CN112270843B

CN112270843B - Parking space information processing method and device

Info

Publication number: CN112270843B
Application number: CN202011078941.9A
Authority: CN
Inventors: 孙超红; 宇文志强; 朱俊豪
Original assignee: Zhejiang Geely Holding Group Co Ltd; Geely Automobile Research Institute Ningbo Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Geely Automobile Research Institute Ningbo Co Ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2023-08-29
Anticipated expiration: 2040-10-10
Also published as: CN112270843A

Abstract

The application relates to a parking space information processing method and device, wherein the method comprises the following steps: receiving a parking stall recommendation request sent by a first terminal, wherein the parking stall recommendation request comprises target position information; the target position information is in the range of the target area; determining a target regional parking space state identification map corresponding to a target regional range in a regional parking space state identification map set, wherein the regional parking space state identification map is generated by a road end server acquiring a regional map model in the corresponding regional range and identifying at least one parking space state information into the regional map model according to at least one parking space positioning information; and according to the target position information, if at least one candidate parking space exists in the target area parking space state identification diagram, returning the at least one candidate parking space in the target area parking space state identification diagram to the first terminal. Therefore, the parking space information at the target position of the first terminal can be informed in advance, the application range is wide, and the problem that the current parking space information acquisition scene is limited can be solved.

Description

Parking space information processing method and device

Technical Field

The application relates to the technical field of Internet of vehicles, in particular to a parking space information processing method and device.

Background

In the process of automatic parking, the process of acquiring parking space information is important. The main method for acquiring the current parking space information comprises the steps of acquiring the parking space information through a vehicle-mounted sensor or acquiring the parking space information through a field end sensor.

Acquiring parking space information through a vehicle-mounted sensor, namely acquiring surrounding environment point cloud data or image data through a vehicle-mounted ultrasonic radar and a surrounding camera, and acquiring the parking space information from the point cloud data or the image data; the method has limited application scenes, and can only determine the available parking space through the ultrasonic radar and the looking-around camera in the range close to the parking space.

The parking space information is acquired through a field end sensor, and the principle is that a large number of radar, camera sensors or geomagnetic sensors are arranged in a parking lot, the parking space information of the current parking lot is acquired through the field end sensors, and then the parking space information is transmitted to a vehicle in a wireless mode; the method also has the problem of limited application scenes.

Disclosure of Invention

The embodiment of the application provides a parking space information processing method and device, which can solve the problem of limited application scenes in the prior art.

In one aspect, an embodiment of the present application provides a parking space information processing method, including:

receiving a parking stall recommendation request sent by a first terminal, wherein the parking stall recommendation request comprises target position information; the target position information is in the range of the target area;

determining a target regional parking space state identification map corresponding to a target regional range in a regional parking space state identification map set, wherein the regional parking space state identification map is generated by a road end server acquiring a regional map model in the corresponding regional range and parking space related information sent by at least one second terminal, wherein the parking space related information comprises at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one, and identifying the at least one parking space state information into the regional map model according to the at least one parking space positioning information;

and returning the at least one candidate parking space in the target area parking space state identification diagram to the first terminal if the at least one candidate parking space exists in the target area parking space state identification diagram according to the target position information, wherein the current parking space state of the at least one candidate parking space is the first parking space state.

Optionally, after returning at least one candidate parking space in the target area parking space state identification chart to the first terminal, the method further includes: if the selection information, sent by the first terminal, of the first target parking spaces in the at least one candidate parking space is received within the first preset time, the first target path is planned by taking the first target parking space as the end point, and the first target path is returned to the first terminal.

Optionally, if the selection information of the target parking space in the at least one candidate parking space, which is sent by the first terminal, is not received within the first preset time, determining a second target parking space from the at least one candidate parking space; and planning a second target path by taking the second target parking space as a destination point, and returning the second target path to the first terminal.

Optionally, after determining the target area parking space state identification map corresponding to the target area range in the area parking space state identification map set, the method further includes: and according to the target position information, if the candidate parking spaces do not exist in the target area parking space state identification diagram, returning the unavailable parking space information to the first terminal.

Optionally, after returning the first target path to the first terminal, the method further includes: when reaching the second preset time, if the first terminal is determined not to reach the first target parking space or not to receive the exit path navigation request sent by the first terminal, executing the steps again: and according to the target position information, if at least one candidate parking space exists in the target area parking space state identification diagram, returning the at least one candidate parking space in the target area parking space state identification diagram to the first terminal if the current parking space state of the at least one candidate parking space is the first parking space state.

On the other hand, the embodiment of the application provides a parking space information processing method, which comprises the following steps:

receiving parking space related information sent by at least one second terminal in the target area range, wherein the parking space related information comprises at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one;

acquiring a target area parking space model diagram corresponding to a target area range;

identifying at least one parking space state information into a target area parking space model diagram according to the at least one parking space positioning information to obtain a target area parking space state identification diagram;

the method comprises the steps of sending a target area parking space state identification diagram to a parking space sharing server, enabling the parking space sharing server to store the target area parking space state identification diagram, determining at least one candidate parking space from the target area parking space state identification diagram according to target position information in a parking space recommendation request when the parking space recommendation request which is sent by a first terminal and aims at a target area range is received, and returning the at least one candidate parking space to the first terminal.

if the vehicle is in a parking state, acquiring parking space related information based on a sensing sensor, wherein the parking space related information comprises at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one;

The method comprises the steps of sending parking space association information to a road end server, so that the road end server obtains an area map model in a corresponding area range, and identifying at least one parking space state information into the area map model according to at least one parking space positioning information to generate an area parking space state identification map;

if the parking space is determined to be in a parking space finding state, a parking space recommendation request is sent to a parking space sharing server, wherein the parking space recommendation request comprises target position information, the target position information is in a target area range, so that the parking space sharing server determines a target area parking space state identification map corresponding to the target area range in a regional parking space state identification map set, and at least one candidate parking space in the target area parking space state identification map is determined according to the target position information;

and receiving at least one candidate parking space returned by the parking space sharing server.

On the other hand, the embodiment of the application provides a parking space information processing device, which comprises:

the receiving module is used for receiving a parking stall recommendation request sent by the first terminal, wherein the parking stall recommendation request comprises target position information; the target position information is in the range of the target area;

the first determining module is used for determining a target regional parking space state identification chart corresponding to a target regional range in the regional parking space state identification chart set, wherein the regional parking space state identification chart is generated by a road end server obtaining a regional map model in the corresponding regional range and parking space related information sent by at least one second terminal, the parking space related information comprises at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one, and the at least one parking space state information is identified into the regional map model according to the at least one parking space positioning information;

And the second determining module is used for returning at least one candidate parking stall in the target area parking stall state identification diagram to the first terminal if the at least one candidate parking stall exists in the target area parking stall state identification diagram according to the target position information, and the current parking stall state of the at least one candidate parking stall is the first parking stall state.

the receiving module is used for receiving parking space related information sent by at least one second terminal in the target area range, wherein the parking space related information comprises at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one;

the acquisition module is used for acquiring a target area parking space model diagram corresponding to the target area range;

the determining module is used for marking at least one parking space state information into the target area parking space model graph according to the at least one parking space positioning information to obtain a target area parking space state marking graph;

the sending module is used for sending the target area parking space state identification graph to the parking space sharing server so that the parking space sharing server stores the target area parking space state identification graph, and when a parking space recommendation request which is sent by the first terminal and aims at the target area range is received, at least one candidate parking space is determined from the target area parking space state identification graph according to target position information in the parking space recommendation request, and the at least one candidate parking space is returned to the first terminal.

the acquisition module is used for acquiring parking space related information based on the sensing sensor if the parking space is determined to be in a parking state, wherein the parking space related information comprises at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one;

the first sending module is used for sending the parking space related information to the road end server so that the road end server can acquire an area map model in a corresponding area range, and at least one parking space state information is marked into the area map model according to at least one parking space positioning information to generate an area parking space state marking diagram;

the second sending module is used for sending a parking space recommendation request to the parking space sharing server if the parking space is determined to be in a parking space searching state, wherein the parking space recommendation request comprises target position information, the target position information is in a target area range, so that the parking space sharing server determines a target area parking space state identification map which corresponds to the target area range in the regional parking space state identification map set, and at least one candidate parking space in the target area parking space state identification map is determined according to the target position information;

And the receiving module is used for receiving at least one candidate parking space returned by the parking space sharing server.

The parking space information processing method and device provided by the embodiment of the application have the following beneficial effects:

receiving a parking stall recommendation request sent by a first terminal, wherein the parking stall recommendation request comprises target position information; the target position information is in the range of the target area; determining a target regional parking space state identification map corresponding to a target regional range in a regional parking space state identification map set, wherein the regional parking space state identification map is generated by a road end server acquiring a regional map model in the corresponding regional range and parking space related information sent by at least one second terminal, wherein the parking space related information comprises at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one, and identifying the at least one parking space state information into the regional map model according to the at least one parking space positioning information; and returning the at least one candidate parking space in the target area parking space state identification diagram to the first terminal if the at least one candidate parking space exists in the target area parking space state identification diagram according to the target position information, wherein the current parking space state of the at least one candidate parking space is the first parking space state. Therefore, the parking space information at the target position of the first terminal can be informed in advance, the application range is wide, and the problem that the current parking space information acquisition scene is limited can be solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;

fig. 2 is a flow chart of a parking space information processing method according to an embodiment of the present application;

fig. 3 is a schematic diagram of a parking space information collection scene provided by an embodiment of the application;

FIG. 4 is a schematic diagram of a parking space model diagram of a target area according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a target area parking space status identification chart according to an embodiment of the present application;

fig. 6 is a schematic diagram of a parking space information sharing scenario provided by an embodiment of the present application;

fig. 7 is a schematic structural diagram of a parking space information processing device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a parking space information processing device according to an embodiment of the present application;

Fig. 9 is a schematic structural diagram of a parking space information processing device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In view of the problem that in the prior art, the scheme of acquiring the parking space information through a vehicle-mounted sensor or acquiring the parking space information through a field end sensor is limited in application scene, the embodiment of the application combines road edge calculation to improve on the basis of a traditional intelligent traffic architecture, provides a parking space information processing method and device, and can solve the problem that the application scene of the prior art is limited.

The traditional intelligent traffic system is based on central cloud computing, under the condition that the front end collects data in real time, the data is uploaded to the cloud end, computing is achieved on the cloud end, results are issued to intersection annunciators and mobile terminals, and strategic control and intersection coordination control of a signal lamp system of the cloud end are achieved. However, along with the propulsion of the vehicle-road coordination system, massive real-time data need to be processed, and the vehicle driving safety service needs to inform a driver or control the vehicle to take measures under the condition of millisecond delay, so that the timeliness of the vehicle-road coordination cannot be ensured by the original central calculation mode.

The road edge calculation can integrate the calculation load of the cloud into an edge layer, most of calculation is completed at a road edge calculation node, and a result is sent to the mobile terminal in real time through a road end wireless unit, so that the requirement of vehicle-road coordination is met.

Referring to fig. 1, fig. 1 is a schematic diagram of an application scenario provided by an embodiment of the present application, including a parking space sharing server 101, a road end server 102, and a terminal 103; the parking space sharing server 101 is located at the cloud end, the road end server 102 provides road edge calculation, and the terminal 103 is provided with a sensing sensor.

In the embodiment of the application, the processing of the parking space information comprises the collection of the parking space information and the sharing of the parking space information. The collection of the parking space information refers to crowd funding and collecting the parking space information through a plurality of terminals 103, wherein the specific terminals 103 can be vehicles in a parking state, and the parking space information around the vehicle body is collected through configured sensing sensors such as a look-around camera and an ultrasonic radar; the plurality of terminals 103 respectively upload the acquired parking space information to the road end server 102, the road end server 102 integrates the parking space information, and the parking space information uploaded to the cloud parking space sharing server 101 is further summarized so as to enlarge the coverage range of the parking space information; the sharing of the parking space information refers to that the cloud parking space sharing server 101 can push the position of the terminal 103 or inform available parking space information near the destination in advance based on the parking space information with the larger coverage area, so as to realize the sharing of the parking space information.

In the following, a specific embodiment of a parking space information processing method according to the present application is described, and fig. 2 is a schematic flow chart of a parking space information processing method according to an embodiment of the present application, and the present specification provides method operation steps according to an embodiment or a flowchart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented in a real system or server product, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multithreaded environment). As shown in fig. 2, the method may include:

s201: and if the second terminal is in the parking state, acquiring parking space related information based on the sensing sensor.

In the embodiment of the present application, the second terminal mainly refers to a vehicle, and the second of the second terminals is not limited in number, and for convenience of explanation, names are redefined for terminals in different states, for example, a terminal in a parking state is referred to as a second terminal. The parking status may include both a parking in and a parking out mode, i.e., a parking process or a re-starting process from a parking space. The sensing sensor mainly comprises a camera (common, wide-angle and fish-eye), a laser radar, a millimeter wave radar, an ultrasonic radar, infrared and thermal imaging and the like. The parking space related information refers to information related to a parking space state or a parking space position, and the parking space related information comprises at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one. The parking space state information represents whether the corresponding parking space is in an available state at the current moment or not, and can comprise first parking space state information and second parking space state information, wherein the first parking space state information represents the corresponding parking space is in the available state at the current moment, and the second parking space state information represents the corresponding parking space is in the unavailable state at the current moment. The parking space positioning information corresponding to each parking space state information one by one can comprise a parking lot identifier or a road section identifier where the second terminal is currently located, geographic position information (such as GPS positioning information) of the second terminal, coordinate information of the corresponding parking space in the current parking lot or road section, and the like.

In the embodiment of the application, when the second terminal is in the parking mode or the parking mode, the second terminal is in the parking lot or the parking space exists around the second terminal, and at the moment, the environmental data is acquired through the sensing sensor of the second terminal, and the parking space related information is obtained from the environmental data.

In an alternative implementation manner, if the parking state is determined, the second terminal acquires an environment image through the camera, identifies or detects the environment image by using a trained convolutional neural network model or a target detection algorithm, obtains parking space coordinates and parking space state information based on an image coordinate system from the environment image, and then converts the parking space coordinates based on the image coordinate system into parking space positioning information based on a vehicle coordinate system or a world coordinate system.

In an optional implementation manner, the second terminal may further perform data fusion processing on the environmental image obtained through the camera and the environmental point cloud obtained through the radar, so as to obtain parking space associated information with higher accuracy.

S203: and the second terminal sends the parking space related information to the road end server.

S205: and the road end server receives the parking space related information sent by at least one second terminal in the target area range.

In the embodiment of the application, a road end server is respectively arranged in different area ranges or road section ranges, and the road end server is responsible for all second terminals in the area range or the road section range. The target area range refers to the area range governed by the current road end server, namely, all second terminals of the governed area range send the parking space related information to the current road end server. The meaning of the parking space related information sent by at least one second terminal is that when there is only one second terminal in the target area, the parking space related information is sent by the second terminal, and when there are a plurality of second terminals in the target area, the parking space related information can refer to a set or a parking space related information sent by each of the plurality of second terminals, so that the flow chart is not limited.

S207: and the road end server acquires a target area parking space model diagram corresponding to the target area range.

S209: and the road end server marks at least one parking space state information into the target area parking space model diagram according to the at least one parking space positioning information to obtain a target area parking space state mark diagram.

In the embodiment of the application, the target area parking space model map may be pre-established by the road end server according to the map of the target area range, and includes all parking space model maps and roadside parking space model maps in the target area range. The road end server gathers the received parking space related information sent by the one or more second terminals, and marks the corresponding parking space state information into the target area parking space model diagram according to the parking space positioning information to obtain a target area parking space state mark diagram, namely, the states of all parking spaces of the parking lot and the states of roadside parking spaces in the target area range are updated.

In an optional implementation manner, after obtaining the target area parking space state identification map, the road end server may further send the target area parking space state identification map to a road side display screen for real-time display, so as to inform the nearby vehicle of the parking space conditions of all parking spaces in the current area range or the current road section range.

S211: and the road end server sends the target area parking space state identification map to the parking space sharing server.

In the embodiment of the application, the parking space sharing server is arranged at the cloud end, and the road end servers in different regional ranges or road section ranges send the target regional parking space state identification map to the parking space sharing server of the cloud end, and the parking space sharing server receives the target regional parking space state identification map and then uniformly stores the target regional parking space state identification map.

The above steps S201 to S211 and alternative embodiments thereof are described below in a specific scenario. As shown in fig. 3, the scenario is a parking space information collection scenario, including a vehicle 301, a vehicle 302, a Road end server 303 and a cloud parking space sharing server 304, where the Road end server 303 and a wireless transceiver together form a Road Side Unit (RSU); vehicle 301 and vehicle 302 are both within the target area range (dashed box) of road end server 303, vehicle 301 and vehicle 302 are both the second terminals described above; assuming that the vehicle 301 is in a parked state, at this time, the vehicle 301 invokes a camera configured by a driving assistance system through a vehicle controller (Vehicle Control Unit, VCU) to acquire an environmental image; then, based on the environmental image analysis, parking space related information such as parking space positioning information (x 1, y 1) and available state information of a parking space A, and parking space positioning information (x 2, y 2) and unavailable state information of a parking space B is obtained; then, the vehicle 301 sends the parking space related information of the parking space a and the parking space B to the road side server 303; assuming that the vehicle 302 is in a state of being parked out of a parking space, the vehicle 302 can acquire environmental point cloud data by calling a radar sensor through a VCU, and obtain parking space related information through analysis, including parking space positioning information (x 3, y 3) and available state information of a parking space C; then, similarly, the vehicle 302 transmits the parking space positioning information (x 3, y 3) of the parking space C and the available state information to the road side server 303; the road side server 303 receives and gathers the information, maps the summarized information into a target area parking space model diagram, and the target area parking space model diagram can refer to fig. 4, finds corresponding parking spaces in the target area parking space model diagram according to the parking space positioning information (x 1, y 1), (x 2, y 2) and (x 3, y 3) of the parking spaces a, B and C respectively, and marks the available state or the unavailable state to the corresponding parking spaces to obtain a target area parking space state mark diagram shown in fig. 5; finally, the road end server 303 sends the target area parking space state identification map to the parking space sharing server 304, and the target area parking space state identification map is stored in the cloud.

It should be noted that, how the road side server integrates and gathers the parking space related information from the second terminal in the application is not limited to the scheme of the above embodiment, and there is no limitation on the target area parking space model diagram established by the road side server; the road end server is used for primarily collecting and summarizing the parking space related information of all the second terminals in the range of the target area, so that the number of the road end servers can be multiple, and the problem that the timeliness is poor because the cloud needs to process massive real-time data due to the fact that all the second terminals in the range of all the target areas directly send data to the cloud server can be prevented.

The steps S201-S211 introduce the collection process of the parking space information, and the sharing process of the parking space information is continuously introduced, and the sharing process of the parking space information is mainly executed by the parking space sharing server. The name of the terminal is redefined as the first terminal hereinafter, due to the state switching of the terminal. It should be noted that, the first terminal and the second terminal may refer to the same terminal in different states, or may refer to different terminals in different states, that is, the terminals may only participate in the collection process of the parking space information, may only participate in the sharing process of the parking space information, and may also participate in the collection process of the parking space information and the sharing process of the parking space information at different moments.

S213: and if the first terminal determines that the parking space searching state is achieved, sending a parking space recommending request to a parking space sharing server.

In the embodiment of the application, the first terminal is mainly referred to as a vehicle. The parking place finding state refers to that when the first terminal user inputs a navigation destination or searches for a nearby parking place through a user interface or voice, etc., it indicates that there is a parking demand, and thus the first terminal determines that it is in the parking place finding state. The user interface includes an interface of the in-vehicle display device, such as a center control display screen. When information input by a user through a user interface or voice is recognized as information related to a navigation destination or a nearby parking lot in the background, the first terminal sends a parking space recommendation request to the parking space sharing server.

S215: the parking space recommendation request sent by the first terminal is received by the parking space sharing server, and the parking space recommendation request comprises target position information in a target area range.

In the embodiment of the application, the parking space recommendation request sent by the first terminal includes target position information, and the target position information includes the navigation destination position or the parking lot position mentioned above. The target position information is in a target area range, namely the area range governed by one of a plurality of road end servers connected with the parking space sharing server.

In an optional implementation manner, the first terminal determines a corresponding target area range according to the target position information, and the parking space sharing server receives a parking space recommendation request carrying the target area range and the target position information.

S217: the parking space sharing server determines a target area parking space state identification map corresponding to a target area range in the area parking space state identification map set.

In the embodiment of the application, the target area parking space state identification chart is obtained through the steps S201-S209. The parking space sharing server receives target area parking space state identification diagrams sent by road end servers in different area ranges or road section ranges respectively, and can obtain an area parking space state identification diagram set after the target area parking space state identification diagrams are summarized, namely the area parking space state identification diagram set comprises a plurality of target area parking space state identification diagrams. The parking space state identification atlas of the area can be continuously enriched through the newly added road side server, so that parking space information in a larger area is covered.

In the embodiment of the application, after receiving a parking space recommendation request of a first terminal, a parking space sharing server finds out a target area parking space state identification chart corresponding to a target area range from an area parking space state identification chart set.

In an optional implementation manner, if the parking space recommendation request sent by the first terminal only includes the target position information and does not include the target area range, the parking space sharing server first determines the corresponding target area range according to the target position information, and then finds a target area parking space state identification chart corresponding to the target area range from the regional parking space state identification chart set.

S219: and the parking space sharing server judges whether at least one candidate parking space exists in the parking space state identification diagram of the target area according to the target position information, and the current parking space state of the at least one candidate parking space is the first parking space state. If it is determined that at least one candidate vehicle exists in the target area parking space state identification chart, step S221 is executed; otherwise, returning the unavailable vehicle position information to the first terminal.

S221: and the parking space sharing server returns at least one candidate parking space in the target area parking space state identification chart to the first terminal.

S223: and the first terminal receives at least one candidate parking space returned by the parking space sharing server.

In the embodiment of the application, the first parking space state mainly refers to an available state, and the parking space sharing server takes the current parking space state near the target position information as a parking space in the available state from the target area parking space state identification chart as a candidate parking space; if at least one candidate parking space exists, returning to the first terminal; and if the candidate parking space does not exist, returning unavailable parking space information to the first terminal, and completing sharing of the parking space information.

In the embodiment of the application, the parking space sharing server can provide the parking space information sharing service for the first terminal and also can provide the parking space path navigation service.

In an alternative embodiment, after step S221, the method further includes the following steps: the parking space sharing server judges whether selection information, which is sent by a first terminal and aims at a first target parking space in at least one candidate parking space, is received in a first preset time;

if the selection information, sent by the first terminal, of the first target parking spaces in the at least one candidate parking space is received within the first preset time, the parking space sharing server plans a first target path by taking the first target parking space as a destination, and returns the first target path to the first terminal; or if the selection information of the first target parking space in the at least one candidate parking space, which is sent by the first terminal, is not received within the first preset time, the parking space sharing server determines a second target parking space from the at least one candidate parking space; and planning a second target path by taking the second target parking space as a destination point, and returning the second target path to the first terminal.

Specifically, the parking space sharing server starts timing from the moment of returning at least one candidate parking space to the first terminal, if selection information of the first terminal for a first target parking space in the at least one candidate parking space is received in a first preset time, planning a first target path by taking the acquired current position of the first terminal as a starting point and taking the first target parking space as an ending point, and returning the first target path to the first terminal; otherwise, the parking space sharing server selects a second target parking space from at least one candidate parking space by itself, and likewise plans a second target path by taking the acquired current position of the first terminal as a starting point and taking the second target parking space as an ending point, and returns the second target path to the first terminal.

In the embodiment of the application, the current parking space state of at least one candidate parking space can be updated at an adaptive time, and the updating time is when the parking space sharing server receives the parking space state identification map of the target area range corresponding to the candidate parking space.

Based on the above specific embodiment, it is considered that after the parking space sharing server returns the first target path to the first terminal, the current parking space state of the first target parking space may be changed, for example, the first target parking space may be occupied by other vehicles during the process that the first terminal travels according to the first target path.

Therefore, in an alternative embodiment, after the parking space sharing server returns the first target path to the first terminal, the method may further include the following steps:

when reaching the second preset time, if the first terminal is determined not to reach the first target parking space or not to receive the exit path navigation request sent by the first terminal, executing the steps again: and according to the target position information, if at least one candidate parking space exists in the target area parking space state identification diagram, returning the at least one candidate parking space in the target area parking space state identification diagram to the first terminal if the current parking space state of the at least one candidate parking space is the first parking space state.

Specifically, the parking space sharing server starts timing from the moment of returning to send the first target path to the first terminal; if the parking space sharing server does not receive the exit path navigation request sent by the first terminal within the second preset time; or when the second preset time is reached, the parking space sharing server acquires the current position of the first terminal, judges whether the first terminal has reached or is about to reach the first target parking space according to the current position, and when the first terminal is judged to be far away from the first target parking space, the first terminal does not reach the first target parking space in the driving process, at this moment, the parking space sharing server needs to execute step S219 again to judge whether at least one candidate parking space exists in the parking space state identification diagram of the target area again. If the re-judging result is the same as the last time, or the first target parking space is still in the re-confirmed at least one candidate parking space, no change is made; if the current parking space state of the first target parking space is changed from available to unavailable, the parking space sharing server sends the at least one candidate parking space which is determined again to the first terminal, and reminds that the first target parking space is occupied.

Steps S213-S223 and alternative embodiments thereof are described below in a specific scenario. As shown in fig. 6, the scenario is a parking space information sharing scenario, including a vehicle 601 and a parking space sharing server 602; in conjunction with the description of the scenario of collection of parking information above, parking space sharing server 602 is equivalent to parking space sharing server 304, except that the role of parking space sharing server 602 in this scenario is different. When a user of the vehicle 601 searches a parking lot through a vehicle central control display screen, the VCU of the vehicle 601 judges that the vehicle is in a parking space searching state at the moment, and a parking space recommending request is sent to a parking space sharing server through wireless, wherein the parking space recommending request comprises the parking lot position; if the parking space sharing server 602 determines that the parking space sharing server is within the target area range of the road end server 304 according to the nearby parking space position, the parking space sharing server 602 determines from the regional parking space state identification chart set that is the target regional parking space state identification chart shown in fig. 5; then, according to the parking lot position, the parking lot shared server 602 determines, as a candidate parking lot, a parking lot whose parking lot state is in an available state in a target area parking lot state identification chart, and if the parking lot position is exactly the parking lot where the parking lot A and the parking lot B are located, the parking lot shared server takes the parking lot A as the candidate parking lot and returns the candidate parking lot to the vehicle 601; after the vehicle 601 receives the candidate parking space sent by the parking space sharing server 602, selecting one candidate parking space as a target parking space, namely, selecting the parking space A as the target parking space, and returning the selection information to the parking space sharing server 602, wherein the parking space sharing server 602 can perform parking space path navigation according to the acquired current position of the vehicle 601 and the positioning information of the parking space A, and returns the parking space path navigation to the vehicle 601. It should be noted that, the vehicle 601 in the parking space information sharing scenario may be the vehicle 301 or the vehicle 302 in the parking space information collecting scenario.

In summary, the parking space information processing method provided by the embodiment of the application comprises the parking space information collection methods of steps S201-S211 and the parking space information sharing method introduced in steps S213-S223. The parking space information is mainly collected by the terminal, is processed by the road end server and is uploaded to the parking space sharing server of the cloud. The process can be realized based on the configuration of the vehicle-mounted sensor required by the current auxiliary driving, no additional investment is required to be added to the vehicle, and the parking space information with a larger area range can be collected through vehicle crowd funding. When the terminal has a parking requirement, the parking space information of the destination can be obtained from the cloud parking space sharing server in advance, and the information can be obtained without waiting for entering a parking lot or reaching specific scenes such as the vicinity of the parking space, so that the time for the vehicle to find the parking space can be saved.

The embodiment of the application also provides a parking space information processing device, and fig. 7 is a schematic structural diagram of the parking space information processing device provided by the embodiment of the application, as shown in fig. 7, the device comprises:

the receiving module 701 is configured to receive a parking space recommendation request sent by the first terminal, where the parking space recommendation request includes target location information; the target position information is in the range of the target area;

The first determining module 702 is configured to determine a target regional parking space state identifier map corresponding to a target regional range in the regional parking space state identifier map set, where the regional parking space state identifier map is generated by a road-end server obtaining a regional map model in the corresponding regional range and parking space related information sent by at least one second terminal, where the parking space related information includes at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one to one, and identifying the at least one parking space state information into the regional map model according to the at least one parking space positioning information;

the second determining module 703 is configured to, according to the target location information, if it is determined that at least one candidate parking space exists in the target area parking space status identification map, return the at least one candidate parking space in the target area parking space status identification map to the first terminal, where the current parking space status of the at least one candidate parking space is the first parking space status.

In an alternative embodiment, the method further comprises a path planning module;

the path planning module is used for planning a first target path by taking the first target parking space as a terminal point and returning the first target path to the first terminal if the selection information, sent by the first terminal, for the first target parking space in the at least one candidate parking space is received in the first preset time; or alternatively; if the selection information, which is sent by the first terminal and is aimed at the target parking space in at least one candidate parking space, is not received within the first preset time, determining a second target parking space from the at least one candidate parking space; and planning a second target path by taking the second target parking space as a destination point, and returning the second target path to the first terminal.

In an alternative embodiment, the method further comprises a third determining module;

the third determining module is configured to, when reaching the second preset time, execute the steps again if it is determined that the first terminal does not reach the first target parking space or does not receive the exit path navigation request sent by the first terminal: and according to the target position information, if at least one candidate parking space exists in the target area parking space state identification diagram, returning the at least one candidate parking space in the target area parking space state identification diagram to the first terminal if the current parking space state of the at least one candidate parking space is the first parking space state.

The embodiment of the application also provides a parking space information processing device, and fig. 8 is a schematic structural diagram of the parking space information processing device provided by the embodiment of the application, as shown in fig. 8, the device comprises:

the receiving module 801 is configured to receive parking space related information sent by at least one second terminal within the target area, where the parking space related information includes at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one;

the acquiring module 802 is configured to acquire a target area parking space model map corresponding to a target area range;

The determining module 803 is configured to identify at least one parking space state information to the target area parking space model map according to the at least one parking space positioning information, so as to obtain a target area parking space state identification map;

the sending module 804 is configured to send the target area parking space status identifier graph to the parking space sharing server, so that the parking space sharing server stores the target area parking space status identifier graph, and when receiving a parking space recommendation request for a target area range sent by the first terminal, determine at least one candidate parking space from the target area parking space status identifier graph according to target position information in the parking space recommendation request, and return the at least one candidate parking space to the first terminal.

The embodiment of the application also provides a parking space information processing device, and fig. 9 is a schematic structural diagram of the parking space information processing device provided by the embodiment of the application, as shown in fig. 9, the device comprises:

the acquiring module 901 is configured to acquire, if it is determined that the vehicle is in a parking state, parking space related information based on a sensing sensor, where the parking space related information includes at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one;

The first sending module 902 is configured to send parking space related information to a road end server, so that the road end server obtains an area map model within a corresponding area range, and identifies at least one parking space state information to the area map model according to at least one parking space positioning information to generate an area parking space state identification map;

the second sending module 903 is configured to send a parking space recommendation request to the parking space sharing server if it is determined that the parking space is in a parking space searching state, where the parking space recommendation request includes target location information, and the target location information is in a target area range, so that the parking space sharing server determines a target area parking space state identifier graph corresponding to the target area range in the regional parking space state identifier graph set, and determines at least one candidate parking space in the target area parking space state identifier graph according to the target location information;

The device and method embodiments in the embodiments of the present application are based on the same application concept.

It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the application are intended to be included within the scope of the application.

Claims

1. The parking space information processing method is characterized by comprising the following steps of:

receiving a parking space recommendation request sent by a first terminal, wherein the parking space recommendation request comprises target position information; the target position information is in a target area range, and the target area range is an area range governed by one of a plurality of road end servers connected with the parking space sharing server;

Determining a target area parking space state identification map corresponding to the target area range in an area parking space state identification map set, wherein the target area parking space state identification map is generated by a road end server acquiring an area map model in the corresponding area range and parking space related information sent by at least one second terminal, and the parking space related information comprises at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one, and identifying the at least one parking space state information into the area map model according to the at least one parking space positioning information;

according to the target position information, if at least one candidate parking space exists in the target area parking space state identification diagram, returning the at least one candidate parking space in the target area parking space state identification diagram to the first terminal, wherein the current parking space state of the at least one candidate parking space is a first parking space state;

after returning at least one candidate parking space in the target area parking space state identification diagram to the first terminal, the method further comprises:

if the selection information, sent by the first terminal, for the first target parking space in the at least one candidate parking space is received in the first preset time, planning a first target path by taking the first target parking space as an end point, and returning the first target path to the first terminal;

After the first target path is returned to the first terminal, the method further comprises:

when reaching the second preset time, if the first terminal is determined not to reach the first target parking space or not to receive the exit path navigation request sent by the first terminal, executing the steps again: according to the target position information, if at least one candidate parking space exists in the target area parking space state identification diagram, and the current parking space state of the at least one candidate parking space is the first parking space state, returning the at least one candidate parking space in the target area parking space state identification diagram to the first terminal, and judging whether the first target parking space is still in the at least one candidate parking space determined again;

if the current parking space state of the first target parking space is changed from available to unavailable, the parking space sharing server sends at least one candidate parking space which is determined again to the first terminal, and reminds that the first target parking space is occupied;

the first terminal is in a parking space finding state, and the second terminal is in a parking state.

2. The method as recited in claim 1, further comprising:

If the selection information, sent by the first terminal, of the target parking spaces in the at least one candidate parking space is not received within the first preset time, determining a second target parking space from the at least one candidate parking space;

and planning a second target path by taking the second target parking space as a destination point, and returning the second target path to the first terminal.

3. The method of claim 1, wherein after determining the target zone parking space status identification map in the set of zone parking space status identification maps corresponding to the target zone range, further comprising:

and according to the target position information, if the candidate parking spaces are not determined to exist in the target area parking space state identification diagram, returning the unavailable parking space information to the first terminal.

4. The parking space information processing method is characterized by comprising the following steps of:

receiving parking space related information sent by at least one second terminal in a target area, wherein the parking space related information comprises at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one, and the target area is an area range governed by one of a plurality of road end servers connected with a parking space sharing server;

Acquiring a target area parking space model diagram corresponding to the target area range;

identifying the at least one parking space state information into the target area parking space model graph according to the at least one parking space positioning information to obtain a target area parking space state identification graph;

the target area parking space state identification diagram is sent to a parking space sharing server, so that the parking space sharing server stores the target area parking space state identification diagram, when a parking space recommendation request which is sent by a first terminal and aims at the range of the target area is received, at least one candidate parking space is determined from the target area parking space state identification diagram according to target position information in the parking space recommendation request, and the at least one candidate parking space is returned to the first terminal;

when reaching the second preset time, if the first terminal is determined not to reach the first target parking space or not to receive the exit path navigation request sent by the first terminal, executing the steps again: according to the target position information, if at least one candidate parking space exists in the target area parking space state identification diagram, and the current parking space state of the at least one candidate parking space is a first parking space state, returning the at least one candidate parking space in the target area parking space state identification diagram to the first terminal, and judging whether the first target parking space is still in the at least one candidate parking space determined again;

5. The parking space information processing method is characterized by comprising the following steps of:

the parking space association information is sent to a road end server, so that the road end server obtains an area map model in a corresponding area range, and the at least one parking space state information is identified to the area map model according to the at least one parking space positioning information to generate a target area parking space state identification diagram;

if the parking space is determined to be in a parking space finding state, a parking space recommendation request is sent to a parking space sharing server, wherein the parking space recommendation request comprises target position information, the target position information is in a target area range, so that the parking space sharing server determines a target area parking space state identification map corresponding to the target area range in a regional parking space state identification map set, at least one candidate parking space in the target area parking space state identification map is determined according to the target position information, and the target area range is a range governed by one of a plurality of road end servers connected with the parking space sharing server;

Receiving the at least one candidate parking space returned by the parking space sharing server;

after at least one candidate parking space in the target area parking space state identification diagram returned by the parking space sharing server is returned to the first terminal, the method further comprises the following steps:

the first terminal is in a parking space searching state.

6. A parking space information processing apparatus, comprising:

the receiving module is used for receiving a parking space recommendation request sent by the first terminal, wherein the parking space recommendation request comprises target position information; the target position information is in a target area range, and the target area range is an area range governed by one of a plurality of road end servers connected with the parking space sharing server;

the first determining module is used for determining a target area parking space state identification chart corresponding to the target area range in the area parking space state identification chart set, wherein the target area parking space state identification chart is generated by a road end server obtaining an area map model in the corresponding area range and parking space related information sent by at least one second terminal, and the parking space related information comprises at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one, and identifying the at least one parking space state information into the area map model according to the at least one parking space positioning information;

The second determining module is used for returning at least one candidate parking space in the target area parking space state identification diagram to the first terminal if the at least one candidate parking space exists in the target area parking space state identification diagram according to the target position information, and the current parking space state of the at least one candidate parking space is a first parking space state;

after the at least one candidate parking space in the target area parking space state identification diagram is returned to the first terminal, the method further comprises the following steps:

7. A parking space information processing apparatus, comprising:

the receiving module is used for receiving parking space related information sent by at least one second terminal in a target area range, wherein the parking space related information comprises at least one parking space state information and at least one parking space positioning information corresponding to the at least one parking space state information one by one, and the target area range is an area range governed by one of a plurality of road end servers connected with a parking space sharing server;

the determining module is used for identifying the at least one parking space state information into the target area parking space model graph according to the at least one parking space positioning information to obtain a target area parking space state identification graph;

The sending module is used for sending the target area parking space state identification diagram to a parking space sharing server so that the parking space sharing server stores the target area parking space state identification diagram, when a parking space recommendation request sent by a first terminal aiming at the target area range is received, at least one candidate parking space is determined from the target area parking space state identification diagram according to target position information in the parking space recommendation request, and the at least one candidate parking space is returned to the first terminal;

8. A parking space information processing apparatus, comprising:

the first sending module is used for sending the parking space association information to a road end server so that the road end server can acquire an area map model in a corresponding area range, and the at least one parking space state information is identified into the area map model according to the at least one parking space positioning information to generate a target area parking space state identification diagram;

the second sending module is used for sending a parking space recommendation request to a parking space sharing server if the parking space recommendation request is determined to be in a parking space finding state, wherein the parking space recommendation request comprises target position information, the target position information is in a target area range, so that the parking space sharing server determines a target area parking space state identification map corresponding to the target area range in a regional parking space state identification map set, at least one candidate parking space in the target area parking space state identification map is determined according to the target position information, and the target area range is an area range governed by one of a plurality of road end servers connected with the parking space sharing server;

The receiving module is used for receiving the at least one candidate parking space returned by the parking space sharing server; after returning at least one candidate parking stall in the target area parking stall state identification diagram to the first terminal, the method further comprises:

the first terminal is in a parking space searching state.