CN109572687A - It parks control method, device, electronic equipment and storage medium - Google Patents
It parks control method, device, electronic equipment and storage medium Download PDFInfo
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- CN109572687A CN109572687A CN201811638549.8A CN201811638549A CN109572687A CN 109572687 A CN109572687 A CN 109572687A CN 201811638549 A CN201811638549 A CN 201811638549A CN 109572687 A CN109572687 A CN 109572687A
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- 238000000034 method Methods 0.000 title claims abstract description 63
- 238000003062 neural network model Methods 0.000 claims description 30
- 210000005036 nerve Anatomy 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 25
- 238000010586 diagram Methods 0.000 description 11
- 238000013461 design Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
It parks control method, device, electronic equipment and storage medium the embodiment of the invention discloses one kind.The described method includes: receiving the corresponding instruction of currently parking in the predetermined current location that the corresponding server device in the current parking lot is sent if current vehicle meets autonomous parking condition on the current location in current parking lot；Next position in the current parking lot, the target position until current vehicle pool to be placed on to the current parking lot are driven to from the current location in the current parking lot according to the instruction control current vehicle of currently parking.It can be effectively reduced cost of parking, simplify complexity of parking.
Description
Technical field
It parks control method, device, electricity the present embodiments relate to automatic driving vehicle technical field more particularly to one kind
Sub- equipment and storage medium.
Background technique
In modern society, automobile has become one of most important traffic mode of people.The road crowded state of China
Equally it is embodied in parking.Especially in the busy place in a line city, parking occupies people's plenty of time, affects trip
Efficiency.In addition the behavior of mankind's parking is filled with uncertainty, and related to mood, in a large amount of vehicle queue to be stopped in parking lot
When waiting, often cause confusion and crowded, the normal parking order of damage.Therefore, efficient parking lot automatic parking
Method is just very necessary.
Existing autonomous parking system be by automobile build-in function itself (such as by onboard sensor perceive periphery vehicle
The environment dynamic such as position Pedestrians and vehicles carries out the function of route planning to vehicle) realize autonomous parking.But due to built-in vehicle function
It can be each depot's independent development, belong to the build-in function of corresponding vehicle, lack unified design standard, and for left over by history
Vehicle, which needs to reequip, can just have, and therefore, parking lot lacks the coordinated planning between more vehicles at present, only to existing parking
Field is adaptively transformed, and can just accomplish to realize uniformly automatic parking to all vehicles.In addition, current autonomous parking function
It can need that expensive sensor is installed, cost of parking is very high.
Summary of the invention
It parks control method, device, electronic equipment and storage medium in view of this, the embodiment of the present invention provides one kind, it can
To be effectively reduced cost of parking, simplify complexity of parking.
In a first aspect, parking control method the embodiment of the invention provides one kind, which comprises
If current vehicle meets autonomous parking condition on the current location in current parking lot, the current parking lot is received
The corresponding instruction of currently parking in the predetermined current location that corresponding server device is sent；
The current vehicle is controlled according to the instruction of currently parking to drive to from the current location in the current parking lot
Next position in the current parking lot, the target position until current vehicle pool to be placed on to the current parking lot.
In the above-described embodiments, if the current vehicle meets autonomous parking item on the current location in current parking lot
Part, the corresponding current pool in the predetermined current location for receiving that the corresponding server device in the current parking lot sends
Vehicle instruction, comprising:
If global position system GPS signal strength of the current vehicle in current position is greater than preset threshold, receive
The corresponding instruction of currently parking in the predetermined current location that the corresponding server device in the current parking lot is sent.
In the above-described embodiments, predefining for the corresponding server device transmission in the current parking lot is received described
The current location it is corresponding currently park before instruction, the method also includes:
Obtain park configuration information of the current vehicle on the current location；Wherein, the configuration information of parking
It include: manually park configuration information and autonomous parking configuration information；
If park configuration information of the current vehicle on the current location is the autonomous parking configuration information,
It is corresponding current that execution receives the predetermined current location that the corresponding server device in the current parking lot is sent
It parks the operation of instruction.
In the above-described embodiments, the method also includes:
During the current vehicle drives to next position from the current location, Xiang Suoshu server-side
Equipment sends each frame image in the current parking lot, so that each frame figure of the server device according to the current parking lot
As determining the corresponding instruction of currently parking in the current location by neural network model.
Second aspect is parked control method the embodiment of the invention provides another kind, which comprises
If current vehicle meets autonomous parking condition on the current location in current parking lot, in the database pre-established
It is middle to obtain the corresponding instruction of currently parking in the current location；
The corresponding instruction of currently parking in the current location is sent to the client device of the current vehicle, so that institute
It states client device and controls current location row of the current vehicle from the current parking lot according to the instruction of currently parking
The next position for sailing to the current parking lot, the target position until current vehicle pool to be placed on to the current parking lot
It sets.
In the above-described embodiments, described to obtain that the current location is corresponding currently to park in the database pre-established
Instruction, comprising:
Obtain coordinate information of the current vehicle on the current location；
Institute is obtained in the database pre-established in the coordinate information on the current location according to the current vehicle
State the corresponding instruction of currently parking in current location.
In the above-described embodiments, the method also includes:
During the current vehicle drives to next position from the current location, the client is received
Each frame image in the current parking lot that end equipment is sent；
According to each frame image in the current parking lot that the client device is sent, determined by neural network model
The corresponding instruction of currently parking in the current location out.
In the above-described embodiments, described that the corresponding finger of currently parking in the current location is determined by neural network model
It enables, comprising:
The corresponding image feature information of each frame image is extracted by the neural network model；
The corresponding instruction of currently parking in the current location is determined according to the corresponding image feature information of each frame image.
The third aspect is parked control device the embodiment of the invention provides one kind, and described device includes: command reception module
With control module of parking；Wherein,
Described instruction receiving module, if meeting autonomous parking item on the current location in current parking lot for current vehicle
Part, the corresponding current pool in the predetermined current location for receiving that the corresponding server device in the current parking lot sends
Vehicle instruction；
The control module of parking currently is stopped for controlling the current vehicle according to the instruction of currently parking from described
The current location in parking lot drives to next position in the current parking lot, until current vehicle pool is placed on described work as
The target position in preceding parking lot.
In the above-described embodiments, described instruction receiving module, if specifically for the current vehicle in current position
GPS signal strength is greater than preset threshold, receives the predetermined institute that the corresponding server device in the current parking lot is sent
State the corresponding instruction of currently parking in current location.
In the above-described embodiments, described instruction receiving module is specifically used for obtaining the current vehicle in the present bit
The configuration information of parking set；Wherein, the configuration information of parking includes: manually to park configuration information and autonomous parking with confidence
Breath；If park configuration information of the current vehicle on the current location is the autonomous parking configuration information, execute
Receive that the predetermined current location that the corresponding server device in the current parking lot is sent is corresponding currently to park
The operation of instruction.
In the above-described embodiments, described device further include: image sending module, for working as in the current vehicle from described
During front position drives to next position, Xiang Suoshu server device sends each frame figure in the current parking lot
Picture, so that the server device determines described work as by neural network model according to each frame image in the current parking lot
The corresponding instruction of currently parking in front position.
Fourth aspect is parked control device the embodiment of the invention provides another kind, and described device includes: that instruction obtains mould
Block and instruction sending module；Wherein,
Described instruction obtains module, if meeting autonomous parking item on the current location in current parking lot for current vehicle
Part obtains the corresponding instruction of currently parking in the current location in the database pre-established；
Described instruction sending module described works as front truck for the corresponding instruction of currently parking in the current location to be sent to
Client device work as so that the client device controls the current vehicle according to the instruction of currently parking from described
The current location in preceding parking lot drives to next position in the current parking lot, until current vehicle pool is placed on institute
State the target position in current parking lot.
In the above-described embodiments, described instruction obtains module, is specifically used for obtaining the current vehicle in the present bit
The coordinate information set；According to the current vehicle in the coordinate information on the current location in the database pre-established
Obtain the corresponding instruction of currently parking in the current location.
In the above-described embodiments, described device further include: image receiver module and instruction determining module；Wherein,
Described image receiving module, for driving to next position from the current location in the current vehicle
During, receive each frame image in the current parking lot that the client device is sent；
Described instruction determining module, each frame figure in the current parking lot for being sent according to the client device
Picture determines the corresponding instruction of currently parking in the current location by neural network model.
In the above-described embodiments, described instruction determining module, specifically for being extracted respectively by the neural network model
The corresponding image feature information of frame image；Determine that the current location is corresponding according to the corresponding image feature information of each frame image
Currently park instruction.
5th aspect, the embodiment of the invention provides a kind of electronic equipment, comprising:
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes control method of parking described in any embodiment of that present invention.
6th aspect, the embodiment of the invention provides a kind of storage mediums, are stored thereon with computer program, the program quilt
Control method of parking described in any embodiment of that present invention is realized when processor executes.
The embodiment of the present invention proposes one kind and parks control method, device, electronic equipment and storage medium, if current vehicle
Meet autonomous parking condition on the current location in current parking lot, first receives the corresponding server device in current parking lot and send
Predetermined current location corresponding currently park instruction；Then according to instruction control current vehicle of currently parking from current
The current location in parking lot drives to next position in current parking lot, until current vehicle pool is placed on current parking lot
Target position.That is, in the inventive solutions, can control current vehicle and instruct according to currently parking from current
The current location in parking lot drives to next position in current parking lot, until current vehicle pool is placed on current parking lot
Target position.And existing autonomous parking system is to realize autonomous parking by automobile build-in function itself.But due to vehicle
Build-in function is each depot's independent development, belongs to the build-in function of corresponding vehicle, lacks unified design standard, and for going through
History, which leaves vehicle and needs to reequip, can just have, and therefore, parking lot lacks the coordinated planning between more vehicles at present, only to existing
Parking lot be adaptively transformed, can just accomplish to realize uniformly automatic parking to all vehicles.Therefore with existing skill
Art is compared, and control method of parking, device, electronic equipment and the storage medium that the embodiment of the present invention proposes can be effectively reduced
It parks cost, simplifies complexity of parking；Also, the technical solution realization of the embodiment of the present invention is simple and convenient, it is universal to be convenient for, and is applicable in
Range is wider.
Detailed description of the invention
Fig. 1 is the flow chart for the control method of parking that the embodiment of the present invention one provides；
Fig. 2 is the flow chart of control method provided by Embodiment 2 of the present invention of parking；
Fig. 3 is the flow chart for the control method of parking that the embodiment of the present invention three provides；
Fig. 4 is the flow chart for the control method of parking that the embodiment of the present invention four provides；
Fig. 5 is the first structure diagram for the control device of parking that the embodiment of the present invention five provides；
Fig. 6 is the second structural schematic diagram of the control device of parking that the embodiment of the present invention five provides；
Fig. 7 is the first structure diagram for the control device of parking that the embodiment of the present invention six provides；
Fig. 8 is the second structural schematic diagram of the control device of parking that the embodiment of the present invention six provides；
Fig. 9 is the structural schematic diagram for the electronic equipment that the embodiment of the present invention seven provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
In description, only some but not all contents related to the present invention are shown in the drawings.
Embodiment one
Fig. 1 is the flow chart for the control method of parking that the embodiment of the present invention one provides.Control provided in this embodiment of parking
Method can by park control device perhaps client device come execute the device or client device can by software and/
Or the mode of hardware is realized, the device or client device can integrate in any smart machine with network communicating function
In.As shown in Figure 1, control method of parking may include:
If S101, current vehicle meet autonomous parking condition on the current location in current parking lot, current parking is received
The corresponding instruction of currently parking in the predetermined current location that the corresponding server device in field is sent.
In a specific embodiment of the present invention, if current vehicle meets autonomous parking on the current location in current parking lot
Condition, it is corresponding that client device can receive the predetermined current location that the corresponding server device in current parking lot is sent
Currently park instruction.Specifically, if GPS signal strength of the current vehicle in current position is greater than preset threshold, client
Equipment can receive that predetermined current location that the corresponding server device in current parking lot is sent is corresponding currently to park
Instruction.
S102, current parking is driven to from the current location in current parking lot according to instruction control current vehicle is currently parked
Next position of field, the target position until current vehicle pool to be placed on to current parking lot.
In a specific embodiment of the present invention, client device can be according to instruction control current vehicle of currently parking from working as
The current location in preceding parking lot drives to next position in current parking lot, until current vehicle pool is placed on current parking lot
Target position.Specifically, client device can according to currently park instruction control current vehicle turn left, turn right, advance or
Person falls back, thus realize next position that current vehicle is driven to current parking lot from the current location in current parking lot,
Target position until current vehicle pool to be placed on to current parking lot.
Preferably, in a specific embodiment of the present invention, client device is receiving the corresponding server-side in current parking lot
Before the corresponding instruction of currently parking in the predetermined current location that equipment is sent, driven in current vehicle from current location
During next position, client device can send each frame image in current parking lot to server device, so that clothes
Business end equipment can determine that current location is corresponding current by neural network model according to each frame image in current parking lot
It parks instruction.Specifically, server device can extract the corresponding characteristics of image letter of each frame image by neural network model
Breath；The corresponding instruction of currently parking in current location is determined according to the corresponding image feature information of each frame image.Specifically, it services
Each frame image in current parking lot can be sent to the input terminal of neural network model by end equipment, and then server device can be with
The corresponding instruction of currently parking in current location is got in the output end of neural network model.
The control method of parking that the embodiment of the present invention proposes, if current vehicle meets on the current location in current parking lot
Autonomous parking condition, first receives that predetermined current location that the corresponding server device in current parking lot is sent is corresponding to work as
Before park instruction；Then it drives to according to instruction control current vehicle of currently parking from the current location in current parking lot and currently stops
Next position in parking lot, the target position until current vehicle pool to be placed on to current parking lot.That is, of the invention
In technical solution, it can control current vehicle and driven to according to instruction of currently parking from the current location in current parking lot and currently stopped
Next position in parking lot, the target position until current vehicle pool to be placed on to current parking lot.And existing autonomous parking system
System is to realize autonomous parking by automobile build-in function itself.But since built-in vehicle function is each depot's independent development,
The build-in function for belonging to corresponding vehicle lacks unified design standard, and needs repacking that can just have on left over by history vehicle,
Therefore, parking lot lacks the coordinated planning between more vehicles at present, and only existing parking lot is adaptively transformed,
It can accomplish to realize uniformly automatic parking to all vehicles.Therefore, compared to the prior art, the pool that the embodiment of the present invention proposes
Vehicle control method can be effectively reduced cost of parking, and simplify complexity of parking；Also, the technical solution of the embodiment of the present invention
Realize it is simple and convenient, convenient for universal, the scope of application is wider.
Embodiment two
Fig. 2 is the flow chart of control method provided by Embodiment 2 of the present invention of parking.As shown in Fig. 2, control method of parking
May include:
If S201, current vehicle meet autonomous parking condition on the current location in current parking lot, current vehicle is obtained
Configuration information of parking on current location；Wherein, configuration information of parking includes: manually to park configuration information and autonomous parking is matched
Confidence breath.
In a specific embodiment of the present invention, if current vehicle meets autonomous parking on the current location in current parking lot
Condition, park configuration information of the available current vehicle of client device on current location；Wherein, it parks configuration information packet
It includes: manually park configuration information and autonomous parking configuration information.Specifically, if current vehicle current position GPS signal
Intensity is greater than preset threshold, park configuration information of the available current vehicle of client device on current location.In this hair
In bright specific embodiment, park configuration information of the current vehicle on current location can be pre-configured with；If parking with confidence
Breath is autonomous parking configuration information, then client device can execute control method provided in an embodiment of the present invention of parking；If pool
Vehicle configuration information is configuration information of manually parking, then client device does not execute controlling party provided in an embodiment of the present invention of parking
Method.
If the configuration information of parking of S202, current vehicle on current location is autonomous parking configuration information, receive current
The corresponding instruction of currently parking in the predetermined current location that the corresponding server device in parking lot is sent.
In a specific embodiment of the present invention, if park configuration information of the current vehicle on current location is autonomous parking
Configuration information, client device can receive the predetermined current location that the corresponding server device in current parking lot is sent
Corresponding instruction of currently parking；If the configuration information of parking of current vehicle is configuration information of manually parking, client device is not connect
Receive the corresponding instruction of currently parking in predetermined current location that the corresponding server device in current parking lot is sent.
S203, current parking is driven to from the current location in current parking lot according to instruction control current vehicle is currently parked
Next position of field, the target position until current vehicle pool to be placed on to current parking lot.
In a specific embodiment of the present invention, client device can be according to instruction control current vehicle of currently parking from working as
The current location in preceding parking lot drives to next position in current parking lot, until current vehicle pool is placed on current parking lot
Target position.Specifically, client device can according to currently park instruction control current vehicle turn left, turn right, advance or
Person falls back, thus realize next position that current vehicle is driven to current parking lot from the current location in current parking lot,
Target position until current vehicle pool to be placed on to current parking lot.
Preferably, in a specific embodiment of the present invention, client device is receiving the corresponding server-side in current parking lot
Before the corresponding instruction of currently parking in the predetermined current location that equipment is sent, driven in current vehicle from current location
During next position, client device can send each frame image in current parking lot to server device, so that clothes
Business end equipment can determine that current location is corresponding current by neural network model according to each frame image in current parking lot
It parks instruction.Specifically, server device can extract the corresponding characteristics of image letter of each frame image by neural network model
Breath；The corresponding instruction of currently parking in current location is determined according to the corresponding image feature information of each frame image.Specifically, it services
Each frame image in current parking lot can be sent to the input terminal of neural network model by end equipment, and then server device can be with
The corresponding instruction of currently parking in current location is got in the output end of neural network model.
The control method of parking that the embodiment of the present invention proposes, if current vehicle meets on the current location in current parking lot
Autonomous parking condition, first receives that predetermined current location that the corresponding server device in current parking lot is sent is corresponding to work as
Before park instruction；Then it drives to according to instruction control current vehicle of currently parking from the current location in current parking lot and currently stops
Next position in parking lot, the target position until current vehicle pool to be placed on to current parking lot.That is, of the invention
In technical solution, it can control current vehicle and driven to according to instruction of currently parking from the current location in current parking lot and currently stopped
Next position in parking lot, the target position until current vehicle pool to be placed on to current parking lot.And existing autonomous parking system
System is to realize autonomous parking by automobile build-in function itself.But since built-in vehicle function is each depot's independent development,
The build-in function for belonging to corresponding vehicle lacks unified design standard, and needs repacking that can just have on left over by history vehicle,
Therefore, parking lot lacks the coordinated planning between more vehicles at present, and only existing parking lot is adaptively transformed,
It can accomplish to realize uniformly automatic parking to all vehicles.Therefore, compared to the prior art, the pool that the embodiment of the present invention proposes
Vehicle control method can be effectively reduced cost of parking, and simplify complexity of parking；Also, the technical solution of the embodiment of the present invention
Realize it is simple and convenient, convenient for universal, the scope of application is wider.
Embodiment three
Fig. 3 is the flow chart for the control method of parking that the embodiment of the present invention three provides.As shown in figure 3, control method of parking
May include:
If S301, current vehicle meet autonomous parking condition on the current location in current parking lot, what is pre-established
The corresponding instruction of currently parking in current location is obtained in database.
In a specific embodiment of the present invention, if current vehicle meets autonomous parking on the current location in current parking lot
Condition, server device can obtain the corresponding instruction of currently parking in current location in the database pre-established.Specifically,
If GPS signal strength of the current vehicle in current position is greater than preset threshold, server device can be in the number pre-established
According to the corresponding instruction of currently parking in acquisition current location in library.
S302, the client device that the corresponding instruction of currently parking in current location is sent to current vehicle, so that client
End equipment drives under current parking lot according to instruction control current vehicle is currently parked from the current location in current parking lot
One position, the target position until current vehicle pool to be placed on to current parking lot.
In a specific embodiment of the present invention, server device can send the corresponding instruction of currently parking in current location
To the client device of current vehicle, so that client device controls current vehicle from current parking lot according to instruction of currently parking
Current location drive to next position in current parking lot, the target position until current vehicle pool to be placed on to current parking lot
It sets.Preferably, in a specific embodiment of the present invention, client device is receiving the corresponding server device hair in current parking lot
The predetermined current location sent is corresponding currently to park before instruction, drives in current vehicle from current location next
During position, client device can send each frame image in current parking lot to server device, so that server-side is set
It is standby the corresponding finger of currently parking in current location to be determined by neural network model according to each frame image in current parking lot
It enables.Specifically, server device can extract the corresponding image feature information of each frame image by neural network model；According to
The corresponding image feature information of each frame image determines the corresponding instruction of currently parking in current location.Specifically, server device
Each frame image in current parking lot can be sent to the input terminal of neural network model, then server device can be in nerve
The output end of network model gets the corresponding instruction of currently parking in current location.
The control method of parking that the embodiment of the present invention proposes, if current vehicle meets on the current location in current parking lot
Autonomous parking condition, first receives that predetermined current location that the corresponding server device in current parking lot is sent is corresponding to work as
Before park instruction；Then it drives to according to instruction control current vehicle of currently parking from the current location in current parking lot and currently stops
Next position in parking lot, the target position until current vehicle pool to be placed on to current parking lot.That is, of the invention
In technical solution, it can control current vehicle and driven to according to instruction of currently parking from the current location in current parking lot and currently stopped
Next position in parking lot, the target position until current vehicle pool to be placed on to current parking lot.And existing autonomous parking system
System is to realize autonomous parking by automobile build-in function itself.But since built-in vehicle function is each depot's independent development,
The build-in function for belonging to corresponding vehicle lacks unified design standard, and needs repacking that can just have on left over by history vehicle,
Therefore, parking lot lacks the coordinated planning between more vehicles at present, and only existing parking lot is adaptively transformed,
It can accomplish to realize uniformly automatic parking to all vehicles.Therefore, compared to the prior art, the pool that the embodiment of the present invention proposes
Vehicle control method can be effectively reduced cost of parking, and simplify complexity of parking；Also, the technical solution of the embodiment of the present invention
Realize it is simple and convenient, convenient for universal, the scope of application is wider.
Example IV
Fig. 4 is the flow chart for the control method of parking that the embodiment of the present invention four provides.As shown in figure 4, control method of parking
May include:
If S401, current vehicle meet autonomous parking condition on the current location in current parking lot, current vehicle is obtained
Coordinate information on current location.
In a specific embodiment of the present invention, if current vehicle meets autonomous parking on the current location in current parking lot
Condition, coordinate information of the available current vehicle of server device on current location.Specifically, if current vehicle is current
GPS signal strength at position is greater than preset threshold, coordinate of the available current vehicle of server device on current location
Information.For example, latitude and longitude information of the available current vehicle of server device on current location.
S402, present bit is obtained in the database pre-established according to coordinate information of the current vehicle on current location
Set corresponding instruction of currently parking.
In a specific embodiment of the present invention, server device can be believed according to coordinate of the current vehicle on current location
Breath obtains the corresponding instruction of currently parking in current location in the database pre-established.Specifically, server device can protect
Deposit the corresponding relationship of current location with instruction of currently parking.For example, current location 1 it is corresponding currently park instruction for instruction 1, when
The corresponding instruction of currently parking in front position 2 be instruction 2 ..., current location N is corresponding currently parks that instruct be command N；Wherein, N
For the natural number more than or equal to 1.
S403, the client device that the corresponding instruction of currently parking in current location is sent to current vehicle, so that client
End equipment drives under current parking lot according to instruction control current vehicle is currently parked from the current location in current parking lot
One position, the target position until current vehicle pool to be placed on to current parking lot.
In a specific embodiment of the present invention, server device can send the corresponding instruction of currently parking in current location
To the client device of current vehicle, so that client device controls current vehicle from current parking lot according to instruction of currently parking
Current location drive to next position in current parking lot, the target position until current vehicle pool to be placed on to current parking lot
It sets.Preferably, in a specific embodiment of the present invention, client device is receiving the corresponding server device hair in current parking lot
The predetermined current location sent is corresponding currently to park before instruction, drives in current vehicle from current location next
During position, client device can send each frame image in current parking lot to server device, so that server-side is set
It is standby the corresponding finger of currently parking in current location to be determined by neural network model according to each frame image in current parking lot
It enables.Specifically, server device can extract the corresponding image feature information of each frame image by neural network model；According to
The corresponding image feature information of each frame image determines the corresponding instruction of currently parking in current location.Specifically, server device
Each frame image in current parking lot can be sent to the input terminal of neural network model, then server device can be in nerve
The output end of network model gets the corresponding instruction of currently parking in current location.
The control method of parking that the embodiment of the present invention proposes, if current vehicle meets on the current location in current parking lot
Autonomous parking condition, first receives that predetermined current location that the corresponding server device in current parking lot is sent is corresponding to work as
Before park instruction；Then it drives to according to instruction control current vehicle of currently parking from the current location in current parking lot and currently stops
Next position in parking lot, the target position until current vehicle pool to be placed on to current parking lot.That is, of the invention
In technical solution, it can control current vehicle and driven to according to instruction of currently parking from the current location in current parking lot and currently stopped
Next position in parking lot, the target position until current vehicle pool to be placed on to current parking lot.And existing autonomous parking system
System is to realize autonomous parking by automobile build-in function itself.But since built-in vehicle function is each depot's independent development,
The build-in function for belonging to corresponding vehicle lacks unified design standard, and needs repacking that can just have on left over by history vehicle,
Therefore, parking lot lacks the coordinated planning between more vehicles at present, and only existing parking lot is adaptively transformed,
It can accomplish to realize uniformly automatic parking to all vehicles.Therefore, compared to the prior art, the pool that the embodiment of the present invention proposes
Vehicle control method can be effectively reduced cost of parking, and simplify complexity of parking；Also, the technical solution of the embodiment of the present invention
Realize it is simple and convenient, convenient for universal, the scope of application is wider.
Embodiment five
Fig. 5 is the first structure diagram for the control device of parking that the embodiment of the present invention five provides.As shown in figure 5, this hair
Control device of parking described in bright embodiment includes: command reception module 501 and control module 502 of parking；Wherein,
Described instruction receiving module 501, if meeting autonomous pool on the current location in current parking lot for current vehicle
Spoke part, receives that the predetermined current location that the corresponding server device in the current parking lot is sent is corresponding to work as
Before park instruction；
The control module 502 of parking is worked as controlling the current vehicle according to the instruction of currently parking from described
The current location in preceding parking lot drives to next position in the current parking lot, until current vehicle pool is placed on institute
State the target position in current parking lot.
Further, described instruction receiving module 501, if the GPS specifically for the current vehicle in current position
Signal strength is greater than preset threshold, and receive that the corresponding server device in the current parking lot sends predetermined described works as
The corresponding instruction of currently parking in front position.
Further, described instruction receiving module 501 is specifically used for obtaining the current vehicle on the current location
Configuration information of parking；Wherein, the configuration information of parking includes: manually park configuration information and autonomous parking configuration information；
If park configuration information of the current vehicle on the current location is the autonomous parking configuration information, reception is executed
The corresponding instruction of currently parking in the predetermined current location that the corresponding server device in the current parking lot is sent
Operation.
Fig. 6 is the second structural schematic diagram of the control device of parking that the embodiment of the present invention five provides.As shown in fig. 6, described
Device further include: image sending module 503, for driving to next position from the current location in the current vehicle
During setting, Xiang Suoshu server device sends each frame image in the current parking lot, so that the server device root
The corresponding finger of currently parking in the current location is determined by neural network model according to each frame image in the current parking lot
It enables.
Control method of parking provided by the embodiment of the present invention one and embodiment two, tool can be performed in above-mentioned control device of parking
The standby corresponding functional module of execution method and beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to this
The control method of parking that invention any embodiment provides.
Embodiment six
Fig. 7 is the first structure diagram for the control device of parking that the embodiment of the present invention six provides.As shown in fig. 7, this hair
Control device of parking described in bright embodiment includes: instruction acquisition module 701 and instruction sending module 702；Wherein,
Described instruction obtains module 701, if meeting autonomous pool on the current location in current parking lot for current vehicle
Spoke part obtains the corresponding instruction of currently parking in the current location in the database pre-established；
Described instruction sending module 702, for the corresponding instruction of currently parking in the current location to be sent to described work as
The client device of vehicle in front, so that the client device controls the current vehicle from institute according to the instruction of currently parking
The current location for stating current parking lot drives to next position in the current parking lot, puts until by current vehicle pool
In the target position in the current parking lot.
Further, described instruction obtains module 701, is specifically used for obtaining the current vehicle on the current location
Coordinate information；It is obtained in the database pre-established according to the current vehicle in the coordinate information on the current location
The corresponding instruction of currently parking in the current location.
Fig. 8 is the second structural schematic diagram of the control device of parking that the embodiment of the present invention six provides.As shown in figure 8, described
Device further include: described device further include: image receiver module 703 and instruction determining module 704；Wherein,
Described image receiving module 703, it is described next for driving in the current vehicle from the current location
During position, each frame image in the current parking lot that the client device is sent is received；
Described instruction determining module 704, each frame in the current parking lot for being sent according to the client device
Image determines the corresponding instruction of currently parking in the current location by neural network model.
Further, described instruction determining module 704, specifically for extracting each frame figure by the neural network model
As corresponding image feature information；It determines that the current location is corresponding according to the corresponding image feature information of each frame image to work as
Before park instruction.
Control method of parking provided by the embodiment of the present invention three and example IV, tool can be performed in above-mentioned control device of parking
The standby corresponding functional module of execution method and beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to this
The control method of parking that invention any embodiment provides.
Embodiment seven
Fig. 9 is the composed structure schematic diagram for the electronic equipment that the embodiment of the present invention seven provides.Fig. 9, which is shown, to be suitable for being used in fact
The block diagram of the example electronic device of existing embodiment of the present invention.The electronic equipment 12 that Fig. 9 is shown is only an example, is not answered
Any restrictions are brought to the function and use scope of the embodiment of the present invention.
As shown in figure 9, electronic equipment 12 is showed in the form of universal computing device.The component of electronic equipment 12 may include
But be not limited to: one or more processor or processing unit 16, system storage 28, connect different system components (including
System storage 28 and processing unit 16) bus 18.
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Electronic equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be electric
The usable medium that sub- equipment 12 accesses, including volatile and non-volatile media, moveable and immovable medium.
System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 30 and/or cache memory 32.Electronic equipment 12 may further include other removable/not removable
Dynamic, volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for read and write can not
Mobile, non-volatile magnetic media (Fig. 9 do not show, commonly referred to as " hard disk drive ").Although being not shown in Fig. 9, Ke Yiti
For the disc driver for being read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to moving non-volatile light
The CD drive of disk (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver
It can be connected by one or more data media interfaces with bus 18.Memory 28 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform of the invention each
The function of embodiment.
Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28
In, such program module 42 include but is not limited to operating system, one or more application program, other program modules and
It may include the realization of network environment in program data, each of these examples or certain combination.Program module 42 is usual
Execute the function and/or method in embodiment described in the invention.
Electronic equipment 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 24 etc.)
Communication, can also be enabled a user to one or more equipment interact with the electronic equipment 12 communicate, and/or with make the electricity
Any equipment (such as network interface card, modem etc.) that sub- equipment 12 can be communicated with one or more of the other calculating equipment
Communication.This communication can be carried out by input/output (I/O) interface 22.Also, electronic equipment 12 can also be suitable by network
Orchestration 20 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet)
Communication.As shown, network adapter 20 is communicated by bus 18 with other modules of electronic equipment 12.Although should be understood that
It is not shown in the figure, other hardware and/or software module can be used in conjunction with electronic equipment 12, including but not limited to: microcode is set
Standby driver, redundant processing unit, external disk drive array, RAID system, tape drive and data backup storage system
System etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize control method of parking provided by the embodiment of the present invention.
Embodiment eight
The embodiment of the present invention eight provides a kind of storage medium.
The computer readable storage medium of the embodiment of the present invention, can be using one or more computer-readable media
Any combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.Computer
Readable storage medium storing program for executing for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, dress
It sets or device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium wraps
It includes: there is the electrical connection of one or more conducting wires, portable computer diskette, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable
Storage medium can be it is any include or storage program tangible medium, the program can be commanded execution system, device or
Device use or in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (18)
- The control method 1. one kind is parked, which is characterized in that the described method includes:If current vehicle meets autonomous parking condition on the current location in current parking lot, it is corresponding to receive the current parking lot The predetermined current location that sends of server device corresponding currently park instruction；According to the instruction of currently parking control the current vehicle drive to from the current location in the current parking lot it is described Next position in current parking lot, the target position until current vehicle pool to be placed on to the current parking lot.
- If 2. the method according to claim 1, wherein the current vehicle current parking lot current location On meet autonomous parking condition, receive the corresponding server device in the current parking lot send it is predetermined described current The corresponding instruction of currently parking in position, comprising:If global position system GPS signal strength of the current vehicle in current position is greater than preset threshold, described in reception The corresponding instruction of currently parking in the predetermined current location that currently the corresponding server device in parking lot is sent.
- 3. the method according to claim 1, wherein receiving the corresponding server-side in the current parking lot described Before the corresponding instruction of currently parking in the predetermined current location that equipment is sent, the method also includes:Obtain park configuration information of the current vehicle on the current location；Wherein, the configuration information of parking includes: Artificial park configuration information and autonomous parking configuration information；If park configuration information of the current vehicle on the current location is the autonomous parking configuration information, execute Receive that the predetermined current location that the corresponding server device in the current parking lot is sent is corresponding currently to park The operation of instruction.
- 4. the method according to claim 1, wherein the method also includes:During the current vehicle drives to next position from the current location, Xiang Suoshu server device Each frame image in the current parking lot is sent, so that the server device is logical according to each frame image in the current parking lot It crosses neural network model and determines the corresponding instruction of currently parking in the current location.
- The control method 5. one kind is parked, which is characterized in that the described method includes:If current vehicle meets autonomous parking condition on the current location in current parking lot, obtained in the database pre-established Take the corresponding instruction of currently parking in the current location；The corresponding instruction of currently parking in the current location is sent to the client device of the current vehicle, so that the visitor Family end equipment controls the current vehicle according to the instruction of currently parking and drives to from the current location in the current parking lot Next position in the current parking lot, the target position until current vehicle pool to be placed on to the current parking lot.
- 6. according to the method described in claim 5, it is characterized in that, it is described obtained in the database pre-established it is described current The corresponding instruction of currently parking in position, comprising:Obtain coordinate information of the current vehicle on the current location；Work as described in being obtained in the database pre-established according to the current vehicle in the coordinate information on the current location The corresponding instruction of currently parking in front position.
- 7. according to the method described in claim 5, it is characterized in that, the method also includes:During the current vehicle drives to next position from the current location, receives the client and set Each frame image in the current parking lot that preparation is sent；According to each frame image in the current parking lot that the client device is sent, institute is determined by neural network model State the corresponding instruction of currently parking in current location.
- 8. the method according to the description of claim 7 is characterized in that described determine the present bit by neural network model Set corresponding instruction of currently parking, comprising:The corresponding image feature information of each frame image is extracted by the neural network model；The corresponding instruction of currently parking in the current location is determined according to the corresponding image feature information of each frame image.
- The control device 9. one kind is parked, which is characterized in that described device includes: command reception module and control module of parking；Its In,Described instruction receiving module, if meeting autonomous parking condition on the current location in current parking lot for current vehicle, Receive that the predetermined current location that the corresponding server device in the current parking lot is sent is corresponding currently to park Instruction；The control module of parking, for controlling the current vehicle from the current parking lot according to the instruction of currently parking Current location drive to next position in the current parking lot, described currently stop until current vehicle pool to be placed on The target position in parking lot.
- 10. device according to claim 9, which is characterized in that described instruction receiving module, if being specifically used for described current GPS signal strength of the vehicle in current position is greater than preset threshold, receives the corresponding server device in the current parking lot The corresponding instruction of currently parking in the predetermined current location sent.
- 11. device according to claim 9, which is characterized in that described instruction receiving module, specifically for working as described in acquisition Park configuration information of the vehicle in front on the current location；Wherein, the configuration information of parking includes: manually to park with confidence Breath and autonomous parking configuration information；If park configuration information of the current vehicle on the current location is the autonomous pool Vehicle configuration information then executes and receives the predetermined present bit that the corresponding server device in the current parking lot is sent Set the operation of corresponding instruction of currently parking.
- 12. device according to claim 9, which is characterized in that described device further include: image sending module is used for During the current vehicle drives to next position from the current location, Xiang Suoshu server device sends institute Each frame image in current parking lot is stated, so that the server device passes through nerve according to each frame image in the current parking lot Network model determines the corresponding instruction of currently parking in the current location.
- The control device 13. one kind is parked, which is characterized in that described device includes: instruction acquisition module and instruction sending module；Its In,Described instruction obtains module, if meeting autonomous parking condition on the current location in current parking lot for current vehicle, The corresponding instruction of currently parking in the current location is obtained in the database pre-established；Described instruction sending module, for the corresponding instruction of currently parking in the current location to be sent to the current vehicle Client device currently stops so that the client device controls the current vehicle according to the instruction of currently parking from described The current location in parking lot drives to next position in the current parking lot, until current vehicle pool is placed on described work as The target position in preceding parking lot.
- 14. device according to claim 13, it is characterised in that:Described instruction obtains module, specifically for obtaining coordinate information of the current vehicle on the current location；According to The current vehicle obtains the current location pair in the coordinate information on the current location in the database pre-established The instruction of currently parking answered.
- 15. device according to claim 13, which is characterized in that described device further include: image receiver module and instruction Determining module；Wherein,Described image receiving module, for driving to the mistake of next position from the current location in the current vehicle Cheng Zhong receives each frame image in the current parking lot that the client device is sent；Described instruction determining module, each frame image in the current parking lot for being sent according to the client device lead to It crosses neural network model and determines the corresponding instruction of currently parking in the current location.
- 16. device according to claim 15, it is characterised in that:Described instruction determining module, specifically for extracting the corresponding characteristics of image of each frame image by the neural network model Information；The corresponding instruction of currently parking in the current location is determined according to the corresponding image feature information of each frame image.
- 17. a kind of electronic equipment characterized by comprisingOne or more processors；Memory, for storing one or more programs,When one or more of programs are executed by one or more of processors, so that one or more of processors are real The now control method of parking as described in any one of Claims 1-4 or 5 to 8.
- 18. a kind of storage medium, is stored thereon with computer program, which is characterized in that the realization when program is executed by processor Control method of parking as described in any one of Claims 1-4 or 5 to 8.
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