Parking space recommendation method and apparatus, and vehicle

Abstract

A parking space recommendation method, comprising: receiving a map of a parking lot and information about available parking spaces and unavailable parking spaces in the parking lot, said map and information being from a server (200), wherein the parking lot is a parking lot a first vehicle currently enters, and the available parking spaces comprise temporary parking spaces which are obtained by dividing the area of the parking lot other than marked parking spaces; and displaying the map of the parking lot, and presenting, on the map, the unavailable parking spaces, the available parking spaces, and the parking priorities of the parking spaces. By obtaining the temporary parking spaces in the parking lot by means of division and displaying the temporary parking spaces on a vehicle side, users can know where they can park other than the marked parking spaces in the parking lot, thereby increasing the number of available parking spaces in the parking lot and improving the parking space utilization rate of the parking lot.

Description

Parking space recommendation method, device and vehicle

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on February 6, 2024, with application number 202410173921.1 and application name “A parking space recommendation method, device and vehicle”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of information technology (IT), and in particular to a parking space recommendation method, device, and vehicle. Background Art

[0003] With the recent rise in popularity of smart vehicles, while people are enjoying automated parking systems like automated valet parking (AVP) and automatic parking assist (APA), they are also experiencing an increasing shortage of parking spaces. These systems use sensors like lidar and cameras to identify parking spaces and then use planning and control to maneuver the vehicle into them.

[0004] Currently, car owners don't know the location of available parking spaces before driving into a parking lot, which causes them to waste a lot of time searching for a parking space. Furthermore, when faced with multiple candidate parking spaces, car owners may simply consider parking in the closest one. Therefore, even if a car owner eventually finds a parking space and successfully parks in it, it may not be the optimal spot from the perspective of overall parking lot management and may block other parking spaces, preventing subsequent car owners from finding suitable spaces and reducing the utilization rate of parking spaces in the parking lot. Therefore, improving the utilization rate of parking spaces in parking lots is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The present application provides a parking space recommendation method, device, vehicle, computer storage medium and computer product, which can improve the utilization rate of parking spaces in a parking lot.

[0006] In a first aspect, the present application provides a parking space recommendation method, comprising: receiving a map of a parking lot from a server (i.e., sent by the server), and information on available parking spaces and unavailable parking spaces in the parking lot, wherein the parking lot is the parking lot currently entered by a first vehicle, and the available parking spaces include: temporary parking spaces, which are obtained based on the division of areas in the parking lot other than marked parking spaces; displaying a map of the parking lot, and presenting unavailable parking spaces, available parking spaces, and parking priorities of available parking spaces on the map.

[0007] In this way, by dividing the temporary parking spaces in the parking lot and displaying them on the vehicle side, users can know where they can park outside the marked parking spaces in the parking lot, thereby increasing the number of available parking spaces in the parking lot and improving the parking space utilization rate of the parking lot.

[0008] In one possible implementation, the available parking spaces are marked differently from the unavailable parking spaces on the map. That is, the available parking spaces and unavailable parking spaces can be displayed with different marks on the map, so that users can intuitively understand the available parking spaces and improve parking efficiency.

[0009] In one possible implementation, different temporary parking spaces on a map, and among available parking spaces, have different first identifiers, where the first identifier indicates the parking priority of the temporary parking space. By grading temporary parking spaces, users can understand which temporary parking spaces are suitable for priority parking while minimizing the impact on other vehicles, thereby reducing the likelihood of vehicles interfering with each other in the parking lot.

[0010] In one possible implementation, available parking spaces also include marked parking spaces. On the map, the marked parking spaces are labeled differently from the temporary parking spaces. This allows users to intuitively identify marked parking spaces and temporary parking spaces, facilitating their decision-making.

[0011] In one possible implementation, different marked parking spaces have different second identifiers, where the second identifier is used to indicate the parking priority of the marked parking spaces. This allows users to understand the appropriate parking location for themselves, thereby improving parking efficiency.

[0012] In one possible implementation, the parking priority of a marked parking space is higher than that of a temporary parking space. In this way, users can park in marked parking spaces first, thereby reducing the situation where users park their vehicles in temporary parking spaces and affect other vehicles.

[0013] In one possible implementation, the parking priority of the available parking spaces is determined based on one or more of the occupancy time of the unavailable parking spaces and the historical parking habits of the user of the first vehicle. Thus, the parking priority of the available parking spaces can be indirectly determined by the occupancy time of the unavailable parking spaces, or the parking priority of the available parking spaces can be determined by the user's parking habits.

[0014] In one possible implementation, a vehicle logo is displayed on a map at a non-parking space, so that the user can more intuitively understand where the vehicle is parked, thereby improving the user experience.

[0015] In one possible implementation, after presenting the available parking spaces on the map, the method further includes: in response to a user selecting a first parking space from the available parking spaces, parking the first vehicle into the first parking space. For example, the parking process may be, but is not limited to, performed autonomously by the first vehicle.

[0016] In one possible implementation, after the first vehicle is parked in the first parking space, the system further includes: transmitting a local map of the parking lot generated by the first vehicle and sensing data related to sensors on the first vehicle to a server, so that the server can update the parking lot map and information about available and unavailable parking spaces in the parking lot. This allows the server to promptly update parking lot information, so that subsequent vehicles entering the parking lot can obtain the latest map and parking space information.

[0017] In one possible implementation, after parking a first vehicle in a first parking space, the system further includes: receiving a request from a server to maneuver the vehicle if the first vehicle blocks a second vehicle's exit path from the second parking space; and parking the first vehicle in a third parking space recommended by the server. This allows for autonomous maneuvering of vehicles, reduces the likelihood of vehicles interfering with each other, and improves the user experience. For example, autonomous maneuvering can be performed with user authorization.

[0018] In one possible implementation, after parking the first vehicle in the first parking space, the method further includes: receiving a request to move the vehicle from the server when the first vehicle blocks the second vehicle's exit route from the second parking space; driving the first vehicle out of the first parking space and staying outside the exit route; parking the first vehicle in the first parking space when the second vehicle has passed the first parking space, or parking the first vehicle in the second parking space when the second vehicle has left the second parking space and the route of the first vehicle parking in the second parking space does not affect the subsequent exit route of the second vehicle. In this way, autonomous vehicle movement can be achieved, reducing the probability of mutual influence between vehicles and improving user experience. For example, autonomous vehicle movement can be completed with user authorization.

[0019] In a second aspect, the present application provides a parking space recommendation method, comprising: receiving a vehicle moving request from a server; in response to the vehicle moving request, parking a first vehicle from a first parking space where the first vehicle is currently located to a second parking space, wherein the parking priority of the second parking space is higher than the parking priority of the first parking space, and the first parking space and the second parking space are located in the same parking lot.

[0020] In this way, when there is a parking space in the parking lot with a higher parking priority than the current parking space of the first vehicle, the first vehicle can be parked in the parking space with a higher parking priority, thereby improving the utilization rate of the parking space and making the use of the parking space in the parking lot more standardized, thereby improving the utilization rate of the parking space in the parking lot.

[0021] In one possible implementation, the request to move a vehicle is received after the parking lot's available space information has been updated and when no vehicle is parked in the second parking space. Alternatively, the request to move a vehicle is received when a user selects to move the first vehicle to the second parking space from their terminal device. In this way, if the server determines that a parking space with a higher parking priority is available, the first vehicle can be parked in the higher-priority space. Furthermore, the server can send the determined higher-priority parking space to the user's terminal device so that the user can confirm whether to park in the higher-priority space. For example, the server can update parking space information in the parking lot in real time or periodically and recalculate the parking priority of each available space. Furthermore, if a user refuses to park in a higher-priority space, the server can notify the next user so that they can confirm whether to park in the higher-priority space. The order in which users are notified can be determined based on the length of their parking time. For example, users with shorter parking times can be notified first, followed by users with longer parking times, and so on. Of course, if the user is not satisfied with the current parking space, he or she can manually select other available parking spaces from the terminal device. Then, the server can make the parking space selected by the user a parking space with a higher parking priority.

[0022] In one possible implementation, the second parking space is the parking space where the second vehicle is parked, and the request to move the vehicle is received when the first vehicle blocks the second vehicle's exit route from the second parking space. At this time, parking the first vehicle from the first parking space where the first vehicle is currently located to the second parking space includes: driving the first vehicle out of the first parking space and staying outside the exit route; parking the first vehicle into the first parking space when the second vehicle has passed the first parking space, or parking the first vehicle into the second parking space when the second vehicle has left the second parking space and the route of the first vehicle parking into the second parking space does not affect the subsequent exit route of the second vehicle. In this way, autonomous vehicle moving can be achieved, reducing the probability of mutual influence between vehicles and improving user experience. Exemplarily, autonomous vehicle moving can be completed with user authorization.

[0023] On the third aspect, the present application provides a parking space recommendation method, which is applied to a server, including: receiving a parking space recommendation request from a first vehicle; sending a map of the parking lot that the first vehicle enters, and information on available parking spaces and non-available parking spaces in the parking lot to the first vehicle, wherein the available parking spaces include: temporary parking spaces, which are obtained by the server based on the division of areas in the parking lot other than marked parking spaces.

[0024] In one possible implementation, the method further includes: receiving perception data related to sensors on the first vehicle and a local map of the parking lot from the first vehicle; updating information on available and unavailable parking spaces in the parking lot based on the perception data related to sensors on the first vehicle; and updating a map of the parking lot based on the local map of the parking lot.

[0025] In one possible implementation, before sending a map of the parking lot that the first vehicle enters and information about available and unavailable parking spaces in the parking lot to the first vehicle, the method further includes: receiving a partial map of the parking lot and perception data related to sensors on the other vehicles sent from other vehicles, where the other vehicles are at least one vehicle other than the first vehicle; generating a map of the parking lot based on the partial maps of the parking lot sent by the other vehicles, and identifying available and unavailable parking spaces in the parking lot based on the perception data related to sensors on the other vehicles.

[0026] In a possible implementation, after identifying available parking spaces in the parking lot, the method further includes: dividing parking priorities of parking spaces included in the available parking spaces.

[0027] In a possible implementation, the method further includes: when the first parking space where the first vehicle is located blocks the exit route of the second vehicle from the second parking space, instructing the first vehicle to drive from the first parking space into a third parking space and stay in the third parking space, wherein the third parking space is not on the exit route.

[0028] In a possible implementation, the further method includes: instructing the first vehicle to enter an area outside the exit route when the first parking space where the first vehicle is located blocks the exit route of the second vehicle from the second parking space; instructing the first vehicle to park in the first parking space when the second vehicle has passed the first parking space, or instructing the first vehicle to park in the second parking space when the second vehicle has left the second parking space and the route of the first vehicle parking in the second parking space does not affect the subsequent exit route of the second vehicle.

[0029] In a possible implementation, after the second vehicle leaves the second parking space, the method further includes: updating information on available parking spaces and unavailable parking spaces in the parking lot.

[0030] In a fourth aspect, the present application provides a parking space recommendation method, which is applied to a server, including: determining conditions for moving a first vehicle, wherein the first vehicle is parked in a first parking space in a parking lot, and the moving conditions include: the first vehicle blocks the departure route of a second vehicle from the parking space where the second vehicle is located, after the parking space information in the parking lot is updated, there is a parking space with a higher parking priority than the first parking space, and an instruction to move the vehicle is received from a terminal device; sending a moving request to the first vehicle, the moving request is at least used to instruct the first vehicle to be parked from the first parking space to the second parking space, wherein the parking priority of the second parking space is higher than the parking priority of the first parking space, the second parking space is a historical parking space for the second vehicle or other vehicles, or the second parking space is a parking space selected by the user on the terminal device.

[0031] In one possible implementation, the maneuvering condition is that the first vehicle blocks the second vehicle's path from the second vehicle's parking space. In this case, the maneuver request instructs the first vehicle to first move into an area outside the exit path. Once the second vehicle leaves the second parking space, and provided that the first vehicle's path into the second parking space does not affect the second vehicle's subsequent exit path, the first vehicle can then be parked into the second parking space.

[0032] In a fifth aspect, the present application provides a parking space recommendation device, comprising: a communication module and a processing module. The communication module is used to receive a map of a parking lot from a server (i.e., sent by the server), and information about available and unavailable parking spaces in the parking lot, wherein the parking lot is the parking lot currently entered by the first vehicle, and the available parking spaces include temporary parking spaces, which are obtained based on the division of areas in the parking lot other than marked parking spaces. The processing module is used to display a map of the parking lot, and present the unavailable and available parking spaces and the parking priorities of the available parking spaces on the map.

[0033] In one possible implementation, on the map, the markings of available parking spaces are different from the markings of unavailable parking spaces.

[0034] In a possible implementation, on a map, and among available parking spaces, different temporary parking spaces have different first identifiers, wherein the first identifier is used to indicate the parking priority of the temporary parking space.

[0035] In a possible implementation, the available parking spaces also include marked parking spaces; on the map, among the available parking spaces, the markings of the marked parking spaces are different from the markings of the temporary parking spaces.

[0036] In a possible implementation, different marked parking spaces have different second identifiers, where the second identifier is used to indicate the parking priority of the marked parking space.

[0037] In a possible implementation, the parking priority of a marked parking space is higher than the parking priority of an adjacent parking space.

[0038] In a possible implementation, a vehicle logo is displayed on an unparkable space on a map.

[0039] In a possible implementation, the processing module is further configured to: after presenting the available parking spaces on the map, in response to a user selecting a first parking space from the available parking spaces, park the first vehicle in the first parking space.

[0040] In one possible implementation, the communication module is further used to: after the processing module parks the first vehicle in the first parking space, send a local map of the parking lot constructed by the first vehicle and perception data related to sensors on the first vehicle to the server, so that the server updates the map of the parking lot and information about available and unavailable parking spaces in the parking lot.

[0041] In one possible implementation, after the processing module parks the first vehicle in the first parking space, and the first vehicle blocks the exit route of the second vehicle from the second parking space, the communication module is further used to receive a vehicle moving request from the server; the processing module is also used to park the first vehicle in a third parking space recommended by the server.

[0042] In one possible implementation, after the processing module parks the first vehicle into the first parking space and the first vehicle blocks the exit route of the second vehicle from the second parking space, the communication module is further used to receive a vehicle moving request from the server; the processing module is further used to drive the first vehicle out of the first parking space and stay outside the exit route; and, if the second vehicle has passed the first parking space, park the first vehicle into the first parking space, or if the second vehicle has left the second parking space and the route of the first vehicle parking into the second parking space does not affect the subsequent exit route of the second vehicle, park the first vehicle into the second parking space.

[0043] In one possible implementation, the parking priority of the available parking space is determined based on one or more of the occupancy time of the unavailable parking space and the historical parking habits of the user of the first vehicle.

[0044] In a sixth aspect, the present application provides a parking space recommendation device, comprising: a communication module and a processing module. The communication module is configured to receive a vehicle maneuvering request from a server. The processing module is configured to, in response to the vehicle maneuvering request, park a first vehicle from a first parking space currently occupied by the first vehicle to a second parking space, wherein the parking priority of the second parking space is higher than the parking priority of the first parking space, and the first and second parking spaces are located in the same parking lot.

[0045] In one possible implementation, the request to move the vehicle is received after the available parking space information in the parking lot is updated and there is no vehicle parked in the second parking space; or, the request to move the vehicle is received when the user selects to move the first vehicle to the second parking space from the terminal device.

[0046] In one possible implementation, the second parking space is where the second vehicle is parked, and the request to move the vehicle is received when the first vehicle blocks the second vehicle's exit path from the second parking space. In this case, when parking the first vehicle from the first parking space, where the first vehicle is currently located, to the second parking space, the processing module is specifically configured to: drive the first vehicle out of the first parking space and stay outside the exit path; if the second vehicle has already passed the first parking space, park the first vehicle into the first parking space; or if the second vehicle has already left the second parking space and the first vehicle's path to the second parking space does not affect the second vehicle's subsequent exit path, park the first vehicle into the second parking space.

[0047] In a seventh aspect, the present application provides a parking space recommendation device, deployed on a server, comprising: a communication module and a processing module. The processing module is configured to divide the area of ​​the parking lot, excluding marked parking spaces, to obtain at least one temporary parking space. The communication module is configured to receive a parking space recommendation request from a first vehicle; and transmit to the first vehicle a map of the parking lot into which the first vehicle is entering, and information about available and unavailable parking spaces in the parking lot, wherein the available parking spaces include temporary parking spaces.

[0048] In one possible implementation, the communication module is further configured to receive, from the first vehicle, sensing data associated with sensors on the first vehicle and a local map of the parking lot. The processing module is configured to update information about available and unavailable parking spaces in the parking lot based on the sensing data associated with sensors on the first vehicle, and to update a map of the parking lot based on the local map of the parking lot.

[0049] In one possible implementation, before the communication module sends a map of the parking lot that the first vehicle enters and information about available and unavailable parking spaces in the parking lot to the first vehicle, the communication module is further used to receive partial maps of the parking lot and perception data related to sensors on the other vehicles sent from other vehicles, where the other vehicles are at least one vehicle other than the first vehicle; the processing module is further used to generate a map of the parking lot based on the partial maps of the parking lot sent by the other vehicles, and to identify available and unavailable parking spaces in the parking lot based on the perception data related to sensors on the other vehicles.

[0050] In a possible implementation, after identifying available parking spaces in the parking lot, the processing module is further configured to: classify parking priorities of parking spaces included in the available parking spaces.

[0051] In one possible implementation, the processing module is further used to: when the first parking space where the first vehicle is located blocks the exit route of the second vehicle from the second parking space, instruct the first vehicle to drive from the first parking space into a third parking space and stay in the third parking space, wherein the third parking space is not on the exit route.

[0052] In one possible implementation, the processing module is further used to: instruct the first vehicle to enter an area outside the exit route when the first parking space where the first vehicle is located blocks the exit route of the second vehicle from the second parking space; instruct the first vehicle to park in the first parking space when the second vehicle has passed the first parking space; or instruct the first vehicle to park in the second parking space when the second vehicle has left the second parking space and the route of the first vehicle parking in the second parking space does not affect the subsequent exit route of the second vehicle.

[0053] In a possible implementation, after the second vehicle leaves the second parking space, the processing module is further configured to: update information about available parking spaces and unavailable parking spaces in the parking lot.

[0054] In an eighth aspect, the present application provides a parking space recommendation device, which is deployed on a server and includes: a processing module and a communication module. The processing module is used to determine the conditions for moving a first vehicle, wherein the first vehicle is parked in the first parking space in the parking lot, and the moving conditions include: the first vehicle blocks the departure route of the second vehicle from the parking space where the second vehicle is located, there is a parking space with a higher parking priority than the first parking space after the parking space information in the parking lot is updated, and an instruction to move the vehicle is received from a terminal device. One or more of the following. The communication module is used to send a moving request to the first vehicle, and the moving request is at least used to instruct the first vehicle to park from the first parking space to the second parking space, wherein the parking priority of the second parking space is higher than the parking priority of the first parking space, the second parking space is a historical parking space for the second vehicle or other vehicles, or the second parking space is a parking space selected by the user on the terminal device.

[0055] In one possible implementation, the maneuvering condition is that the first vehicle blocks the second vehicle's path from the second vehicle's parking space. In this case, the maneuver request instructs the first vehicle to first move into an area outside the exit path. Once the second vehicle leaves the second parking space, and provided that the first vehicle's path into the second parking space does not affect the second vehicle's subsequent exit path, the first vehicle can then be parked into the second parking space.

[0056] In a ninth aspect, the present application provides a parking space recommendation device, comprising: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in the first aspect or any possible implementation of the first aspect, or implement the method described in the third aspect or any possible implementation of the third aspect. Exemplarily, when the parking space recommendation device can implement the method described in the first aspect or any possible implementation of the first aspect, the parking space recommendation device can be, but is not limited to, an on-board terminal on a vehicle. When the parking space recommendation device can implement the method described in the third aspect or any possible implementation of the third aspect, the parking space recommendation device can be, but is not limited to, a server, such as a cloud server.

[0057] In a tenth aspect, the present application provides a parking space recommendation device, comprising: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in the second aspect or any possible implementation of the second aspect, or implement the method described in the fourth aspect or any possible implementation of the fourth aspect. Exemplarily, when the parking space recommendation device can implement the method described in the second aspect or any possible implementation of the second aspect, the parking space recommendation device can be, but is not limited to, an on-board terminal on a vehicle. When the parking space recommendation device can implement the method described in the fourth aspect or any possible implementation of the fourth aspect, the parking space recommendation device can be, but is not limited to, a server, such as a cloud server.

[0058] In the eleventh aspect, the present application provides a vehicle, comprising: the parking space recommendation device described in the ninth aspect, which is capable of implementing the method described in the first aspect or any possible implementation of the first aspect, or comprising: the parking space recommendation device described in the tenth aspect, which is capable of implementing the method described in the second aspect or any possible implementation of the second aspect.

[0059] In the twelfth aspect, the present application provides a computer-readable storage medium comprising computer program instructions. When the computer program instructions are executed by a computing device, the computing device executes the method described in the first aspect or any possible implementation of the first aspect, or executes the method described in the second aspect or any possible implementation of the second aspect, or executes the method described in the third aspect or any possible implementation of the third aspect, or executes the method described in the fourth aspect or any possible implementation of the fourth aspect.

[0060] In a thirteenth aspect, the present application provides a computer program product comprising instructions, which, when executed by a computing device, causes the computing device to execute the method described in the first aspect or any possible implementation of the first aspect, or to execute the method described in the second aspect or any possible implementation of the second aspect, or to execute the method described in the third aspect or any possible implementation of the third aspect, or to execute the method described in the fourth aspect or any possible implementation of the fourth aspect.

[0061] It can be understood that the beneficial effects of the third to thirteenth aspects can be found in the relevant descriptions of the first or second aspects, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] FIG1 is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0063] FIG2 is a schematic diagram of the hardware structure of a vehicle provided in an embodiment of the present application;

[0064] FIG3 is a schematic diagram of the hardware structure of a server provided in an embodiment of the present application;

[0065] FIG4 is a flow chart of a parking method provided in an embodiment of the present application;

[0066] FIG5 is a schematic diagram of a change in an interface presented by a vehicle in a parking lot according to an embodiment of the present application;

[0067] FIG6 is a schematic diagram of steps for grading available parking spaces according to an embodiment of the present application;

[0068] FIG7 is a schematic diagram of another step of grading available parking spaces provided in an embodiment of the present application;

[0069] FIG8 is a schematic diagram of the steps of a vehicle parking method provided in an embodiment of the present application;

[0070] FIG9 is a schematic diagram of a vehicle parking process provided by an embodiment of the present application;

[0071] FIG10 is a schematic structural diagram of a parking space recommendation device provided in an embodiment of the present application;

[0072] FIG11 is a schematic structural diagram of another parking space recommendation device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0073] The term "and / or" as used herein describes an association between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. The symbol " / " as used herein indicates that the related objects are in an "or" relationship, for example, A / B means either A or B.

[0074] The terms "first" and "second" in this specification and claims are used to distinguish different objects rather than to describe a specific order of objects. For example, "first response message" and "second response message" are used to distinguish different response messages rather than to describe a specific order of response messages.

[0075] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0076] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more, for example, multiple processing units means two or more processing units, etc.; multiple elements means two or more elements, etc.

[0077] For example, FIG1 shows a schematic diagram of an application scenario provided by an embodiment of the present application. As shown in FIG1 , a vehicle 100 can enter a parking lot and park in a parking space within the parking lot. The vehicle 100 can establish a communication connection with a server 200 via a network. In the application scenario shown in FIG1 , after entering the parking lot, the vehicle 100 can use its sensors (e.g., cameras, radar, etc.) to perceive environmental information in the parking lot and information about the vehicle 100's movement within the parking lot. The sensor data can then be processed using a pre-set algorithm to construct a local map of the parking lot. Alternatively, the vehicle 100 can upload the sensor data and the constructed local map to the server 200. The server 200 can combine and stitch together local maps of the same parking lot uploaded by different vehicles to obtain a complete map of the parking lot. Furthermore, the server 200 can also process the sensor data uploaded by different vehicles to identify available parking spaces in the parking lot (e.g., marked parking spaces and temporary parking spaces). Temporary parking spaces refer to unmarked areas in the parking lot that can be used for temporary parking. Furthermore, the server 200 can recommend all available parking spaces to the vehicle 100 or the user, or select a parking space suitable for the vehicle 100 and recommend it to the vehicle 100 or the user. It should be understood that the parking lot depicted in FIG1 can be either an indoor parking lot or an outdoor parking lot, and this is not limited here.

[0078] For example, FIG2 shows a schematic diagram of the hardware architecture of a vehicle provided in an embodiment of the present application. As shown in FIG2 , the vehicle 100 may include various subsystems, such as a travel system 110, a sensing system 120, a control system 130, one or more peripheral devices 140, a power supply 160, a computer system 150, and a user interface 170. Optionally, the vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and component of the vehicle 100 may be interconnected via wired or wireless connections.

[0079] Among them, the travel system 110 may include components for providing powered movement to the vehicle 100. In some embodiments, the travel system 110 may include an engine 111, a transmission 112, an energy source 113, and wheels 114 / tires. Among them, the engine 111 may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines; for example, a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 111 can convert the energy source 113 into mechanical energy. The energy source 113 may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source 113 can also provide energy for other systems of the vehicle 100.

[0080] The transmission 112 may include a gearbox, a differential, and a drive shaft; wherein the transmission 112 can transmit mechanical power from the engine 111 to the wheels 114. The drive shaft may include one or more shafts that can be coupled to one or more wheels 114. In some embodiments, the transmission 112 may also include other components, such as a clutch.

[0081] The sensing system 120 may include several sensors that sense information about the environment surrounding the vehicle 100. For example, the sensing system 120 may include a positioning system 121 (e.g., a global positioning system (GPS), the BeiDou system, or other positioning systems), an inertial measurement unit (IMU) 122, a radar 123 (e.g., a lidar or ultrasonic radar), a laser rangefinder 124, and a camera 125 (e.g., a fisheye camera or a forward-looking camera). The sensing system 120 may also include sensors for the vehicle 100's internal systems (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.). This detection and recognition is a key function for the safe operation of the autonomous vehicle 100. In this embodiment, the sensing system 120 may be used to perceive environmental information in a parking lot. The positioning system 121 may be used to estimate the geographic location of the vehicle 100. The IMU 122 may be used to sense changes in the position and orientation of the vehicle 100 based on inertial acceleration. In one embodiment, the IMU 122 may be a combination of an accelerometer and a gyroscope. The radar 123 may utilize radio signals to sense objects within the surrounding environment of the vehicle 100. In some embodiments, in addition to sensing objects, the radar 123 may also be used to sense the speed and / or heading of an object. The laser rangefinder 124 may utilize lasers to sense objects in the environment in which the vehicle 100 is located. In some embodiments, the laser rangefinder 124 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components. The camera 125 may be used to capture multiple images of the surrounding environment of the vehicle 100. For example, the camera 125 may be a still camera or a video camera.

[0082] The control system 130 controls the operation of the vehicle 100 and its components. The control system 130 may include various components, such as a steering system 131, a throttle 132, a brake unit 133, a computer vision system 134, a route control system 135, and an obstacle avoidance system 136. For example, the steering system 131 can be operated to adjust the forward direction of the vehicle 100. For example, the steering system can be a steering wheel system. The throttle 132 can be used to control the operating speed of the engine 111 and, thereby, the speed of the vehicle 100. The brake unit 133 can be used to control the deceleration of the vehicle 100; the brake unit 133 can use friction to slow the wheels 114. In other embodiments, the brake unit 133 can convert the kinetic energy of the wheels 114 into electrical current. The brake unit 133 can also take other forms to slow the rotation speed of the wheels 114 to control the speed of the vehicle 100.

[0083] The computer vision system 134 can be operated to process and analyze the images captured by the camera 125 in order to identify objects and / or features in the surrounding environment of the vehicle 100. The above-mentioned objects and / or features may include one or more of traffic signals, road boundaries, obstacles, and parking space boundaries. The computer vision system 134 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision technologies. In some embodiments, the computer vision system 134 can be used to map the environment (such as drawing a local map in a parking lot, etc.), track objects, estimate the speed of objects, etc. Among them, the computer vision system 134 can use, but is not limited to, algorithms such as simultaneous localization and mapping (SLAM) to map the environment.

[0084] The route control system 135 can be used to determine the driving route of the vehicle 100. In some embodiments, the route control system 135 can combine a map of the parking lot distributed by the server 200 with available parking spaces independently selected by the vehicle 100 (or available parking spaces selected by the user) to determine the driving route for the vehicle 100. The obstacle avoidance system 136 can be used to identify, evaluate, and avoid or otherwise navigate potential obstacles in the environment of the vehicle 100. In some examples, the control system 130 may include additional or alternative components in addition to those shown and described. Alternatively, some of the components shown above may be reduced.

[0085] Vehicle 100 can interact with external sensors, other vehicles, other computer systems, or users via peripheral devices 140. Peripheral devices 140 may include a wireless communication system 141, an onboard computer 142, a microphone 143, and / or a speaker 144. In some embodiments, peripheral devices 140 may provide a means for vehicle 100 to interact with user interface 170. For example, onboard computer 142 may provide information to the user of vehicle 100, such as displaying a parking map and / or available parking spaces received from server 200. User interface 116 may also operate onboard computer 142 to receive user input, such as a user's selection of an available parking space. Onboard computer 142 may be operated via a touchscreen. In other cases, peripheral devices 140 may provide a means for vehicle 100 to communicate with other devices within the vehicle. For example, microphone 143 may receive audio (e.g., voice commands or other audio input) from the user of vehicle 100. Similarly, speaker 144 may output audio to the user of vehicle 100. The wireless communication system 141 can communicate wirelessly with one or more devices directly or via a communication network, such as communicating with the server 200 .

[0086] Power source 160 can provide power to various components of vehicle 100. In some embodiments, power source 160 can be a rechargeable lithium-ion or lead-acid battery. One or more battery packs of such batteries can be configured as a power source to provide power to various components of vehicle 100. In some embodiments, power source 160 and energy source 113 can be implemented together, such as in some all-electric vehicles.

[0087] Some or all functions of vehicle 100 may be controlled by a computer system 150, which may include at least one processor 151 executing instructions 153 stored in a non-transitory computer-readable medium, such as memory 152. Computer system 150 may also be a plurality of computing devices that control individual components or subsystems of vehicle 100 in a distributed manner. For example, processor 151 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor may be a specialized device, such as an ASIC or other hardware-based processor. Although FIG2 functionally illustrates a processor, memory, and other elements of a computer in the same block, those skilled in the art will appreciate that the processor, computer, or memory may actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, the memory may be a hard drive or other storage medium located in a different housing than the computer. Therefore, references to a processor or computer should be understood to include references to a collection of processors, computers, or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering assembly and the deceleration assembly, can each have their own processor that performs only the calculations related to the functions specific to that component. In various aspects described herein, the processor can be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are executed on a processor located within the vehicle, while others are performed by a remote processor, including taking the necessary steps to perform a single maneuver. In some embodiments, memory 152 may contain instructions 153 (e.g., program logic) that can be executed by processor 151 to perform various functions of vehicle 100, including those described above. Memory 152 may also contain additional instructions, such as instructions for sending data to, receiving data from, interacting with, and / or controlling one or more of travel system 110, sensing system 120, control system 130, and peripheral devices 140. For example, in addition to instructions 153, memory 152 may also store data such as road maps, route information, the vehicle's location, direction, speed, and other such vehicle data, as well as other information. This information may be used by the vehicle 100 and the computer system 150 during operation of the vehicle 100 in autonomous, semi-autonomous, and / or manual modes.

[0088] User interface 170 may be used to provide information to or receive information from a user of vehicle 100. Optionally, user interface 170 may include one or more input / output devices within the set of peripherals 140, such as wireless communication system 141, onboard computer 142, microphone 143, and speaker 144.

[0089] In some embodiments, the computer system 150 can control functions of the vehicle 100 based on input received from various subsystems (e.g., the travel system 110, the sensing system 120, and the control system 130) and from the user interface 170. For example, the computer system 150 can use input from the control system 130 to control the braking unit 133 to avoid obstacles detected by the sensing system 120 and the obstacle avoidance system 136. In some embodiments, the computer system 150 is operable to provide control over many aspects of the vehicle 100 and its subsystems. Alternatively, one or more of the above-mentioned components may be installed or associated separately from the vehicle 100. For example, the memory 152 may exist partially or completely separate from the vehicle 100. The above-mentioned components may be communicatively coupled together in a wired and / or wireless manner.

[0090] Alternatively, vehicle 100 may be an autonomous vehicle traveling on a road and may identify objects within its surroundings to determine adjustments to its current speed. Objects may be other vehicles, traffic control devices, or other types of objects. In some examples, each identified object may be considered independently, and the speed of the autonomous vehicle to be adjusted may be determined based on its respective characteristics, such as its current speed, acceleration, and distance from the vehicle. Alternatively, vehicle 100 or a computing device associated with vehicle 100 (e.g., computer system 150, computer vision system 134, or memory 152 in FIG. 1 ) may predict the behavior of the identified objects based on their characteristics and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Alternatively, each identified object may depend on the behavior of another, so the behavior of all identified objects may be considered together to predict the behavior of a single identified object. Vehicle 100 may adjust its speed based on the predicted behavior of the identified objects. In other words, the autonomous vehicle may determine that the vehicle will need to adjust to a stable state (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the objects. In this process, other factors may also be considered to determine the speed of the vehicle 100, such as the lateral position of the vehicle 100 on the road, the curvature of the road, the proximity of static and dynamic objects, etc. In addition to providing instructions for adjusting the speed of the autonomous vehicle, the computer system 150 may also provide instructions for modifying the steering angle of the vehicle 100 so that the autonomous vehicle follows a given trajectory and / or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., cars in adjacent lanes on the road). The above-mentioned vehicle 100 may be a car, truck, motorcycle, bus, boat, airplane, helicopter, lawn mower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, and cart, etc., and the embodiments of the present application are not particularly limited.

[0091] It should be understood that the structures illustrated in the embodiments of the present application do not constitute a specific limitation on vehicle 100. In other embodiments of the present application, vehicle 100 may include more or fewer components than illustrated, or may combine or separate certain components, or may have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0092] For example, FIG3 shows a schematic diagram of the hardware structure of a server provided in an embodiment of the present application. As shown in FIG3, the server 200 includes: a processor 210, a network interface 220, and a memory 230. The processor 210, the network interface 220, and the memory 230 can be connected via a bus or other means. In this embodiment, the processor 210 (or referred to as a central processing unit (CPU)) is the computing core and control core of the server 11. In some embodiments, the processor 210 can build a complete map of the parking lot based on data received from the vehicle 100 and / or other vehicles, identify available parking spaces in the parking lot, and mark available parking spaces in the parking lot map. The network interface 220 can optionally include a standard wired interface, a wireless interface (such as WI-FI, a mobile communication interface, etc.), and is controlled by the processor 210 to send and receive data, for example, to receive data sent by the vehicle 100 or other vehicles from the network, or to send a map of the parking lot and available parking spaces in the parking lot to the vehicle 100 or other vehicles. Memory 230 (memory) is a memory device of the server, which is used to store programs and data, such as a map of a parking lot. It is understandable that the memory 230 can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory; optionally, it can also be at least one storage device located away from the aforementioned processor 210. The memory 230 provides a storage space that stores the operating system and executable program code of the server, which may include but is not limited to: Windows system (an operating system), Linux system (an operating system), Hongmeng system (an operating system), etc., which are not limited here. Exemplarily, the server 200 can be, but is not limited to, a cloud server, a bare metal server, a virtual server, or an edge server.

[0093] Next, a parking method provided in an embodiment of the present application is introduced.

[0094] For example, FIG4 shows a flow chart of a parking method provided in an embodiment of the present application. As shown in FIG4 , the parking method may include the following steps:

[0095] S401. The server 200 receives a local map of a parking lot P constructed from at least one vehicle and perception data related to sensors on the vehicle (such as environmental information of the parking lot P, etc.).

[0096] In this embodiment, in compliance with local laws and regulations, user authorization, and with vehicle information sharing enabled, when a user drives a vehicle into parking lot P, the vehicle can upload its constructed local map of parking lot P and data sensed by its sensors (i.e., perception data) to server 200. The vehicle can determine the entrance to the parking lot using images captured by its cameras and determine whether it has arrived at parking lot P using its GPS data. In some embodiments, server 200 can also receive environmental information and constructed maps of parking lot P collected by cruise control devices deployed in parking lot P. Of course, server 200 can also receive environmental information of parking lot P collected by image capture devices deployed in parking lot P and / or receive pre-configured maps of parking lot P.

[0097] S402. The server 200 generates a map of the parking lot P based on the received partial map of the parking lot P, and identifies available parking spaces and unavailable parking spaces in the parking lot P including temporary parking spaces based on the received perception data related to the sensors on the vehicle.

[0098] In this embodiment, server 200 can fuse local maps of parking lot P transmitted by different vehicles using a neural network, an image relocalization algorithm, or an iterative closest point (ICP) algorithm to generate a map of parking lot P. Furthermore, server 200 can also process sensor data received from vehicle sensors using a neural network to identify available and unavailable parking spaces in parking lot P, including temporary parking spaces. For example, the sensor data from the vehicle sensors can include data collected by the vehicle's lidar and camera. In this case, server 200 can generate a point cloud map from the lidar data and perform semantic extraction on the point cloud map to identify parking information in parking lot P, such as where vehicles are parked. Server 200 can also perform semantic extraction on the image to identify marked parking spaces in the parking lot, identify temporary parking areas, and divide temporary parking spaces within the temporary parking areas. For example, server 200 can use the road in parking lot P as the temporary parking area and then divide the road into fixed-size areas to obtain temporary parking spaces. Furthermore, server 200 can combine the point cloud map with the information recognized from the image to identify available and unavailable parking spaces in parking lot P. Both available and unavailable spaces include marked parking spaces and / or temporary parking spaces. Unavailable spaces can be understood as occupied parking spaces. In some embodiments, when the perception data associated with the vehicle's sensors does not include data collected by a lidar, server 200 can also perform depth estimation on the images captured by the camera and generate a point cloud map.

[0099] It should be noted that S401 and S402 are not necessary steps of the method, that is, S401 and S402 do not need to be performed every time the method is executed.

[0100] S403 : The vehicle 100 determines that it has entered the parking lot P. The vehicle 100 may determine the entrance of the parking lot through images captured by a camera configured thereon, and may determine whether it has arrived at the parking lot P through GPS data thereon.

[0101] S404: The vehicle 100 sends a parking space recommendation request to the server 200. When the vehicle 100 enters the parking lot P, it may send a parking space recommendation request to the server 200.

[0102] S405 : The server 200 sends a map of the parking lot P, available parking spaces, and unavailable parking spaces to the vehicle 100 .

[0103] S406. Vehicle 100 displays a map of parking lot P and presents available and unavailable parking spaces on the map. After receiving the map of parking lot P, available and unavailable parking spaces from server 200, vehicle 100 may display the map of parking lot P using a display screen associated with vehicle 100, and present available and unavailable parking spaces on the map. For example, the display screen of vehicle 100 may display an interface such as that shown in area 51 of FIG. 5 (A). Of course, vehicle 100 may not be displayed in area 51, which is not a limitation. Furthermore, when displaying available and unavailable parking spaces, vehicle 100 may distinguish between the two, allowing the user to intuitively understand which spaces are available and which are unavailable. That is, available and unavailable parking spaces may be displayed on the map with different markings. For example, referring to Figure 5 , in area 51, available parking spaces (e.g., parking space 54) can be marked with bold lines, while unavailable parking spaces (e.g., parking space 52) can be marked with non-bold lines. Of course, other marking methods, such as different colors, can also be used, and are not limited here. Furthermore, unavailable parking spaces can also be marked with vehicles, allowing users to more intuitively identify where vehicles are parked and where they are not. Furthermore, referring to Figure 5 , it can be seen that temporary parking spaces are demarcated on the roadway within the parking lot (i.e., the area outside the marked parking spaces).

[0104] S407: The vehicle 100 receives an operation from the user to select a target parking space from available parking spaces. The user may select a desired parking space (i.e., the target parking space) from the interface displayed on the vehicle 100. After the user completes the selection, the vehicle 100 receives the operation to select the target parking space.

[0105] S408: Vehicle 100 executes path planning and parks in the target parking space. After the user completes the parking space selection, vehicle 100 may execute path planning, which is a planned path for parking in the target parking space. Additionally, vehicle 100 may display the planned path so that the user can learn how to enter the target parking space. For example, referring to FIG5 , in FIG5 (A), after the user selects parking space 52, vehicle 100 may display the interface shown in FIG5 (B). In FIG5 (B), line 53 is the planned path for entering parking space 52. After completing path planning, vehicle 100 may be parked in the target parking space using the automatic parking system configured thereon. It should be understood that the user may also participate in the parking process, which may be determined based on actual circumstances and is not limited herein. Additionally, if the vehicle 100 is not configured with an automatic parking system, the user may also park vehicle 100 in the target parking space on their own. For example, with continued reference to FIG. 5 , after the vehicle 100 is parked in the parking space 52 , the vehicle 100 may display the interface shown in FIG. 5 (C) .

[0106] S409 , after the vehicle 100 parks in the target parking space, the vehicle 100 uploads its own constructed local map of the parking lot P and the perception data related to the sensors on the vehicle 100 to the server 200 .

[0107] S410 : The server 200 updates the map of the parking lot P, available parking spaces, and unavailable parking spaces based on the data uploaded by the vehicle 100 .

[0108] In this embodiment, after receiving data uploaded from vehicle 100, server 200 can update the map of parking lot P based on the local map of parking lot P uploaded by vehicle 100 to improve the map of parking lot P. For details, see the description in S402 above, which will not be repeated here. Simultaneously, server 200 can also update the available and unavailable parking spaces in parking lot P based on the perception data uploaded by vehicle 100, so as to timely update these spaces, thereby enabling subsequent vehicles entering parking lot P to obtain the latest information on available and unavailable parking spaces. For details, see the description in S402 above, which will not be repeated here. For example, referring again to FIG5 , after vehicle 100 parks in parking space 52, when another vehicle enters parking lot P, that vehicle may display the interface shown in FIG5 (C); of course, the identification of the vehicle that most recently entered parking lot P may also be displayed at this time.

[0109] In this way, by sharing information between vehicles, the available and unavailable parking spaces received by the vehicles can be kept up to date. At the same time, by dividing the temporary parking spaces in the parking lot, the number of available parking spaces in the parking lot can be increased, thereby improving the parking space utilization rate of the parking lot.

[0110] In some embodiments, after recommending available parking spaces to vehicle 100, a user may arbitrarily select a parking space, potentially impacting subsequent vehicles entering or exiting the parking lot. For example, referring to FIG5 , in FIG5 (A), available parking spaces include parking spaces 52 and 54. If the user chooses to park vehicle 100 in parking space 54, most vehicles will be unable to exit the parking lot. Therefore, to minimize this impact, server 200 may further rank available parking spaces, assigning lower priorities to parking spaces that may impact other vehicles and higher priorities to parking spaces that will not impact other vehicles. This allows users to select parking spaces based on their priority. For example, referring to FIG5 (A), parking space 52 may have a higher priority than parking space 54. To facilitate user intuitive understanding of the priority of different parking spaces, vehicle 100 may further identify parking spaces of different parking priorities using different symbols when displaying available parking spaces. For example, the parking spaces with the highest priority can be marked green, while the parking spaces with the lowest priority can be marked red, and so on. For example, since parking in a marked parking space has less impact on other vehicles, the parking priority of a marked parking space among the available parking spaces can be higher than the parking priority of a temporary parking space. In addition, when there are multiple marked parking spaces among the available parking spaces, these multiple marked parking spaces can also be graded, and different marked parking spaces can also have different parking priorities. When there are multiple temporary parking spaces among the available parking spaces, these multiple temporary parking spaces can also be graded, and different temporary parking spaces can also have different parking priorities. When the vehicle 100 displays the parking spaces among the available parking spaces on the map, different markings can be used to display parking spaces with different parking priorities, and different markings can indicate different parking priorities.

[0111] As a possible implementation, when grading the available parking spaces in the parking lot, the server 200 may grade the available parking spaces according to the occupancy levels of the unavailable parking spaces. Specifically, as shown in FIG6 , at S601, after a vehicle is parked in a parking space, the server 200 may begin recording the vehicle's parking time to calculate the parking time of each vehicle in the unavailable parking space. At S602, the server 200 may calculate the occupancy level of each parking space in the unavailable parking space based on the parking time of each vehicle and a preset occupancy level classification rule. Exemplarily, the occupancy level classification rule may be: when the number of parking days is ≥ 7 days, the occupancy level is high; when the number of parking days is 3 days ≤ the number of parking days < 7 days, the occupancy level is medium; and when the number of parking days is < 3 days, the occupancy level is medium. At S603, the server 200 determines the priority (i.e., parking priority) of each parking space in the available parking space based on the occupancy levels of the unavailable parking spaces surrounding the available parking space. For example, since parking in a marked parking space often does not affect other vehicles, the priority of the marked parking spaces among the available parking spaces can be set to high. For temporary parking spaces among the available parking spaces, the number of parking spaces with different occupancy levels adjacent to the temporary parking space can be counted. Then, the priority of the temporary parking space can be set based on the counted number of parking spaces with different occupancy levels. For example, for a temporary parking space among the available parking spaces, if the number of parking spaces with a high occupancy level adjacent to the temporary parking space is ≥2, and the number of parking spaces with medium and low occupancy levels are both ≤1, the priority of the temporary parking space can be determined to be medium. If the number of parking spaces with a high occupancy level adjacent to the temporary parking space is ≤1, the number of parking spaces with a medium occupancy level is >1, and the number of parking spaces with a low occupancy level is >2, the priority of the temporary parking space can be determined to be low. In addition, when determining the priority of parking spaces within the available parking spaces, factors such as the location of the parking space can also be considered. For example, for temporary parking spaces that may affect the passage of other vehicles, their priority can be set to low, and so on. For example, a certain parking space among the available parking spaces has a high priority, which can be understood as giving priority to selecting this parking space.

[0112] As another possible implementation, when grading available parking spaces in a parking lot, server 200 may grade available parking spaces based on the user's historical parking habits. Specifically, as shown in FIG7 , at S701, the user's historical parking space types in multiple parking lots are counted, categorized as exit-side parking spaces, entrance-side parking spaces, wall-side parking spaces, and so on, and the number of times each type of parking was used is recorded. At S702, the available parking spaces in the current parking lot are ranked based on the number of times each type of parking was used. Alternatively, the user's historical parking space locations in the current parking lot may be counted, the number of times each location was used to park, and the number of times the user parked at each location in the current parking lot is then used to grade the available parking spaces in the current parking lot.

[0113] As another possible implementation, when grading the available parking spaces in the parking lot, the server 200 may grade the available parking spaces according to the occupancy level of the non-parking spaces and the user's historical parking habits, that is, combining the two aforementioned methods to grade the available parking spaces. At this time, when grading, different weights may be assigned to different parking spaces in the current parking lot according to the user's historical parking habits. For example, a higher weight may be assigned to a parking space that matches the user's frequent parking location or type, while a lower weight may be assigned to a parking space that does not match the user's frequent parking location or type. Finally, the priority of the available parking spaces that are graded solely according to the occupancy level of the non-parking spaces may be adjusted using the weights of the different parking spaces. For example, the priority of the parking spaces may be scored, and the scoring formula is:

[0114] Among them, U level Score the priority, N OH N is the number of parking spaces with a higher occupation level next to the parking space to be graded. OM N is the number of parking spaces with a middle level next to the parking space to be graded. OL The number of parking spaces with lower occupation levels next to the parking spaces to be graded.

[0115] After calculating the priority score for the parking space to be graded, the score is multiplied by the weight of the parking space to obtain the final score for the parking space to be graded. Finally, all available parking spaces are sorted according to their scores, and one or more of the top available spaces are selected and recommended to the user. Of course, all available parking spaces can also be graded based on their scores; for example, the top five spaces with the highest scores are assigned high priority, spaces 6 through 10 are assigned medium priority, spaces 10 through 15 are assigned low priority, and so on.

[0116] In some embodiments, after a user parks a vehicle 100 in a parking space in a parking lot P, when the vehicle 100 needs to leave its current parking space, for example, to leave the parking lot P or to another location in the parking lot P, the vehicle 100 can be parked out using the vehicle parking method shown in FIG8 . Referring to FIG8 , FIG8 shows a schematic diagram of the steps of a vehicle parking method provided in an embodiment of the present application. As shown in FIG8 , the vehicle parking method may include the following steps:

[0117] S801: Vehicle 100 determines it needs to leave its target parking space. A user can issue a departure command to vehicle 100 via a mobile phone or other device, or can execute a departure operation on vehicle 100. For example, after the user starts vehicle 100, vehicle 100 may display a message on its display screen requesting the user to confirm whether to leave. After the user confirms, vehicle 100 confirms it needs to leave the target parking space. Furthermore, the user can select a destination, such as another location within the parking lot or exiting the parking lot.

[0118] S802: The vehicle 100 sends a departure request including a destination location to the server 200. When the user leaves a parking lot, the destination location may be, but is not limited to, the exit of the parking lot.

[0119] S803, the server 200 determines whether there is an obstructing vehicle on the departure route from the target parking space to the destination. The server 200 can independently plan a departure route for the vehicle 100. For example, as shown in (A) of Figure 9, when the vehicle 100 needs to leave the parking lot, the departure route planned by the server 200 can be route 91. After planning the departure route, the server 200 can determine whether there is an obstructing vehicle on the departure route based on the parking positions of each vehicle in the parking lot recorded by it. For example, continuing to refer to (A) of Figure 9, there is an obstructing vehicle 92 on the departure route 91. Among them, when there is no obstructing vehicle on the departure route, S804 to S807 can be executed; when there is an obstructing vehicle on the departure route, S808 to S827 can be executed.

[0120] S804: The server 200 sends a message indicating that there is no obstructing vehicle to the vehicle 100. In addition, the server 200 may also send an exit route to the vehicle 100.

[0121] S805: Vehicle 100 drives from the target parking space to the destination. Vehicle 100 may independently plan its route to the destination. Furthermore, after server 200 sends a departure route to vehicle 100, vehicle 100 may also drive along the departure route planned by server 200, which is not limited herein.

[0122] S806: After leaving the target parking space, the vehicle 100 may send a message to the server 200 indicating that it has left the target parking space.

[0123] S807 , the server 200 updates the available parking spaces and unavailable parking spaces in the parking lot P. For example, the server 200 may update the target parking space from an unavailable parking space to an available parking space.

[0124] S808: Server 200 determines whether the parking priority of the obstructing vehicle's parking space is higher than the parking priority of vehicle 100's parking space. If so, S809 to S818 are executed; otherwise, S819 to S828 are executed. If both the obstructing vehicle and vehicle 100's parking spaces are marked, their parking priorities are considered equal. Furthermore, if the two parking spaces are parent-child parking spaces, the parking space closer to the road is considered to have a lower parking priority. If one of the two parking spaces is a marked space and the other is a temporary parking space, the temporary parking space is considered to have a lower parking priority than the marked space. If both parking spaces are temporary parking spaces, the parking space that has a greater impact on other vehicles may have a lower parking priority. It should be noted that in S809 to S818, the obstructing vehicle first leaves its original position and then returns to its original position; whereas in S819 to S828, the obstructing vehicle first leaves its original position and then parks in the space previously occupied by vehicle 100. In this way, the parking priority of the subsequent parking spaces where the blocked vehicle is located can be higher, reducing the risk of affecting other vehicles.

[0125] S809: The server 200 sends a request to the blocking vehicle to move. For example, the server 200 may independently plan a position for the blocking vehicle and instruct the blocking vehicle to move to the position.

[0126] S810: The blocking vehicle moves away. The blocking vehicle may plan its own driving location, or it may drive to a location planned by the server 200, such as a marked parking space.

[0127] S811. After the blocking vehicle completes moving, it may send a message to the server 200 indicating that the moving has been completed.

[0128] S812: After the blocking vehicle leaves, the server 200 may send a message to the vehicle 100 indicating that there is no blocking vehicle.

[0129] S813: The vehicle 100 drives from the target parking space to the destination.

[0130] S814: After leaving the target parking space, the vehicle 100 may send a message to the server 200 indicating that it has left the target parking space.

[0131] S815. The server 200 sends a message to the blocking vehicle to instruct it to return to the original position.

[0132] S816. The blocked vehicle returns to its original position.

[0133] S817. After returning to the original position, the blocking vehicle sends a message to the server 200 indicating that it has returned to the original position.

[0134] S818: The server 200 updates the available parking spaces and unavailable parking spaces in the parking lot P.

[0135] It should be noted that in S809 to S818, when the moving request sent by the server 200 to the obstructing vehicle in S809 includes the latest parking space planned by the server 200 for the obstructing vehicle, the obstructing vehicle may no longer return to its original position after entering the parking space, that is, remain in the parking space it has most recently entered. In this case, it is not necessary to execute S815, S816, and S817. In other words, during the vehicle moving process, the server 200 can recommend a new parking space for the obstructing vehicle on its own, without having to let the obstructing vehicle return to its original position. Of course, when the obstructing vehicle enters a new parking space and does not return to its original position, the server 200 or the obstructing vehicle can notify the user of the vehicle moving behavior and notify the latest position of the obstructing vehicle so that the user can promptly understand the latest position of the vehicle.

[0136] S819: The server 200 sends a vehicle-moving request to the blocking vehicle.

[0137] S820: Move the blocking vehicle. For example, referring again to Figure 9 , in Figure 9(A), vehicle 92 is located on route 91, which is the path of vehicle 100 leaving the parking lot. Therefore, vehicle 92 is considered a blocking vehicle. Upon receiving the move request from server 200, vehicle 92 may execute a move operation, for example, moving to the position of vehicle 92 shown in Figure 9(B).

[0138] S821. After the blocking vehicle completes moving, it may send a message to the server 200 indicating that the moving has been completed.

[0139] S822: After the blocking vehicle leaves, the server 200 may send a message to the vehicle 100 indicating that there is no blocking vehicle.

[0140] S823: The vehicle 100 drives from the target parking space to the destination.

[0141] S824: After leaving the target parking space, vehicle 100 may send a message to server 200 indicating that it has left the target parking space. For example, referring to FIG9(B), vehicle 92 no longer blocks vehicle 100, and thus vehicle 100 may leave. After leaving (e.g., reaching the exit location shown in FIG9(C)), a message indicating that it has left may be sent to the server.

[0142] S825: The server 200 sends a message to the blocking vehicle indicating the target parking space where the parked vehicle 100 was previously located.

[0143] S826: Block the vehicle from parking in the target parking space. For example, referring to FIG9 , in FIG9 (C), the vehicle 100 has left the parking space, so as shown in FIG9 (D), the vehicle 92 can enter the parking space previously occupied by the vehicle 100.

[0144] S827 . After the blocking vehicle has parked in the target parking space, the blocking vehicle sends a message to the server 200 indicating that the blocking vehicle has parked in the target parking space.

[0145] S828: The server 200 updates the available parking spaces and unavailable parking spaces in the parking lot P.

[0146] In this way, the vehicle is parked out through the above-mentioned vehicle parking method. In addition, when the position of the obstructing vehicle changes, the obstructing vehicle can autonomously notify the user of the vehicle movement and notify the latest location. Of course, the user can also be notified of the vehicle movement and the latest location of the obstructing vehicle through server 200. In addition, if the obstructing vehicle does not have the free vehicle movement permission enabled, before S809, server 200 can send a vehicle movement request to the user associated with the obstructing vehicle, and then execute subsequent steps after the user authorizes it. Because this vehicle movement notification method is autonomously issued by the server, it can avoid contact between users, thereby reducing the incidence of conflicts.

[0147] In some embodiments, server 200 can update parking space information in the parking lot in real time or periodically (e.g., every 10 minutes). This ensures that the unparkable and available parking spaces in the parking lot are up to date, facilitating parking space management. After updating the parking space information, server 200 can recalculate the parking priority of each available parking space and sort the available spaces based on the parking priority. Furthermore, server 200 can also calculate the parking priority of each unparkable space when no vehicle is parked in that space. If server 200 calculates that the parking priority of a available space is higher than the parking priority of an unparkable space (i.e., the parking priority of the original parking plan), it can send a move request to the vehicle parked in the unparkable space, requesting that the vehicle be parked in the available space with the highest parking priority. For example, if the unparkable space is a temporary parking space and the available space is a marked parking space, the vehicle can be parked from the temporary parking space to the marked parking space. After the vehicle is parked in a new parking space, the server 200 may send a notification message to the terminal device used by the user so that the user can be informed of the parking space change information in a timely manner.

[0148] Furthermore, when the server 200 calculates that the parking priority of a certain available parking space is higher than the parking priority of a non-available space, it may first send a confirmation message to the user's terminal device. After receiving the confirmation message, the user can confirm whether to park the vehicle in the new parking space. Once the user confirms to park the vehicle in the new space, the server 200 may send a move request to the vehicle or its onboard terminal, etc., to move the vehicle into the new space. If the user refuses to move the vehicle, the server 200 may notify the next user so that they can confirm whether to park in a space with a higher parking priority. The order in which users are notified can be determined based on the length of their parking time. For example, users with shorter parking times may be notified first, followed by users with longer parking times, and so on. Of course, if the user is dissatisfied with their current parking space, they can manually select another available parking space from their terminal device. The server will then reassign the user-selected space to a higher parking priority space.

[0149] After receiving the moving request sent by the server 200, the vehicle can be parked in a new parking space.

[0150] It is understood that the size of the sequence number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. In addition, the various embodiments and / or steps in the embodiments described above can be combined according to actual conditions, and the combined scheme is still within the scope of protection of this application. In addition, the execution subject in the above method can also be replaced according to actual conditions, and the replaced scheme is still within the scope of protection of this application.

[0151] Next, based on the method in the above embodiment, the parking space recommendation device provided in the embodiment of the present application is introduced.

[0152] Exemplarily, FIG10 shows a schematic structural diagram of a parking space recommendation device provided in an embodiment of the present application. Exemplarily, the parking space recommendation device can be, but is not limited to, deployed on a first vehicle, such as the aforementioned vehicle 100. As shown in FIG10 , the parking space recommendation device 1000 includes: a communication module 1001 and a processing module 1002. The communication module 1001 is used to send a parking space recommendation request to the server when the first vehicle enters the parking lot, and to receive a map of the parking lot, information on available and unavailable parking spaces in the parking lot from the server (i.e., sent by the server), wherein the available parking spaces include temporary parking spaces, which are obtained based on the division of areas in the parking lot other than the marked parking spaces. The processing module 1002 is used to display a map of the parking lot, and to present available and unavailable parking spaces on the map.

[0153] In some embodiments, available parking spaces are identified differently from unavailable parking spaces on the map.

[0154] In some embodiments, on a map, and among available parking spaces, different temporary parking spaces have different first identifiers, wherein the first identifier is used to indicate the parking priority of the temporary parking space.

[0155] In some embodiments, the available parking spaces further include: marked parking spaces; on the map, and among the available parking spaces, the markings of the marked parking spaces are different from the markings of the temporary parking spaces.

[0156] In some embodiments, different marked parking spaces have different second identifiers, wherein the second identifier is used to indicate the parking priority of the marked parking space.

[0157] In some embodiments, the parking priority of a marked parking space is higher than the parking priority of an adjacent parking space.

[0158] In some embodiments, a vehicle logo is displayed on the map over the unparkable spaces.

[0159] In some embodiments, the processing module 1002 is further configured to: after the available parking spaces are presented on the map, in response to a user selecting a first parking space from the available parking spaces, park the first vehicle in the first parking space.

[0160] In some embodiments, the communication module 1001 is further used to: after the processing module 1002 parks the first vehicle in the first parking space, send a local map of the parking lot constructed by the first vehicle and perception data related to the sensors on the first vehicle to the server, so that the server updates the map of the parking lot and information on available and unavailable parking spaces in the parking lot.

[0161] In some embodiments, after the processing module 1002 parks the first vehicle in the first parking space, and the first vehicle blocks the exit route of the second vehicle from the second parking space, the communication module 1001 is also used to receive a vehicle moving request from the server; the processing module 1002 is also used to park the first vehicle in the third parking space recommended by the server.

[0162] In some embodiments, after the processing module 1002 parks the first vehicle into the first parking space and the first vehicle blocks the exit route of the second vehicle from the second parking space, the communication module 1001 is further used to receive a vehicle moving request from the server; the processing module 1002 is further used to drive the first vehicle out of the first parking space and stay outside the exit route; and, if the second vehicle has passed the first parking space, park the first vehicle into the first parking space, or if the second vehicle has left the second parking space and the route of the first vehicle parking into the second parking space does not affect the subsequent exit route of the second vehicle, park the first vehicle into the second parking space.

[0163] It should be understood that the above-mentioned device is used to execute the method executed by the vehicle in the above-mentioned embodiment. The implementation principle and technical effect of the corresponding program module in the device are similar to those described in the above-mentioned method. The working process of the device can refer to the corresponding process in the above-mentioned method and will not be repeated here.

[0164] Exemplarily, FIG11 shows a schematic structural diagram of another parking space recommendation device provided in an embodiment of the present application. Exemplarily, the parking space recommendation device can be, but is not limited to, deployed on a server, such as deployed on the aforementioned server 200. As shown in FIG11 , the parking space recommendation device 1100 includes: a processing module 1101 and a communication module 1102. The processing module 1101 is used to divide the area in the parking lot except the marked parking spaces to obtain at least one temporary parking space. The communication module 1102 is used to receive a parking space recommendation request from a first vehicle; and to send a map of the parking lot that the first vehicle enters, information on available parking spaces and non-parking spaces in the parking lot to the first vehicle, wherein the available parking spaces include temporary parking spaces.

[0165] In some embodiments, the communication module 1102 is further configured to receive sensing data associated with sensors on the first vehicle and a local map of the parking lot from the first vehicle. The processing module 1101 is configured to update information about available and unavailable parking spaces in the parking lot based on the sensing data associated with sensors on the first vehicle, and to update a map of the parking lot based on the local map of the parking lot.

[0166] In some embodiments, before the communication module 1102 sends a map of the parking lot that the first vehicle enters and information about available and unavailable parking spaces in the parking lot to the first vehicle, the communication module 1102 is further used to receive partial maps of the parking lot and perception data related to sensors on other vehicles sent from other vehicles, where the other vehicles are at least one vehicle other than the first vehicle; the processing module 1101 is further used to generate a map of the parking lot based on the partial maps of the parking lot sent by other vehicles, and to identify available and unavailable parking spaces in the parking lot based on the perception data related to sensors on other vehicles.

[0167] In some embodiments, after identifying available parking spaces in the parking lot, the processing module 1101 is further configured to: classify parking priorities of the parking spaces included in the available parking spaces.

[0168] In some embodiments, the processing module 1101 is further used to: when the first parking space where the first vehicle is located blocks the exit route of the second vehicle from the second parking space, instruct the first vehicle to drive from the first parking space into a third parking space and stay in the third parking space, wherein the third parking space is not on the exit route.

[0169] In some embodiments, the processing module 1101 is further used to: instruct the first vehicle to enter an area outside the exit route when the first parking space where the first vehicle is located blocks the exit route of the second vehicle from the second parking space; instruct the first vehicle to park in the first parking space when the second vehicle has passed the first parking space; or instruct the first vehicle to park in the second parking space when the second vehicle has left the second parking space and the route of the first vehicle parking in the second parking space does not affect the subsequent exit route of the second vehicle.

[0170] In some embodiments, after the second vehicle leaves the second parking space, the processing module 1101 is further configured to update information about available parking spaces and unavailable parking spaces in the parking lot.

[0171] It should be understood that the above-mentioned device is used to execute the method executed by the server in the above-mentioned embodiment. The implementation principle and technical effect of the corresponding program module in the device are similar to those described in the above-mentioned method. The working process of the device can refer to the corresponding process in the above-mentioned method and will not be repeated here.

[0172] The present application also provides a parking space recommendation device, which may include: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the method executed by the vehicle in the above embodiment, or implement the method executed by the server in the above embodiment. Exemplarily, when the parking space recommendation device can implement the method executed by the vehicle in the above embodiment, the parking space recommendation device can be, but is not limited to, an on-board terminal on the vehicle. When the parking space recommendation device can implement the method executed by the vehicle in the above embodiment, the parking space recommendation device can be, but is not limited to, a server, such as a cloud server.

[0173] The present application also provides a vehicle that can be equipped with a parking space recommendation device capable of implementing the method performed by the vehicle in the above embodiment.

[0174] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, including computer program instructions. When the computer program instructions are executed by a computing device, the computing device executes the method executed by the vehicle or server in the above embodiment. Exemplarily, the computer-readable storage medium can be any available medium that can be stored by the computing device or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive), etc.

[0175] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product containing instructions. When the instructions are executed by a computing device, the computing device executes the method executed by the vehicle or server in the above embodiment.

[0176] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0177] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0178] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)).

[0179] It will be understood that the various numerical numbers involved in the embodiments of the present application are merely distinctions for the convenience of description and are not intended to limit the scope of the embodiments of the present application.

[0180] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the protection scope of the technical solutions of the embodiments of the present application.

Claims

1. A parking space recommendation method, characterized in that: include: receiving a map of a parking lot and information about available and unavailable parking spaces in the parking lot from the server, wherein the parking lot is the parking lot currently entered by the first vehicle, and the available parking spaces include temporary parking spaces obtained by dividing an area of the parking lot excluding marked parking spaces; A map of the parking lot is displayed, and the unparkable spaces, the available spaces, and parking priorities of the available spaces are presented on the map.

2. The method according to claim 1, characterized in that On the map, the markings of the available parking spaces are different from the markings of the unavailable parking spaces.

3. The method according to claim 1 or 2, characterized in that On the map, and among the available parking spaces, different temporary parking spaces have different first identifiers, wherein the first identifier is used to indicate the parking priority of the temporary parking space.

4. The method according to any one of claims 1 to 3, characterized in that: The available parking spaces also include: marked parking spaces; On the map, and among the available parking spaces, the marking of the marked parking space is different from the marking of the temporary parking space.

5. The method according to claim 4, characterized in that Different marked parking spaces have different second identifiers, wherein the second identifier is used to indicate the parking priority of the marked parking space.

6. The method according to claim 4, characterized in that The parking priority of the marked parking space is higher than the parking priority of the temporary parking space.

7. The method according to any one of claims 1 to 6, characterized in that: The parking priority of the available parking space is determined based on one or more of an occupancy time of the unavailable parking space and a historical parking habit of a user of the first vehicle.

8. The method according to any one of claims 1 to 7, characterized in that: On the map, a vehicle logo is displayed on the unparkable space.

9. The method according to any one of claims 1 to 8, characterized in that: After presenting the available parking spaces on the map, the method further includes: In response to a user selecting a first parking space from the available parking spaces, the first vehicle is parked in the first parking space.

10. A parking space recommendation method, characterized in that: include: Receive a car moving request from the server; In response to the vehicle moving request, the first vehicle is parked from a first parking space where the first vehicle is currently located to a second parking space, wherein the parking priority of the second parking space is higher than the parking priority of the first parking space, and the first parking space and the second parking space are located in the same parking lot.

11. The method according to claim 10, characterized in that The second parking space is more consistent with the user's historical parking habits than the first parking space, or the first parking space has a greater impact on other vehicles than the second parking space.

12. The method according to claim 10 or 11, characterized in that The vehicle moving request is received after the available parking space information in the parking lot is updated and when no vehicle is parked in the second parking space. Alternatively, the vehicle moving request is received when the user selects to move the first vehicle to the second parking space from a terminal device.

13. The method according to any one of claims 10 to 12, characterized in that: The second parking space is a parking space where a second vehicle is parked, and the vehicle movement request is received when the first vehicle blocks an exit route of the second vehicle from the second parking space; Parking the first vehicle from the first parking space where the first vehicle is currently located to the second parking space includes: Driving the first vehicle out of the first parking space and stopping it outside the exit route; If the second vehicle has passed the first parking space, the first vehicle is parked in the first parking space; or, if the second vehicle has left the second parking space and the route of the first vehicle parking in the second parking space does not affect the route of the second vehicle leaving later, the first vehicle is parked in the second parking space.

14. A parking space recommendation method, characterized in that: Applicable to servers, including: receiving a parking space recommendation request from a first vehicle; A map of the parking lot into which the first vehicle enters and information about available and unavailable parking spaces in the parking lot are sent to the first vehicle, wherein the available parking spaces include temporary parking spaces obtained by the server based on a division of areas in the parking lot excluding marked parking spaces.

15. A parking space recommendation method, characterized in that: Applicable to servers, including: determining that a condition for moving a first vehicle is satisfied, wherein the first vehicle is parked in a first parking space in a parking lot, the condition for moving the first vehicle comprising one or more of: the first vehicle obstructing an exit route of a second vehicle from the parking space where the second vehicle is parked, a parking space having a higher parking priority than the first parking space existing after parking space information in the parking lot is updated, and receiving an instruction from a terminal device to move the vehicle; A moving request is sent to the first vehicle, where the moving request is at least used to instruct the first vehicle to be parked from the first parking space to a second parking space, wherein the parking priority of the second parking space is higher than the parking priority of the first parking space, and the second parking space is a historical parking space for the second vehicle or other vehicles, or the second parking space is an available parking space selected by the user on the terminal device.

16. The method according to claim 15, characterized in that The vehicle moving condition is that the first vehicle blocks the route of the second vehicle leaving the parking space where the second vehicle is located; The vehicle maneuvering request is used to instruct the first vehicle to first move into an area outside the exit route, and then park the first vehicle into the second parking space after the second vehicle leaves the second parking space and the route of the first vehicle parking into the second parking space does not affect the subsequent exit route of the second vehicle.

17. The method according to claim 15 or 16, characterized in that In the case where the first vehicle refuses to move, another vehicle is notified to move.

18. A parking space recommendation device, characterized in that: include: a communication module configured to receive a map of a parking lot and information about available and unavailable parking spaces in the parking lot from the server, wherein the parking lot is the parking lot currently entered by the first vehicle, and the available parking spaces include temporary parking spaces obtained by dividing an area of the parking lot excluding marked parking spaces; A processing module is configured to display a map of the parking lot, and present the unparkable spaces, the available spaces, and the parking priorities of the available spaces on the map.

19. The device according to claim 18, characterized in that On the map, the markings of the available parking spaces are different from the markings of the unavailable parking spaces.

20. The device according to claim 18 or 19, characterized in that On the map, and among the available parking spaces, different temporary parking spaces have different first identifiers, wherein the first identifier is used to indicate the parking priority of the temporary parking space.

21. The device according to any one of claims 18 to 20, characterized in that: The available parking spaces also include: marked parking spaces; On the map, and among the available parking spaces, the marking of the marked parking space is different from the marking of the temporary parking space.

22. The device according to claim 22, characterized in that Different marked parking spaces have different second identifiers, wherein the second identifier is used to indicate the parking priority of the marked parking space.

23. The device according to claim 21, characterized in that The parking priority of the marked parking space is higher than the parking priority of the temporary parking space.

24. The device according to any one of claims 18 to 23, characterized in that The parking priority of the available parking space is determined based on one or more of an occupancy time of the unavailable parking space and a historical parking habit of a user of the first vehicle.

25. The device according to any one of claims 18 to 24, characterized in that On the map, a vehicle logo is displayed on the unparkable space.

26. A parking space recommendation device, characterized in that: include: A communication module, used to receive a vehicle moving request from a server; A processing module is configured to park the first vehicle from a first parking space where the first vehicle is currently located to a second parking space in response to the vehicle moving request, wherein the parking priority of the second parking space is higher than the parking priority of the first parking space, and the first parking space and the second parking space are located in the same parking lot.

27. The device according to claim 26, characterized in that The vehicle moving request is received after the available parking space information in the parking lot is updated and when no vehicle is parked in the second parking space; Alternatively, the vehicle moving request is received when the user selects to move the first vehicle to the second parking space from a terminal device.

28. The device according to claim 26 or 27, characterized in that The second parking space is a parking space where a second vehicle is parked, and the vehicle movement request is received when the first vehicle blocks an exit route of the second vehicle from the second parking space; When the processing module parks the first vehicle from the first parking space where the first vehicle is currently located to the second parking space, the processing module is specifically configured to: Driving the first vehicle out of the first parking space and stopping it outside the exit route; If the second vehicle has passed the first parking space, the first vehicle is parked in the first parking space; or, if the second vehicle has left the second parking space and the route of the first vehicle parking in the second parking space does not affect the route of the second vehicle leaving later, the first vehicle is parked in the second parking space.

29. A parking space recommendation device, characterized in that: Deployed on the server, including: a processing module configured to determine whether a condition for moving a first vehicle is satisfied, wherein the first vehicle is parked in a first parking space in a parking lot, and the condition for moving the first vehicle comprises one or more of: the first vehicle obstructing a second vehicle's exit path from the parking space where the second vehicle is parked; a parking space having a higher parking priority than the first parking space exists after parking space information in the parking lot is updated; and a command instructing the first vehicle to move the first vehicle is received from a terminal device. A communication module is used to send a moving request to the first vehicle, where the moving request is at least used to instruct the first vehicle to be parked from the first parking space to a second parking space, wherein the parking priority of the second parking space is higher than the parking priority of the first parking space, and the second parking space is a historical parking space for the second vehicle or other vehicles, or the second parking space is a parking space selected by the user on the terminal device.

30. The device according to claim 29, characterized in that The vehicle moving condition is that the first vehicle blocks the route of the second vehicle leaving the parking space where the second vehicle is located; The vehicle maneuvering request is used to instruct the first vehicle to first move into an area outside the exit route, and then park the first vehicle into the second parking space after the second vehicle leaves the second parking space and the route of the first vehicle parking into the second parking space does not affect the subsequent exit route of the second vehicle.

31. A parking space recommendation device, characterized in that: include: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 9, or implement the method according to claim 14, or implement the method according to any one of claims 10 to 13, or implement the method according to claim 15 or 16, or implement the method according to claim 17.

32. A vehicle, characterized in that: include: The parking space recommendation device as described in claim 31 and used to implement the method according to any one of claims 1 to 9, or comprising: the parking space recommendation device as described in claim 31 and used to implement the method according to any one of claims 10 to 13.

33. A computer-readable storage medium, characterized in that The method comprises computer program instructions, which, when executed by a computing device, cause the computing device to perform the method according to any one of claims 1 to 17.

34. A computer program product comprising instructions, characterized in that When the instructions are executed by a computing device, the computing device is caused to perform the method according to any one of claims 1 to 17.

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