meet the preset clustering conditions from the forward candidate parking space set. The number of parking spaces in each parking space cluster is not less than the number of vehicles in the fleet.

[0038] Step a23: Select the parking space cluster closest to the destination from each parking space cluster and determine it as the second candidate parking space.

[0039] Specifically, embodiments of the present invention provide an intelligent parking space selection strategy for a fleet, thereby further improving the aggregation of fleet parking and reducing the frequency of vehicle disbanding.

[0040] In one example, the current vehicle will prioritize selecting parking spaces in front of it based on its direction of travel, eliminating those behind it. The resulting set of parking spaces is the forward candidate set. For example, parking spaces that require detours or violate traffic rules, such as spaces that have already been passed relative to the direction of travel, or spaces that require driving in the opposite direction to reach.

[0041] In this embodiment of the invention, convoy formation strategy refers to a strategy in which a convoy maintains a preset formation or distance as much as possible during its journey. It primarily indicates that the convoy adheres to the principles of path consistency and latest disbandment as much as possible before reaching its destination, thus preventing the convoy from disbanding. Any parking space that requires the convoy to disband first, or allows a vehicle to leave the convoy as early as possible, does not meet the optimal indicators of the convoy formation strategy. The convoy formation strategy is an advanced parking planning approach that first ensures capacity feasibility, and then intelligently selects and optimizes between "centralized" and "dispersed" spatial layout modes based on the convoy's ultimate mission objective. The path consistency principle requires convoy members to maintain their formation as long as possible before reaching the target parking area, traveling along a common path to avoid vehicles leaving the convoy prematurely and in a scattered manner, thereby maintaining traffic efficiency and ease of management for the convoy. The latest disbandment principle is a deepening and optimization of the path consistency principle. Its core lies in setting the convoy's disbandment point as late as possible on the common path, ideally at the last common intersection or passage that all vehicles must pass through to reach their respective parking spaces.

[0042] First, the system scans the parking lot and identifies many potential parking space clusters of different sizes and densities. In this embodiment of the invention, only parking space clusters with a number of parking spaces greater than or equal to the number of vehicles in the fleet are retained. If a cluster has only 3 parking spaces but the fleet has 5 vehicles, this cluster will be immediately eliminated because it cannot accommodate all the vehicles.

[0043] Regarding the clustering condition for parking space clusters, this embodiment of the invention measures the physical spatial density of parking spaces within a set of parking spaces (i.e., a parking space cluster). This can be quantified in various ways, such as using a distance-based variance or mean method: First, find the geometric center point of all parking spaces in a given cluster (the average of all parking space coordinates); then calculate the straight-line distance from each parking space to the center point; finally, calculate the standard deviation or mean distance of the above distances, and then calculate the clustering degree using the standard deviation or mean distance. Clustering degree is usually inversely proportional to dispersion. Clustering degree ≈ 1 / standard deviation. The smaller the mean distance or standard deviation, the higher the clustering degree of the parking space cluster.

[0044] A parking space cluster is a set of eligible parking spaces selected from the available spaces in the entire parking lot based on high clustering conditions. It represents an "ideal parking area" or "candidate parking space package" that meets the requirements of coordinated parking for the entire fleet. The number of parking spaces in a cluster is no less than the number of vehicles in the fleet, ensuring that the selected "ideal parking area" can physically meet the basic parking needs of the entire fleet. The preset clustering conditions can be changed according to different fleet types. For example, ride-hailing or car-sharing fleets waiting at large hubs such as airports and train stations require low clustering conditions to minimize the average passenger waiting time. If all vehicles are densely parked in one area, passengers far from that area will experience very long waiting times. Furthermore, in a smart connected environment, multiple intelligent vehicles heading to the same destination (such as large shopping malls, transportation hubs, or parks) can be dynamically identified by a cloud control platform or roadside facilities during their journey and grouped into a temporary fleet. To facilitate efficient management, scheduling, and subsequent collaboration after the vehicles arrive at their destination, the system will pre-plan and allocate a "high-cluster parking space cluster" as a dedicated parking area for this temporary fleet.

[0045] Subsequently, in this embodiment of the invention, the central parking space of the selected parking space cluster is selected, and its distance to the destination is calculated, thereby selecting the closest parking space cluster.

[0046] This invention optimizes the parking planning process comprehensively through a triple-judgment approach. First, it eliminates parking spaces requiring reverse driving, which wastes significant time due to detours and maneuvering. Then, it identifies parking space clusters that meet certain density requirements, achieving a highly efficient model of advance planning and direct parking. Taking into account the size of the convoy, vehicle dimensions, and space utilization in different areas of the parking lot, it uses cluster analysis on remaining parking spaces. Spaces that are geographically close, do not obstruct normal passage, and meet the overall parking needs of the convoy are grouped into clusters. This enables centralized parking, facilitates communication and collaboration among convoy members, and also benefits parking lot management and scheduling, achieving a highly efficient model of advance planning and direct parking, avoiding the chaotic situation of vehicles blindly searching for suitable parking spaces. Finally, the parking space cluster closest to the destination is calculated to reduce the walking distance for drivers, improve overall efficiency during parking, significantly reduce the frequency of convoy disbanding, and maintain convoy integrity. The principles of path consistency and latest disbanding maximize the benefits of convoy driving (such as improved traffic efficiency). Through global planning, it is ensured that after splitting off from the latest disbanding point, the overall time and resource consumption of all vehicles arriving at their parking spaces reach the system optimum, rather than pursuing the early arrival of individual vehicles, thereby maximizing the overall efficiency of convoy collaborative parking.

[0047] In an optional implementation, step a2 above further includes: Step b1: Based on the deviation distance of each parking space in the first candidate parking space from the driving path, perform a first score on each parking space in the first candidate parking space, and / or; Step b2: Based on the navigation distance from the first vehicle to each parking space in the first candidate parking space, perform a second score on each parking space in the first candidate parking space, and / or; Step b3: Based on the dispersal distance corresponding to each parking space in the first candidate parking space, a third score is given to each parking space in the first candidate parking space. The dispersal distance represents the distance from the departure position of the first vehicle leaving the convoy to the destination, and / or; Step b4: Based on the target distance from each parking space in the first candidate parking space to the destination, perform a fourth score on each parking space in the first candidate parking space. Step b5: Calculate the total score of each parking space in the first candidate parking space using at least one of the first score, second score, third score, and fourth score corresponding to each parking space in the first candidate parking space.

[0048] Step b6: Based on the ranking of the total scores of each parking space in the first candidate parking spaces, select second candidate parking spaces from the first candidate parking spaces that are no less than the number of vehicles in the fleet.

[0049] Specifically, for scenarios where the aforementioned embodiments may not find parking space clusters that meet the conditions (the number of parking spaces is not less than the number of vehicles in the fleet), this embodiment of the invention also provides a supplementary method for platooning vehicles to select parking spaces, so that users can flexibly choose from the methods provided in steps b1 to b6 and steps a21 to a23.

[0050] In one example, each parking space in the first candidate set undergoes four independent evaluations. The first evaluation scores each parking space based on its perpendicular or shortest deviation distance from the convoy's current path; a smaller deviation results in a higher score. The second evaluation calculates a score based on the actual navigation distance required for the lead vehicle in the convoy to reach each parking space; a shorter distance results in a higher score. The third evaluation introduces the concept of disengagement distance, which refers to the remaining distance from the point where a vehicle leaves the convoy and heads towards the target parking space to the convoy's planned destination; a shorter distance results in a higher score. The system scores parking spaces based on this distance. The fourth evaluation directly considers the straight-line or path distance from each parking space's own location to the destination and generates a corresponding score; a shorter target distance results in a higher score. After completing the four independent evaluations, the system weights the first, second, third, and fourth scores for each parking space according to preset weights to obtain a comprehensive overall score. Finally, the system sorts all parking spaces according to their total score and selects parking spaces from top to bottom that are no less than the total number of vehicles in the fleet to form the final second candidate parking space set.

[0051] For example: Suppose a convoy of three vehicles (V1, V2, V3) is traveling along a main road, their common destination being a shopping mall. The system generates a first candidate set containing parking spaces A, B, C, and D, and performs four evaluations: Path deviation evaluation: Parking space B is adjacent to the main road exit, and the convoy only needs to slightly deviate from its current path to reach it, therefore it scores the highest; while parking space D requires a detour via a side road, resulting in a larger deviation and a lower score. First vehicle arrival distance evaluation: Calculated from the current position of the convoy's lead vehicle V1 using navigation, the distance to parking space A is the shortest, so parking space A scores the highest in this category; parking space C is the farthest, resulting in the lowest score. Disbandment distance evaluation: This refers to the remaining distance from the "disbandment point" of the parking space to the shopping mall. The earliest disbandment point is for parking space B, meaning the convoy disbands earlier, which is unfavorable for reorganization, hence parking space B scores low in this category; the later disbandment point is for parking space D, reducing the frequency of convoy disbandment and facilitating reorganization, resulting in a high score. Parking space to destination distance assessment: Parking space C is closest to the shopping center and can be reached on foot, so it scores the highest in this category; parking space A, although close to the current location of the fleet, is far from the shopping center itself, so it scores low in this category. After the system completes the above four independent scoring items, it will perform a weighted calculation according to preset weights (e.g., giving more weight to dispersal distance and parking space to destination distance) to obtain the total score for each parking space. Assume the final ranking is B>A>C>D. Since the fleet has three cars, the system will select the top three parking spaces, namely B, A, and C, to form a second candidate parking space set for the fleet's final decision and allocation.

[0052] This embodiment prioritizes parking spaces along the convoy's driving path to reduce unnecessary turns and potential traffic disruptions, making parking smoother and safer. This directly impacts the efficiency and energy consumption of the parking process. The shorter the distance, the faster convoy members can park, resulting in higher overall efficiency. Prioritizing parking spaces closer to the destination for those who need them (such as leaders or vehicles with urgent tasks) or reducing overall walking time for all members improves the overall experience. It ensures that convoy members can quickly reach their destination after parking.

[0053] In an optional implementation, the step S205 above is followed by: Step c1: If it is found that the first target parking space is occupied before entering the first target parking space, generate the occupancy information corresponding to the first target parking space.

[0054] Step c2: Based on the occupancy information of the first target parking space, perform a second type of update on the information of the first available parking space; Step c3: Broadcast the updated first available parking space information (second category) to the fleet. Step c4: Re-book the first target parking space from the updated first available parking space information in the second category based on the destination.

[0055] Specifically, during the process of the first vehicle entering the first target parking space, when the vehicle approaches the designated target parking space, the driver or sensors installed on the vehicle (such as cameras, ultrasonic sensors, etc.) will detect the parking space status. If it is found that the parking space is already occupied by other vehicles or is blocked by obstacles, preventing normal parking, it is confirmed that the parking space is occupied, thus generating occupancy information to indicate that the first target parking space is occupied. Subsequently, based on the generated occupancy information, the original available parking information is adjusted. Target parking spaces that were originally marked as available are now marked as occupied and removed from the available parking list. The updated first available parking space information is broadcast to other vehicles in the fleet through the communication network established within the fleet. Furthermore, the current vehicle, based on its own needs and preset rules, re-selects the most suitable target parking space from the new first available parking space information. This re-selected parking space becomes the new first target parking space.

[0056] When a vehicle enters a designated parking space only to find it occupied, this embodiment quickly generates occupancy information and updates available parking information. This ensures the real-time accuracy of parking space status, preventing other vehicles from unnecessarily attempting to occupy already occupied spaces and effectively improving the overall operational efficiency of the parking lot. The updated information is promptly broadcast to the entire fleet, enabling the sharing of parking space status information. This allows each vehicle in the fleet to simultaneously grasp the latest dynamics, re-select and reserve the first target parking space based on the new information, helping vehicles quickly and rationally plan their parking routes. This reduces hesitation and delays caused by inaccurate parking space information, thereby optimizing the fleet's parking process, saving time and resources, and improving the fleet's parking experience and management level within the parking lot.

[0057] Specifically, the above step S205 is followed by: Step d1: Receive the second available parking space information broadcast by the second vehicle, which belongs to the fleet.

[0058] Step d2: Based on the second available parking space information, perform a third type of update on the saved first available parking space information to obtain the third type of updated first available parking space information, so that the first vehicle can re-determine the target parking space from the third type of updated first available parking space information according to the destination.

[0059] Specifically, the current vehicle (vehicle 1) can also receive broadcast information from another vehicle, which is the second available parking space. This other vehicle is the second vehicle, belonging to the same convoy, and can be any vehicle within the convoy other than vehicle 1 itself. Upon receiving the second available parking space information, vehicle 1 compares its own list of available spaces with the received information from vehicle 2. If vehicle 1 finds that vehicle 2 also reported the same available space (through coordinate matching or unique ID matching), its list remains unchanged, meaning that a particular available parking space in the first available parking space information remains unchanged, increasing reliability. If vehicle 1 does not find a parking space in its own list, it means that this parking space is a new piece of information from a teammate expanding their field of vision, and it adds it to its list, thus increasing the number of available parking spaces in the first available parking space information. If a conflict occurs (e.g., vehicle 1 reports a parking space as "available," while vehicle 2 marks it as "reserved"), the conflict is resolved according to preset rules (e.g., the most recent timestamp takes precedence, or higher-priority vehicle information takes precedence), and vehicle 1 updates its own list accordingly.

[0060] This embodiment utilizes a distributed information sharing and fusion process. Each vehicle in the fleet (the first vehicle) not only perceives the environment using its own sensors but also acts as a network node, receiving and processing local information (second available parking space information) broadcast from other vehicles (the second vehicles). Upon receiving this information, the first vehicle does not simply replace its own information but compares, deduplicates, and fuses it with its stored "first available parking space information" to generate a more comprehensive and accurate "updated first available parking space information." This expands the perception boundary of a single vehicle, eliminates blind spots, cross-validates to improve information reliability, and dynamically maintains the real-time nature and accuracy of environmental information.

[0061] In an optional implementation, the step d2 described above is further followed by: Step e1: When there is a conflict between the first target parking space and the second target parking space, obtain arbitration information. The second target parking space is the reserved parking space that the second vehicle will enter. The second target parking space is the parking space reservation information obtained from the parking space information broadcast by other vehicles after the first vehicle broadcasts the reservation of the first target parking space. The arbitration information is used to allocate parking spaces according to the importance of the first vehicle and the second vehicle in the fleet.

[0062] Step e2: Select or abandon the first target parking space based on the arbitration information.

[0063] Specifically, in real-world scenarios, parking space reservation conflicts may arise due to communication delays. For example, a first vehicle selects parking space A as its first target parking space based on available parking space information. A second vehicle, almost simultaneously, selects parking space A as its second target parking space based on available parking space information broadcast by other vehicles. Both vehicles independently make the decision to reserve parking space A based on their respective local information. The first vehicle generates a broadcast message for "reserving parking space A" and sends it via the V2V network. The second vehicle also generates a broadcast message for "reserving parking space A" and sends it via the V2V network. Due to the distance between vehicles, signal obstruction, or network congestion, both broadcast messages experience communication delays of hundreds of milliseconds or even seconds during transmission. After sending its reservation message but before receiving the second vehicle's reservation message, the first vehicle considers the reservation successful and begins driving towards parking space A. Similarly, after the second vehicle sends a reservation message but before receiving the reservation message from the first vehicle, the second vehicle also considers the reservation successful and begins driving towards parking space A, causing a communication delay and conflict. To address this issue, this embodiment of the invention triggers an arbitration mechanism when it detects a conflict between the "first target parking space" reserved by the first vehicle and the "second target parking space" reserved by the second vehicle (i.e., both pointing to the same physical parking space). The core of this step is to intelligently resolve resource competition. The system first obtains "arbitration information," which is based on a preset set of priority rules. The primary criterion is usually the importance of the vehicle within the fleet. For example, lead vehicles, command vehicles, or vehicles performing critical tasks (such as energy resupply) are given higher priority. These vehicles often have lower numbers within the fleet; for example, number 1 indicates the most important vehicle, and a higher number indicates lower importance. This embodiment is merely an example and not a limitation. The arbitration mechanism comprehensively compares the priorities of the conflicting vehicles to generate a clear arbitration result, which defines the final ownership of the parking space. The entities generating arbitration information can be diverse. For example, a specific vehicle in the platoon (usually the lead vehicle or a designated master vehicle) may be granted arbitration authority. When any two vehicles in the system clash, they report their conflict information (such as their respective parking space reservation requests, timestamps, vehicle IDs, etc.) to the master vehicle, generating corresponding arbitration information. Alternatively, without a central arbitrator, the conflicting vehicles exchange key information through direct communication and independently calculate a result based on a common arbitration algorithm built into all vehicles, ensuring consistency between their calculations. Arbitration can also occur at the cloud or roadside infrastructure level. Conflicting vehicles transmit conflict information to a cloud-based traffic control platform or a local roadside unit via cellular network (C-V2X). The cloud or roadside unit, with its global perspective, can make optimization decisions based on more macroscopic and complex information, generating arbitration information.

[0064] Based on the arbitration information generated, the relevant vehicles will take corresponding actions. For the vehicle that wins the arbitration (higher priority), the system will confirm its parking space reservation and continue the parking process. For the vehicle that loses the arbitration (lower priority), the system will automatically and unconditionally relinquish its currently reserved target parking space. Subsequently, the onboard system of the vehicle that lost the arbitration will immediately replan, searching for and reserving a new parking space for itself from the available parking space information broadcast by other vehicles, thereby ensuring the continuity of the entire convoy parking process.

[0065] This embodiment introduces an arbitration mechanism based on vehicle importance, rather than simple timestamp competition. This ensures that the operation of the most critical vehicles is not interrupted when resources (parking spaces) are scarce, thus maintaining the efficiency of the entire fleet's core tasks. It avoids multi-vehicle standoffs, repeated negotiations, and even manual intervention that could result from random conflicts, achieving automated and intelligent decision-making. Secondly, this mechanism significantly improves the system's reliability and predictability. Clear priority rules make conflict resolution results transparent and predictable for all vehicles, establishing a reliable collaborative order. Losing vehicles can quickly and smoothly switch to alternative solutions, rather than getting bogged down in ineffective waiting or conflict, greatly reducing overall parking time. Efficient conflict resolution capabilities are crucial for improving overall throughput.

[0066] In one alternative implementation, after step S206, the method further includes: Step f1: After entering the first target parking space, generate the occupancy information corresponding to the first target parking space.

[0067] Step f2: Based on the occupancy information of the first target parking space, perform a fourth type of update on the information of the first available parking space.

[0068] Step f3: Broadcast the updated first available parking space information of the fourth category to the fleet so that any vehicle in the fleet other than the first vehicle can re-determine the target parking space from the updated first available parking space information of the fourth category according to the destination.

[0069] Specifically, vehicles confirm they are parked in their designated first parking space using their own sensors (such as surround-view cameras and ultrasonic radar) or by interacting with the smart parking infrastructure. The system then generates an official "occupied" status message containing the parking space ID and confirmation of occupancy. The vehicle retrieves the corresponding parking space from its internally maintained "First Available Parking Space Information" list (or through centralized processing by the lead vehicle / cloud platform) and officially updates its status from "Available" or "Reserved" to "Occupied." This list, reflecting the latest and most accurate parking space status, is then immediately sent to all other vehicles in the fleet, ensuring all fleet members are synchronized with the latest parking lot map.

[0070] This invention, through a mechanism that confirms parking space availability after actual entry, ensures consistency between system information and the physical world's state. It fundamentally eliminates situations where a space is displayed as occupied in the system but is actually vacant. In complex real-world environments, a vehicle may reserve a parking space but fail to do so due to various unforeseen circumstances (such as being occupied by another vehicle, encountering obstacles, or failing to park itself). If the status is only updated at the time of reservation, the space will appear as "occupied" in the system while actually being vacant, resulting in wasted resources. The "occupied" confirmation information broadcast again after the vehicle enters the space is equivalent to re-checking the area for the entire convoy. Subsequent vehicles receive a real-time, zoomed-out, accurate map, completely eliminating confirmed occupied spaces. This avoids repeated probing and path planning for invalid spaces by convoy members, significantly improving the overall efficiency of subsequent vehicle location finding and parking. It enables dynamic and precise expansion of the convoy's perception range, enhancing overall efficiency and providing a stable and reliable data foundation for convoy collaboration. Figure 3 A schematic diagram of an embodiment of a platooning vehicle parking device according to the present invention is shown. Figure 4 As shown, the device 300 includes: The parking information scanning module 301 is used to detect the first available parking space information while driving.

[0071] The parking availability information broadcasting module 302 is used to broadcast the first available parking space information to the fleet, and the vehicles in the fleet use it to determine their respective target parking spaces from the first available parking space information according to their destination.

[0072] Parking module 303 is used to drive to the first target parking space of the first vehicle.

[0073] In one alternative embodiment, the device further includes: The first predetermined target parking space unit reserves a first target parking space from the first available parking space information according to the destination. The first target parking space is the parking space where the first vehicle will drive into.

[0074] The first updated parking space information unit updates the first available parking space information based on the reservation information of the first target parking space, so as to remove the first target parking space from the first available parking space information.

[0075] The first broadcast parking space unit broadcasts the updated first available parking space information to the fleet, so that any vehicle in the fleet other than the first vehicle can re-determine the target parking space from the updated first available parking space information according to its destination.

[0076] In one alternative approach, reserving a first target parking space from a first pool of available parking spaces based on the destination includes: The first candidate parking space unit is determined based on the vehicle size and the size information of each parking space in the first available parking space information.

[0077] Determine the second candidate parking space unit by filtering from the first candidate parking spaces based on the destination, the driving route of the fleet and / or the fleet formation strategy.

[0078] The second predetermined target parking space unit reserves the first target parking space from the second candidate parking spaces.

[0079] In one alternative approach, second candidate parking spaces are obtained by filtering from the first candidate parking spaces based on the destination, the fleet's driving route, and / or the fleet formation strategy, including: Determine the forward parking space units, and based on the driving path, eliminate the reverse parking spaces in the first candidate parking spaces that require detours or violations of traffic rules to reach, thus obtaining the forward candidate parking space set.

[0080] Determine parking space clusters. Based on the fleet formation strategy, identify several parking space clusters that meet the preset clustering conditions from the forward candidate parking space concentration. The number of parking spaces in each parking space cluster is no less than the number of vehicles in the fleet.

[0081] The third reserved candidate parking space unit selects the parking space cluster closest to the destination from each parking space cluster and determines it as the second candidate parking space.

[0082] In one alternative approach, filtering from the first candidate parking spaces to obtain the second candidate parking spaces based on the destination, the fleet's driving route, and / or the fleet formation strategy further includes: The first scoring unit assigns a first score to each parking space in the first candidate parking space based on the deviation distance of each parking space from the driving path, and / or...

[0083] The second scoring unit performs a second score on each parking space in the first candidate parking space based on the navigation distance from the first vehicle to each parking space in the first candidate parking space, and / or.

[0084] The third scoring unit scores each parking space in the first candidate parking space based on the dispersal distance corresponding to each parking space in the first candidate parking space. The dispersal distance represents the distance from the departure position of the first vehicle leaving the convoy to the destination, and / or.

[0085] The fourth scoring unit scores each parking space in the first candidate parking space based on its target distance from the destination.

[0086] The weighted scoring unit calculates the total score of each parking space in the first candidate parking space using at least one of the first score, second score, third score, and fourth score corresponding to each parking space in the first candidate parking space.

[0087] The overall score ranking unit selects second candidate parking spaces from the first candidate parking spaces based on the overall score ranking of each parking space. This second candidate parking space is no less than the number of vehicles in the fleet.

[0088] In one alternative embodiment, the device further includes: If the occupancy information unit detects that the first target parking space is occupied before entering the first target parking space, it generates occupancy information corresponding to the first target parking space.

[0089] The second updated parking space information unit updates the first available parking space information in a second way based on the occupancy information of the first target parking space.

[0090] The second broadcast parking space unit re-books the first target parking space from the updated first available parking space information of the second category based on the destination.

[0091] Re-book parking space units and re-book the first target parking space from the updated first available parking space information in the second category based on the destination.

[0092] In one alternative embodiment, the device further includes: The system receives information from the second available parking space unit and receives information from the second vehicle broadcasting the second available parking space information. The second vehicle belongs to the fleet.

[0093] The third unit updates the available parking space information by performing a third type of update on the stored first available parking space information based on the second available parking space information, so as to obtain the first available parking space information updated in the third type, so that the first vehicle can re-determine the target parking space from the first available parking space information updated in the third type according to the destination.

[0094] In one alternative embodiment, the device further includes: The conflict allocation unit obtains arbitration information when a conflict occurs between the first target parking space and the second target parking space. The second target parking space is the reserved parking space that the second vehicle will enter. The second target parking space is the parking space reservation information obtained from the parking space information broadcast by other vehicles after the first vehicle broadcasts the reservation of the first target parking space. The arbitration information is used to allocate parking spaces according to the importance of the first vehicle and the second vehicle in the fleet.

[0095] The second step is to confirm the first target parking space unit and select or abandon the first target parking space based on the arbitration information.

[0096] In one alternative embodiment, the apparatus further includes: The occupancy unit generates occupancy information for the first target parking space after entering the first target parking space.

[0097] The fourth unit updates the available parking space information by performing a fourth type of update on the first available parking space information based on the occupancy information of the first target parking space.

[0098] The third broadcast parking space unit broadcasts the updated first available parking space information (fourth category) to the fleet, so that any vehicle in the fleet other than the first vehicle can re-determine its target parking space from the updated first available parking space information (fourth category) according to its destination.

[0099] Shorten parking time and improve traffic efficiency. Vehicles no longer need to blindly search for parking spaces; they can be directly navigated to their destination via real-time synchronized parking information, avoiding conflicts where multiple vehicles compete for the same space. Each vehicle receives a personalized recommended parking space, improving the overall parking completion speed of the fleet. Strengthen cluster management and reduce operation and maintenance costs. Based on real-time synchronized parking space data, reduce scattered parking caused by information asymmetry, improving management efficiency. Optimize resource utilization and adapt to multiple scenario needs. Dynamically synchronize the global parking space status of the parking lot, avoiding "invalid space occupancy" or "missed vacancy" caused by lagging information from a single vehicle, improving the overall utilization rate of parking spaces. Improve stability and lower the operational threshold. Cross-verify parking space information from multiple vehicles, eliminate invalid data, ensure the accuracy of shared information, and reduce parking errors caused by information errors. No manual intervention is required for parking space information statistics and synchronization, reducing the operational costs for management personnel and allowing drivers to quickly obtain effective information, improving ease of use.

[0100] Figure 4 The diagram shows a structural schematic of an embodiment of a vehicle according to the present invention. The specific embodiments of the present invention do not limit the specific implementation of the vehicle.

[0101] The vehicle may include: a processor 402, a communications interface 404, a memory 406, and a communications bus 408.

[0102] The processor 402, communication interface 404, and memory 406 communicate with each other via communication bus 408. Communication interface 404 is used to communicate with other network elements such as clients or other servers. The processor 402 executes program 410, specifically performing the relevant steps in the above-described method embodiment for parking platooned vehicles.

[0103] Specifically, program 410 may include program code, which includes computer-executable instructions.

[0104] Processor 402 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. A platoon vehicle may include one or more processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0105] Memory 406 is used to store program 410. Memory 406 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0106] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0107] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Furthermore, the embodiments of this invention are not directed to any particular programming language.

[0108] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. Similarly, for the sake of brevity and to aid in understanding one or more aspects of the invention, in the description of exemplary embodiments of the invention above, various features of the embodiments are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0109] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0110] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A method for parking platooned vehicles, characterized in that, Applied to a first vehicle, which is any vehicle in a convoy, wherein the vehicles in the convoy have the same or similar destinations, the method includes: Detect the first available parking space while driving; The first available parking space information is broadcast to the fleet, and the vehicles in the fleet are used to determine their respective target parking spaces from the first available parking space information according to the destination; Drive to the first target parking space of the first vehicle.

2. The method according to claim 1, characterized in that, Before driving to the first target parking space of the first vehicle, the method further includes: According to the destination, a first target parking space is reserved from the first available parking space information, where the first target parking space is the parking space where the first vehicle will drive into. Based on the reservation information of the first target parking space, the first available parking space information is updated in the first type to remove the first target parking space from the first available parking space information. The updated first available parking space information is broadcast to the fleet so that any vehicle in the fleet other than the first vehicle can re-determine a target parking space from the updated first available parking space information based on the destination.

3. The method according to claim 2, characterized in that, The step of reserving a first target parking space from the first available parking space information based on the destination includes: Based on the vehicle's dimensions and the dimensions of each parking space in the first available parking space information, a first candidate parking space is determined; Based on the destination, the convoy's driving route and / or convoy formation strategy, a second candidate parking space is obtained by filtering from the first candidate parking space; Reserve the first target parking space from the second candidate parking spaces.

4. The method according to claim 3, characterized in that, The step of filtering from the first candidate parking spaces to obtain the second candidate parking spaces based on the destination, the convoy's driving route, and / or the convoy formation strategy includes: Based on the driving path, the reverse parking spaces in the first candidate parking spaces that require detours or violations of traffic rules to reach are eliminated, resulting in a forward candidate parking space set. According to the fleet formation strategy, from the forward candidate parking space set, a number of parking space clusters that meet the preset clustering conditions are identified, and the number of parking spaces contained in the parking space cluster is not less than the number of vehicles in the fleet. From each parking space cluster, the cluster closest to the destination is selected and determined as the second candidate parking space.

5. The method according to claim 3, characterized in that, The step of filtering from the first candidate parking spaces to obtain the second candidate parking spaces based on the destination, the convoy's driving route, and / or the convoy formation strategy includes: Based on the deviation distance of each parking space in the first candidate parking spaces from the driving path, a first score is given to each parking space in the first candidate parking spaces; and / or, Based on the navigation distance from the first vehicle to each of the first candidate parking spaces, a second score is given to each of the first candidate parking spaces; and / or, Based on the dispersal distance corresponding to each parking space in the first candidate parking spaces, a third score is applied to each parking space in the first candidate parking spaces, where the dispersal distance represents the distance from the departure position of the first vehicle leaving the convoy to the destination; and / or, Based on the target distance from each parking space in the first candidate parking spaces to the destination, a fourth score is given to each parking space in the first candidate parking spaces; the total score of each parking space in the first candidate parking spaces is calculated using at least one of the first score, second score, third score and fourth score corresponding to each parking space in the first candidate parking spaces. Based on the ranking of the total scores of each parking space in the first candidate parking spaces, select second candidate parking spaces that are no less than the number of vehicles in the fleet from the first candidate parking spaces.

6. The method according to claim 2, characterized in that, The method further includes: If it is found that the first target parking space is occupied before entering the first target parking space, the occupancy information corresponding to the first target parking space is generated. Based on the occupancy information of the first target parking space, the information of the first available parking space is updated in a second way. Broadcast the updated first available parking space information for Category 2 to the fleet; Based on the destination, the first target parking space is re-booked from the updated first available parking space information in the second category.

7. The method according to claim 2, characterized in that, The method further includes: Receive information about a second available parking space broadcast by a second vehicle, which belongs to the fleet. Based on the second available parking space information, the saved first available parking space information is updated in a third way to obtain the third-updated first available parking space information, so that the first vehicle can re-determine the target parking space from the third-updated first available parking space information according to the destination.

8. The method according to claim 7, characterized in that, The method further includes: When a conflict occurs between the first target parking space and the second target parking space, arbitration information is obtained. The second target parking space is the reserved parking space that the second vehicle will enter. The second target parking space is the parking space reservation information obtained from the parking space information broadcast by other vehicles after the first vehicle broadcasts the reservation of the first target parking space. The arbitration information is used to allocate parking spaces according to the importance of the first vehicle and the second vehicle in the fleet. Choose or abandon the first target parking space based on the arbitration information.

9. The method according to claim 2, characterized in that, The method further includes: After entering the first target parking space, occupancy information corresponding to the first target parking space is generated; Based on the occupancy information of the first target parking space, the information of the first available parking space is updated in the fourth type. The updated first available parking space information of the fourth category is broadcast to the fleet so that any vehicle in the fleet other than the first vehicle can re-determine the target parking space from the updated first available parking space information of the fourth category according to the destination.

10. A platooning vehicle parking device, characterized in that, The device is applied to a first vehicle, which is any vehicle in a convoy, wherein the vehicles in the convoy have the same or similar destinations, including: The parking information scanning module is used to detect the first available parking space while driving; A parking availability information broadcasting module is used to broadcast the first available parking space information to the fleet, wherein the vehicles in the fleet are used to determine their respective target parking spaces from the first available parking space information according to the destination; The parking module is used to drive to the first target parking space of the first vehicle.

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