Vehicle access control method and device, electronic equipment and readable storage medium
By acquiring vehicle status and warehouse information, dynamically planning routes, and employing a distributed collaborative algorithm, the problem of information asymmetry in the vehicle entry and exit process was solved, achieving efficient vehicle flow and collaborative scheduling.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA FAW CO LTD
- Filing Date
- 2026-03-27
- Publication Date
- 2026-06-23
Smart Images
Figure CN122260969A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle automatic control technology, and in particular to control methods, devices, electronic equipment and readable storage media for vehicle entry and exit from parking lots. Background Technology
[0002] As the automotive industry transforms towards intelligent manufacturing, the processes of vehicle transportation, storage, and dispatch after they roll off the production line have become crucial aspects of production operations. From the moment a vehicle rolls off the production line until it leaves the warehouse, it typically undergoes multiple stages, including inbound transportation, parking and storage, charging management, and outbound dispatch.
[0003] Existing transshipment technology uses route planning for vehicle scheduling, allocating parking spaces based on availability. However, it employs a single route planning approach during transshipment, neglecting coordinated scheduling when multiple vehicles are transshipped simultaneously. After transshipment, the departure process relies on manual route planning and departure points. These processes operate independently without information sharing, resulting in low overall vehicle turnover efficiency. Summary of the Invention
[0004] In view of this, the embodiments of this application at least provide a control method, device, electronic device and readable storage medium for vehicle entry and exit, which improves the turnover efficiency of vehicle entry and exit by driving real-time information and dynamic decision-making throughout the entire process of entry, charging and exit.
[0005] This application mainly includes the following aspects: In a first aspect, embodiments of this application provide a method for controlling vehicle entry and exit from a parking garage, the method comprising: Obtain vehicle status information of the target vehicle and real-time information of the target storage area; Based on the vehicle status information and the real-time information, a target parking space is allocated to the target vehicle, and an entry path from the current position of the target vehicle to the target parking space is planned, and the target vehicle is controlled to drive along the entry path to the target parking space. While the target vehicle is parked in the storage area, the battery level of the target vehicle is monitored. When the battery level is lower than a preset charging threshold, the vehicle status information and the real-time information are reacquired, a charging path from the current position of the target vehicle to the charging space is planned, and the target vehicle is controlled to drive along the charging path to the charging space for charging. In response to the exit command of the target vehicle, the vehicle status information and the real-time information are reacquired, an exit route from the current position of the target vehicle to the target exit point is planned, and the target vehicle is controlled to travel along the exit route to the target exit point.
[0006] Secondly, embodiments of this application also provide a vehicle entry and exit control device, the vehicle entry and exit control device comprising: The data acquisition module is used to acquire vehicle status information of the target vehicle and real-time information of the target storage area; The inbound planning module is used to allocate target parking spaces to the target vehicle based on the vehicle status information and the real-time information, plan the inbound path from the current position of the target vehicle to the target parking space, and control the target vehicle to travel along the inbound path to the target parking space. The charging planning module is used to monitor the battery level of the target vehicle while it is parked in the parking area. When the battery level is lower than a preset charging threshold, the module reacquires the vehicle status information and the real-time information, plans a charging path from the current location of the target vehicle to the charging space, and controls the target vehicle to travel along the charging path to the charging space for charging. The outbound planning module is used to respond to the outbound command of the target vehicle, reacquire the vehicle status information and the real-time information, plan the outbound path from the current position of the target vehicle to the target outbound point, and control the target vehicle to travel along the outbound path to the target outbound point.
[0007] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory through the bus, and the machine-readable instructions are executed by the processor to perform the steps of the vehicle entry and exit control method as described above.
[0008] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the vehicle entry and exit control method described above.
[0009] The vehicle entry and exit control method, device, electronic equipment, and readable storage medium provided in this application embodiment acquire vehicle status information of the target vehicle and real-time information of the target storage area; based on the vehicle status information and real-time information, a target parking space is allocated to the target vehicle, and an entry path from the target vehicle's current location to the target parking space is planned, controlling the target vehicle to travel along the entry path to the target parking space; while the target vehicle is parked in the storage area, the battery level of the target vehicle is monitored, and when the battery level is lower than a preset charging threshold, the vehicle status information and real-time information are reacquired, a charging path from the target vehicle's current location to the charging parking space is planned, and the target vehicle is controlled to travel along the charging path to the charging parking space for charging; in response to the target vehicle's exit command, the vehicle status information and real-time information are reacquired, an exit path from the target vehicle's current location to the target exit point is planned, and the target vehicle is controlled to travel along the exit path to the target exit point. In this way, through real-time information-driven and dynamic decision-making throughout the entire process of entry, charging, and exit, the turnover efficiency of vehicle entry and exit is improved.
[0010] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0011] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0012] Figure 1 A flowchart of a vehicle entry and exit control method provided in an embodiment of this application is shown; Figure 2 This illustration shows one of the functional block diagrams of a vehicle entry and exit control device provided in an embodiment of this application; Figure 3 This illustration shows a second functional block diagram of a vehicle entry and exit control device provided in an embodiment of this application; Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation
[0013] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0014] To facilitate understanding of this application, the technical solutions provided in this application will be described in detail below with reference to specific embodiments.
[0015] Please see Figure 1 , Figure 1 This is a flowchart illustrating a non-destructive acoustic emission monitoring method provided in an embodiment of this application. Figure 1 As shown in the embodiment of this application, the acoustic emission non-destructive monitoring method includes the following steps: S101, obtain the vehicle status information of the target vehicle and the real-time information of the target storage area.
[0016] Here, the vehicle status information of the target vehicle includes data that reflects the current status of the vehicle, including at least the vehicle identification number and battery level; the real-time information of the target storage area includes dynamic status data of each area, parking space and passage within the storage area, including at least the parking space occupancy status and passage passage status.
[0017] In this embodiment, after the vehicle rolls off the production line, its status information, including the Vehicle Identification Number (VIN), current battery level, and remaining driving range, is automatically uploaded via the onboard terminal. Simultaneously, real-time status information of the storage area is acquired through field sensors such as cameras and LiDAR deployed in the storage area, including parking space numbers in the transfer area, occupancy status, and the width of the surrounding passageways. This information is then collected and transmitted to a cloud-based control platform via wireless communication.
[0018] Taking a batch of 20 vehicles as an example, the vehicles automatically upload initial information through the vehicle terminal. Among them, the battery level of some vehicles is 26% and that of some vehicles is 48%. The field sensors synchronously collect the status of the storage area: 72 out of 120 standard parking spaces are occupied, 16 out of 25 charging piles are vacant, the traffic density at entrance 1 and entrance 3 is low, and the traffic density at entrance 2 is medium.
[0019] S102, based on the vehicle status information and the real-time information, allocate a target parking space to the target vehicle, plan an entry path from the current position of the target vehicle to the target parking space, and control the target vehicle to travel along the entry path to the target parking space.
[0020] Here, the cloud control platform determines a target parking space for the target vehicle based on the acquired vehicle status information and real-time information of the storage area, and plans the driving path from the vehicle's current location to the parking space. Then, it controls the vehicle to automatically drive along the path to complete the parking.
[0021] In this embodiment, the cloud control platform allocates target parking spaces to the target vehicle based on information such as vehicle battery power, departure location and timing, available parking spaces in the charging area, and parking space occupancy in the transfer area.
[0022] Taking the aforementioned 20 vehicles as an example, the cloud control platform allocates vehicles with insufficient battery power to parking spaces near nearby charging stations, and vehicles with sufficient battery power to standard parking spaces. During route planning, the cloud control platform references vehicle battery data and remaining range, calculating based on the current battery level and energy consumption model. If the battery level or remaining range is not lower than the safety threshold, it indicates sufficient battery power, and the cloud control platform plans the entry route according to the target parking space. If the battery level or remaining range is lower than the safety threshold, it is determined to be insufficient battery power, and the cloud control platform plans an entry route passing through charging station parking spaces. The cloud control platform allocates staggered entry times for multiple vehicles to avoid multiple vehicles converging at the entrance. After receiving the route instructions, the vehicles automatically drive to the target parking space, relying on vehicle-road-cloud collaborative perception capabilities.
[0023] S103, while the target vehicle is parked in the parking area, monitor the battery level of the target vehicle. When the battery level is lower than a preset charging threshold, reacquire the vehicle status information and the real-time information, plan a charging path from the current position of the target vehicle to the charging parking space, and control the target vehicle to drive along the charging path to the charging parking space for charging.
[0024] Here, after a vehicle is parked in the garage, the cloud control platform continuously monitors its status, especially the battery level. When the battery level drops below a preset charging threshold, the cloud control platform proactively triggers the charging process, re-acquires the latest information, plans the charging route, and controls the vehicle to automatically head to the charging station.
[0025] In this embodiment of the application, during the vehicle's parking period, the cloud control platform collects the vehicle's status in real time, including the battery level.
[0026] Taking the aforementioned 20 vehicles as an example, the cloud control platform continuously collects battery power data for each vehicle. When it detects that the battery power of a vehicle is lower than the preset charging threshold, the cloud control platform obtains the current status of the vehicle and real-time information of the parking area, plans a charging path from the vehicle's current location to an available charging space, and sends the path to the vehicle, controlling the vehicle to automatically drive to the charging space for charging.
[0027] For example, if a vehicle with an initial battery level of 26% still has a battery level below the threshold while parked, the cloud control platform will reacquire its location and parking space information in the parking area, and plan a route to control it to drive into the parking space to start charging.
[0028] S104, in response to the exit command of the target vehicle, reacquire the vehicle status information and the real-time information, plan the exit route from the current position of the target vehicle to the target exit point, and control the target vehicle to travel along the exit route to the target exit point.
[0029] Here, when a vehicle needs to leave the warehouse area, the cloud control platform receives the exit instruction, plans the exit route based on the latest vehicle status and real-time information of the warehouse area, and controls the vehicle to automatically drive to the designated exit point.
[0030] In this embodiment of the application, after receiving the dispatch instruction from the logistics system, the cloud control platform obtains the dispatch demand information.
[0031] Taking the aforementioned 20 vehicles as an example, after receiving the dispatch command, the cloud control platform re-acquires the current location of each vehicle and real-time information of the warehouse area, and plans the outbound route from the current location of each vehicle to the target outbound point. The cloud control platform assigns staggered outbound times and independent routes to multiple vehicles to avoid multiple vehicles converging at the same exit or on the same road segment. The platform then controls the vehicles to automatically travel along the outbound route to the target outbound point and complete the docking with the logistics transport vehicle. After the outbound process is completed, the parking space status is updated to vacant.
[0032] Further, the vehicle status information includes battery level, and the real-time information includes the occupancy status of charging parking spaces and regular parking spaces in the target parking area; the step of allocating a target parking space to the target vehicle based on the vehicle status information and the real-time information includes: The target parking space is determined using a weighted scoring method based on the battery charge, the occupancy status of the charging parking space, and the occupancy status of the regular parking space. Vehicles with battery levels below a preset threshold are given priority for allocation to charging spaces, while vehicles with battery levels not below the preset threshold are given priority for allocation to regular parking spaces near the target exit point.
[0033] Here, the allocation method for target parking spaces is specifically defined. When allocating parking spaces, the cloud control platform not only considers the current battery level of the vehicle, but also the real-time occupancy status of charging parking spaces and regular parking spaces in the parking area. It uses a weighted scoring method to comprehensively calculate the matching degree of each candidate parking space, and formulates a differentiated allocation strategy based on a preset battery level threshold. This ensures that vehicles with low battery levels can obtain charging resources first, while vehicles with high battery levels are prioritized for placement in locations that facilitate subsequent exit from the parking area.
[0034] In this embodiment, taking the aforementioned 20 vehicles as an example, the cloud control platform obtains battery power data for each vehicle (8 vehicles with 26% battery power and 12 vehicles with 48% battery power) and real-time information about the parking area (16 charging piles are available and 48 regular parking spaces are available). The cloud control platform uses a weighted scoring method to score each candidate parking space. The scoring factors include the matching degree of departure demand (40%), the matching degree of battery power (30%), and the passage efficiency (30%). The calculation results show that the parking spaces (C001-C008) near entrance 3 and adjacent to available charging piles have the highest matching degree. Therefore, the 8 vehicles with battery power below a preset threshold (e.g., 30%) are prioritized to be allocated to these charging parking spaces. The standard parking spaces (P001-P012) near the exit have the second highest matching degree. The 12 vehicles with battery power not below the preset threshold are prioritized to be allocated to these regular parking spaces near the target exit point. Through the above allocation method, the charging needs of vehicles with low battery power are guaranteed, while creating convenient conditions for the subsequent rapid exit of vehicles with high battery power.
[0035] Furthermore, when multiple target vehicles exist simultaneously, the planned entry path from the current location of the target vehicle to the target parking space or the planned exit path from the current location of the target vehicle to the target exit point further includes: A distributed collaborative algorithm is used to allocate staggered entry or exit times for each target vehicle, and to plan independent driving routes for each target vehicle that avoid path intersections.
[0036] Here, this solution optimizes route planning for scenarios with multiple vehicles operating concurrently. When multiple vehicles are waiting to enter or exit the warehouse simultaneously, using sequential departure or independent planning methods can easily lead to multiple vehicles converging at the same entrance, road segment, or exit, causing congestion or even safety accidents. Therefore, this step introduces a distributed collaborative algorithm to allocate staggered departure times for each vehicle while planning the route, and ensures that the travel paths of each vehicle are spatially independent and do not intersect, thereby achieving efficient collaborative scheduling of multiple vehicles.
[0037] In this embodiment, taking the scenario of 20 vehicles entering the warehouse simultaneously as an example, after completing the parking space allocation, the cloud control platform uses a distributed collaborative algorithm to plan the entry routes for the 20 vehicles (V2025001 to V2025020). The algorithm assigns an independent driving route to each vehicle based on its target parking space location, the traffic efficiency of each entrance, and the current congestion status of the warehouse area, ensuring that the routes of different vehicles do not intersect spatially. Simultaneously, the algorithm assigns staggered entry times to each vehicle, with each vehicle departing 10 seconds apart in the order of V2025001 to V2025020, avoiding multiple vehicles converging at the entrance or on the same section of the warehouse area at the same time.
[0038] In the scenario where 20 vehicles leave the warehouse simultaneously, the cloud control platform also uses a distributed collaborative algorithm to allocate staggered departure times (10-second intervals) and independent departure routes to each vehicle, ensuring that multiple vehicles pass through the exit in an orderly manner and avoiding congestion.
[0039] Furthermore, the planning of the charging path from the current location of the target vehicle to the charging space includes: Step a1: Query the occupancy status of charging parking spaces.
[0040] This step is a preliminary judgment stage for charging route planning. When the cloud control platform detects that a vehicle needs to be charged, it first needs to obtain the real-time occupancy status of all charging spaces in the parking area to determine whether there are currently available charging resources, providing a basis for subsequent route planning decisions.
[0041] In this embodiment, taking the aforementioned 20 vehicles as an example, after the cloud control platform detects that the battery level of a vehicle is lower than a preset charging threshold, it immediately queries the charging space occupancy status data in the real-time information of the parking area. For example, the cloud control platform finds that 16 of the 25 charging piles in the parking area are currently idle, and 9 are occupied by other vehicles.
[0042] Step a2: If there is an available charging space, then plan a charging path from the current location of the target vehicle to the available charging space.
[0043] Here, when the query results show that there are available charging spaces, the cloud control platform directly selects a suitable target charging space from the currently available spaces, plans the driving route from the vehicle's current location to the charging space, and controls the vehicle to go to the charging station.
[0044] In this embodiment of the application, taking the above query results as an example, the cloud control platform detects that there are 16 available charging piles. Therefore, it selects an optimal charging parking space (e.g., the closest or the most unobstructed parking space) for the target vehicle from these available parking spaces, plans the charging path from the vehicle's current location to the selected available charging parking space, and sends the path to the vehicle, controlling the vehicle to automatically drive to the charging parking space for charging.
[0045] Step a3: If all charging spaces are occupied, assign a charging sequence number to the target vehicle, and control the target vehicle to charge in sequence after the preceding vehicle has finished charging.
[0046] Here, when the query results show that all charging spaces are occupied, the cloud control platform cannot immediately arrange for a vehicle to charge. At this time, the cloud control platform assigns a charging sequence number to the target vehicle and adds it to the charging waiting queue. After the preceding vehicles complete charging and release their parking spaces, the platform then controls the vehicles to charge in sequence according to the sequence number.
[0047] In this embodiment, it is assumed that all 25 charging piles are occupied within a certain period, and subsequently, multiple vehicles trigger charging needs. The cloud control platform assigns charging sequence numbers (e.g., 001, 002, 003, etc.) to these vehicles waiting to be charged, and records the current location of each vehicle. When a charging pile finishes charging and a vehicle leaves, the parking space status is updated to vacant. The cloud control platform immediately controls the vehicle at the front of the queue (e.g., number 001) to plan a path from its current location to the vacant charging pile for charging, according to the sequence number. This process continues until all vehicles waiting to be charged have completed charging in sequence. For example, if a batch of vehicles leaving the line are waiting to be charged when all charging piles are full, the cloud control platform assigns them charging sequence numbers, and controls them to charge in sequence after the preceding vehicles have completed charging, with the average charging waiting time controlled to be around 20 minutes.
[0048] Furthermore, the method also includes: During the charging process of the target vehicle, if a fault is detected in the currently used charging pile, the real-time information is reacquired, a path from the current location to the backup charging pile is planned, and the target vehicle is controlled to transfer to the backup charging pile to continue charging.
[0049] This step provides a dynamic handling mechanism for potential equipment failures during the charging process. If the currently connected charging station malfunctions during charging, charging will be interrupted, and the vehicle will be unable to continue charging. In this case, the cloud control platform needs to respond promptly and replan the route to another available charging station for the vehicle to ensure that the charging process can continue and avoid prolonged vehicle downtime due to a single point of failure.
[0050] In this embodiment, taking the aforementioned 20 vehicles as an example, when vehicle V2025006 was charging at charging pile C001 to 32%, the charging pile suddenly malfunctioned. After the cloud control platform detected the charging pile malfunction in real time, it immediately retrieved the real-time information of the charging station area and found that the backup charging pile C021 was currently idle. The cloud control platform then planned a transfer path from the current location of V2025006 (charging pile C001) to the backup charging pile C021, and controlled V2025006 to automatically travel along the path to C021, where it connected and continued charging. Through the above fault handling mechanism, the charging process of V2025006 was not significantly affected, and subsequent processes proceeded normally.
[0051] Furthermore, before planning the outbound route from the current location of the target vehicle to the target outbound point, the method further includes: Step b1: Perform a pre-departure status check on the target vehicle; the pre-departure status check includes at least battery power detection and tire pressure detection.
[0052] This step is a safety pre-emptive measure added before executing the outbound route planning. While a vehicle is parked in the warehouse, its condition may change (such as natural battery depletion or abnormal tire pressure). If it leaves the warehouse without prior inspection, it may malfunction during the journey or fail to complete the outbound task. Therefore, before planning the outbound route, the cloud control platform first checks the vehicle's key status parameters to ensure that the vehicle meets the basic conditions for safe outbound departure.
[0053] In this embodiment, taking the scenario of 20 vehicles leaving the warehouse as an example, after receiving the dispatch instruction from the logistics system, the cloud control platform first performs a pre-departure status check on the 20 vehicles (V2025001 to V2025020). The check includes the current battery level and tire pressure data of each vehicle. The check shows that the battery level of all 20 vehicles has reached over 80%, and the tire pressure is 2.5 bar, which is within the normal range.
[0054] Step b2: The outbound route planning is performed only when the battery charge is higher than the preset departure charge threshold and the tire pressure is within the preset normal range.
[0055] Here, this step sets the trigger conditions for outbound route planning. The cloud control platform compares the vehicle status data detected in step b1 with the preset safety thresholds. Only when all key status parameters meet the requirements will the subsequent outbound route planning stage be allowed. If any parameter does not meet the conditions, outbound will be suspended or a corresponding processing mechanism (such as warning, charging, etc.) will be triggered to ensure the safety and reliability of the outbound process.
[0056] In this embodiment, the cloud control platform presets a vehicle departure battery threshold of 80% and a normal tire pressure range of 2.3 bar to 2.7 bar. The test results show that all 20 vehicles have a battery level ≥80% and a tire pressure of 2.5 bar, meeting all preset departure conditions. Therefore, the cloud control platform normally executes subsequent departure route planning, planning a driving path for each vehicle from its current location to the target departure point. If any vehicle's battery level is below 80% or its tire pressure exceeds the normal range, the cloud control platform will temporarily suspend the vehicle's departure planning and generate a warning message to push to the management personnel terminal. Further processing will proceed after the anomaly is resolved.
[0057] Furthermore, after controlling the target vehicle to travel along the charging path to the charging parking space for charging, the method further includes: When charging is complete and the battery level reaches the preset target value, the target vehicle is controlled to return to its original parking space or the designated exit preparation area based on the parking space occupancy status in the real-time information.
[0058] Here, after a vehicle finishes charging at a designated charging spot, that spot needs to be made available for other vehicles waiting to charge. Simultaneously, vehicles that have finished charging need to be prepared for subsequent dispatch. Therefore, the cloud-based control platform selects suitable destinations for vehicles based on the real-time occupancy of parking spaces within the warehouse area, thus freeing up charging resources and pre-positioning vehicles in locations convenient for dispatch.
[0059] In this embodiment, taking the aforementioned 20 vehicles as an example, vehicles V2025001 to V2025008 are charging at charging station parking spaces C001 to C008. Once each vehicle has completed charging and its battery level reaches a preset target of 80%, the cloud control platform queries the parking space occupancy status in the storage area in real time. At this time, the departure preparation parking spaces P013 to P020 near the exit are vacant. Therefore, the system controls vehicles V2025001 to V2025008 to automatically move from their respective charging spaces to these designated departure preparation areas to park, ensuring a rapid response when receiving subsequent departure instructions. If the original parking space (such as a regular parking space where some vehicles were originally parked) is vacant and easier for subsequent scheduling, the cloud control platform can also control the vehicles to return to their original parking spaces. Through this scheduling, charging station parking spaces are released in a timely manner for subsequent vehicles waiting to charge, while vehicles that have completed charging are already positioned in the departure preparation area, improving overall turnover efficiency.
[0060] This application provides a vehicle entry and exit control method, comprising: acquiring vehicle status information of a target vehicle and real-time information of the target storage area; allocating a target parking space to the target vehicle based on the vehicle status information and real-time information, and planning an entry path from the target vehicle's current location to the target parking space, and controlling the target vehicle to travel along the entry path to the target parking space; monitoring the target vehicle's battery level while the target vehicle is parked in the storage area, and when the battery level is lower than a preset charging threshold, reacquiring the vehicle status information and real-time information, planning a charging path from the target vehicle's current location to the charging parking space, and controlling the target vehicle to travel along the charging path to the charging parking space for charging; responding to the target vehicle's exit command, reacquiring the vehicle status information and real-time information, planning an exit path from the target vehicle's current location to the target exit point, and controlling the target vehicle to travel along the exit path to the target exit point. In this way, through real-time information-driven and dynamic decision-making throughout the entire process of entry, charging, and exit, the efficiency of vehicle entry and exit is improved.
[0061] Based on the same application concept, this application also provides a vehicle entry and exit control device corresponding to the vehicle entry and exit control method provided in the above embodiments. Since the principle of the device in this application is similar to the vehicle entry and exit control method in the above embodiments, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.
[0062] Please see Figure 2 , Figure 2 This is one of the functional block diagrams of a vehicle entry and exit control device provided in an embodiment of this application. For example... Figure 2 As shown, the vehicle entry and exit control device 200 includes: The data acquisition module 210 is used to acquire the vehicle status information of the target vehicle and the real-time information of the target storage area.
[0063] The inbound planning module 220 is used to allocate a target parking space to the target vehicle based on the vehicle status information and the real-time information, and to plan the inbound path from the current position of the target vehicle to the target parking space, and control the target vehicle to travel along the inbound path to the target parking space.
[0064] The charging planning module 230 is used to monitor the battery level of the target vehicle while it is parked in the parking area. When the battery level is lower than a preset charging threshold, the module reacquires the vehicle status information and the real-time information, plans a charging path from the current location of the target vehicle to the charging parking space, and controls the target vehicle to travel along the charging path to the charging parking space for charging.
[0065] The outbound planning module 240 is used to respond to the outbound command of the target vehicle, reacquire the vehicle status information and the real-time information, plan the outbound path from the current position of the target vehicle to the target outbound point, and control the target vehicle to travel along the outbound path to the target outbound point.
[0066] Further, the vehicle status information includes battery power, and the real-time information includes the occupancy status of charging parking spaces and regular parking spaces in the target parking area; when the entry planning module 220 allocates target parking spaces to the target vehicle based on the vehicle status information and the real-time information, the entry planning module 220 is specifically used for: The target parking space is determined using a weighted scoring method based on the battery charge, the occupancy status of the charging parking space, and the occupancy status of the regular parking space. Vehicles with battery levels below a preset threshold are given priority for allocation to charging spaces, while vehicles with battery levels not below the preset threshold are given priority for allocation to regular parking spaces near the target exit point.
[0067] Further, please refer to Figure 3 , Figure 3 This is a second functional block diagram of a vehicle entry and exit control device provided in an embodiment of this application. Figure 3 As shown, the vehicle entry and exit control device 200 also includes: The off-peak planning module 250 is used to assign off-peak entry time or off-peak exit time to each of the target vehicles using a distributed collaborative algorithm, and to plan independent driving routes for each of the target vehicles that avoid path intersection.
[0068] Furthermore, when planning the charging path from the current location of the target vehicle to the charging parking space, the charging planning module 230 is specifically used for: Check the occupancy status of charging parking spaces; If there is an available charging space, a charging path is planned from the current location of the target vehicle to the available charging space. If all charging spaces are occupied, a charging sequence number is assigned to the target vehicle, and the target vehicle is charged in sequence after the preceding vehicle has finished charging.
[0069] Furthermore, such as Figure 3 As shown, the vehicle entry and exit control device 200 also includes: The fault planning module 260 is used to, during the charging process of the target vehicle, when a fault is detected in the currently used charging pile, reacquire the real-time information, plan the path from the current location to the backup charging pile, and control the target vehicle to transfer to the backup charging pile to continue charging.
[0070] Furthermore, such as Figure 3 As shown, the vehicle entry and exit control device 200 also includes: The status pre-inspection module 270 is used to perform pre-departure status pre-inspection on the target vehicle; the pre-departure status pre-inspection includes at least battery power detection and tire pressure detection; departure route planning is performed only when the battery power is higher than the preset departure power threshold and the tire pressure is within the preset normal range.
[0071] Furthermore, such as Figure 3 As shown, the vehicle entry and exit control device 200 also includes: The charging return module 280 is used to control the target vehicle to return to its original parking space or a designated exit preparation area based on the parking space occupancy status in the real-time information when charging is completed and the battery power reaches a preset target value.
[0072] This application provides a vehicle entry and exit control device, comprising: a data acquisition module for acquiring vehicle status information of a target vehicle and real-time information of the target storage area; an entry planning module for allocating a target parking space to the target vehicle based on the vehicle status information and real-time information, planning an entry path from the target vehicle's current location to the target parking space, and controlling the target vehicle to travel along the entry path to the target parking space; a charging planning module for monitoring the target vehicle's battery level while the target vehicle is parked in the storage area, and when the battery level is lower than a preset charging threshold, reacquiring the vehicle status information and real-time information, planning a charging path from the target vehicle's current location to the charging parking space, and controlling the target vehicle to travel along the charging path to the charging parking space for charging; and an exit planning module for responding to the target vehicle's exit command, reacquiring the vehicle status information and real-time information, planning an exit path from the target vehicle's current location to the target exit point, and controlling the target vehicle to travel along the exit path to the target exit point. Thus, through real-time information-driven and dynamic decision-making throughout the entire process of entry, charging, and exit, the efficiency of vehicle entry and exit is improved.
[0073] Based on the same application concept, please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device 400 includes a processor 410, a memory 420, and a bus 430.
[0074] The memory 420 stores machine-readable instructions that can be executed by the processor 410. When the electronic device 400 is running, the processor 410 and the memory 420 communicate through the bus 430. When the machine-readable instructions are executed by the processor 410, the steps of the vehicle entry and exit control method provided in the above embodiment are executed. For specific implementation, please refer to the method embodiment, which will not be repeated here.
[0075] Based on the same concept, this application also provides a computer-readable storage medium storing a computer program. When the computer program is run by a processor, it executes the steps of the vehicle entry and exit control method provided in the above embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.
[0076] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0077] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.
[0078] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0079] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0080] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0081] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0082] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.
Claims
1. A method for controlling vehicle entry and exit from a parking garage, characterized in that, The method includes: Obtain vehicle status information of the target vehicle and real-time information of the target storage area; Based on the vehicle status information and the real-time information, a target parking space is allocated to the target vehicle, and an entry path from the current position of the target vehicle to the target parking space is planned, and the target vehicle is controlled to drive along the entry path to the target parking space. While the target vehicle is parked in the storage area, the battery level of the target vehicle is monitored. When the battery level is lower than a preset charging threshold, the vehicle status information and the real-time information are reacquired, a charging path from the current position of the target vehicle to the charging space is planned, and the target vehicle is controlled to drive along the charging path to the charging space for charging. In response to the exit command of the target vehicle, the vehicle status information and the real-time information are reacquired, an exit route from the current position of the target vehicle to the target exit point is planned, and the target vehicle is controlled to travel along the exit route to the target exit point.
2. The vehicle entry and exit control method according to claim 1, characterized in that, The vehicle status information includes battery power, and the real-time information includes the occupancy status of charging parking spaces and regular parking spaces in the target parking area. The step of allocating a target parking space to the target vehicle based on the vehicle status information and the real-time information includes: The target parking space is determined using a weighted scoring method based on the battery charge, the occupancy status of the charging parking space, and the occupancy status of the regular parking space. Vehicles with battery levels below a preset threshold are given priority for allocation to charging spaces, while vehicles with battery levels not below the preset threshold are given priority for allocation to regular parking spaces near the target exit point.
3. The vehicle entry and exit control method according to claim 1, characterized in that, When multiple target vehicles exist simultaneously, the planned entry path from the current location of the target vehicle to the target parking space or the planned exit path from the current location of the target vehicle to the target exit point further includes: A distributed collaborative algorithm is used to allocate staggered entry or exit times for each target vehicle, and to plan independent driving routes for each target vehicle that avoid path intersections.
4. The vehicle entry and exit control method according to claim 1, characterized in that, The planned charging path from the current location of the target vehicle to the charging space includes: Check the occupancy status of charging parking spaces; If there is an available charging space, a charging path is planned from the current location of the target vehicle to the available charging space. If all charging spaces are occupied, a charging sequence number is assigned to the target vehicle, and the target vehicle is charged in sequence after the preceding vehicle has finished charging.
5. The vehicle entry and exit control method according to claim 1, characterized in that, The method further includes: During the charging process of the target vehicle, if a fault is detected in the currently used charging pile, the real-time information is reacquired, a path from the current location to the backup charging pile is planned, and the target vehicle is controlled to transfer to the backup charging pile to continue charging.
6. The vehicle entry and exit control method according to claim 1, characterized in that, Before planning the outbound route from the current location of the target vehicle to the target outbound point, the method further includes: The target vehicle undergoes a pre-departure status detection; the pre-departure status detection includes at least battery charge detection and tire pressure detection. Outbound route planning is performed only when the battery charge is higher than a preset departure charge threshold and the tire pressure is within a preset normal range.
7. The vehicle entry and exit control method according to claim 1, characterized in that, After controlling the target vehicle to travel along the charging path to the charging space for charging, the method further includes: When charging is complete and the battery level reaches the preset target value, the target vehicle is controlled to return to its original parking space or the designated exit preparation area based on the parking space occupancy status in the real-time information.
8. A control device for vehicle entry and exit from a parking garage, characterized in that, The vehicle entry and exit control device includes: The data acquisition module is used to acquire vehicle status information of the target vehicle and real-time information of the target storage area; The inbound planning module is used to allocate target parking spaces to the target vehicle based on the vehicle status information and the real-time information, plan the inbound path from the current position of the target vehicle to the target parking space, and control the target vehicle to travel along the inbound path to the target parking space. The charging planning module is used to monitor the battery level of the target vehicle while it is parked in the parking area. When the battery level is lower than a preset charging threshold, the module reacquires the vehicle status information and the real-time information, plans a charging path from the current location of the target vehicle to the charging space, and controls the target vehicle to travel along the charging path to the charging space for charging. The outbound planning module is used to respond to the outbound command of the target vehicle, reacquire the vehicle status information and the real-time information, plan the outbound path from the current position of the target vehicle to the target outbound point, and control the target vehicle to travel along the outbound path to the target outbound point.
9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. The machine-readable instructions are executed by the processor to perform the steps of the vehicle entry and exit control method as described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the vehicle entry and exit control method as described in any one of claims 1 to 7.