CN113259412A

CN113259412A - Parking management method, electronic device, vehicle, and storage medium

Info

Publication number: CN113259412A
Application number: CN202110402764.3A
Authority: CN
Inventors: 黄浩; 安泓烨
Original assignee: Mobai Beijing Information Technology Co Ltd
Current assignee: Mobai Beijing Information Technology Co Ltd
Priority date: 2021-04-14
Filing date: 2021-04-14
Publication date: 2021-08-13

Abstract

The present disclosure relates to a parking management method, an electronic apparatus, a vehicle, and a storage medium. The method comprises the following steps: when a vehicle returning request to a vehicle is received, a parking position and a parking angle of the vehicle are obtained, wherein the parking angle of the vehicle is an azimuth angle of the parking direction of the vehicle; determining a target parking fence according to the parking position of the vehicle; acquiring a target parking angle of the target parking fence, wherein the target parking angle of the target parking fence is an azimuth angle of a target parking direction of the target parking fence; determining whether the parking direction of the vehicle and the target parking direction of the target parking fence meet the requirement of consistency or not according to the parking angle of the vehicle and the target parking angle of the target parking fence; and in case of meeting the consistency requirement, outputting parking confirmation information responding to the vehicle returning request. The parking confirmation information is output only when the current parking direction of the vehicle is consistent with the target parking direction, so that the vehicle is controlled to be locked, and the vehicle is parked in one direction.

Description

Parking management method, electronic device, vehicle, and storage medium

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a parking management method, an electronic device, a vehicle, and a storage medium.

Background

At present, the shared vehicle trip becomes a emerging trip mode in a city, and the trip demand of urban people can be effectively solved. With the increasing size of shared vehicles, more and more shared vehicles are arranged on the street. Meanwhile, the disorderly parking and disorderly placing of a large number of shared bicycles not only seriously affects the appearance of the city, but also blocks the road circulation, and brings great inconvenience to the daily life of citizens.

In the related art, a method for effectively managing the parking direction of the vehicle is lacked, and especially, unilateral directional parking cannot be realized.

Disclosure of Invention

An object of the disclosed embodiments is to provide a parking management method, an electronic device, a vehicle, and a storage medium, so as to manage the vehicle to implement unidirectional orientation.

According to a first aspect of the present invention, there is provided a parking management method including: when a vehicle returning request to a vehicle is received, a parking position and a parking angle of the vehicle are obtained, wherein the parking angle of the vehicle is an azimuth angle of the parking direction of the vehicle;

determining a target parking fence according to the parking position of the vehicle;

acquiring a target parking angle of the target parking fence, wherein the target parking angle of the target parking fence is an azimuth angle of a target parking direction of the target parking fence;

determining whether the parking direction of the vehicle and the target parking direction of the target parking fence meet the requirement of consistency or not according to the parking angle of the vehicle and the target parking angle of the target parking fence;

and outputting parking confirmation information responding to the vehicle returning request under the condition that the consistency requirement is met.

Optionally, the target parking direction of the target parking fence is generated according to the following manner:

acquiring a home road of the target parking fence;

and taking any point of the target parking fence as a starting point, making a perpendicular line to the attribution road, and taking the direction of the perpendicular line as the target parking direction of the target parking fence.

Optionally, the acquiring the home road of the target parking fence includes:

determining candidate roads within a preset range from the central point of the target parking fence;

and gradually enlarging the circle by taking the central point of the target parking fence as the center of the circle in a mode from small to large, and taking the first tangent candidate road as the attribution road of the target parking fence.

Optionally, the acquiring the home road of the target parking fence includes:

acquiring the grade attribute and the structure attribute of the candidate road;

screening the candidate roads according to the grade attributes and the structure attributes of the candidate roads and preset rules, and taking the screened candidate roads as effective roads;

and gradually enlarging the circle by taking the central point of the target parking fence as the center of the circle in a mode from small to large, and taking the first tangent effective road as the home road of the target parking fence.

Optionally, the target parking fence is a sub-fence of the first parking fence;

the first parking fence is a bent-shaped parking fence disposed along a bent section, the method further comprising:

acquiring road units contained in the bent road section and connecting nodes between any two adjacent road units;

and taking a point corresponding to the connecting node and a first edge of the first parking fence as a first dividing point, taking a point corresponding to the connecting node and a second edge of the first parking fence as a second dividing point, taking a connecting line of the first dividing point and the second dividing point as a dividing line to divide the first parking fence into sub-fences, wherein the first edge and the second edge of the first parking fence are parallel to the bent road section.

The target parking direction of the target parking fence is generated according to the following mode: and taking any point of the target parking fence as a starting point, making a perpendicular line to the road unit corresponding to the target parking fence, and taking the direction of the perpendicular line as the target parking direction of the target parking fence.

Optionally, the determining whether the parking direction of the vehicle and the target parking direction of the target parking fence meet a requirement according to the parking angle of the vehicle and the target parking angle of the target parking fence includes:

determining a difference absolute value of a target parking angle of the target parking fence and a parking angle of the vehicle;

and under the condition that the absolute value of the difference value is smaller than or equal to a first threshold value or larger than or equal to a second threshold value, determining that the parking direction of the vehicle and the target parking direction of the target parking fence meet the requirement of coincidence, wherein the second threshold value is the difference value between 360 degrees and the first threshold value.

Optionally, the method further includes:

and under the condition that the consistency requirement is not met, outputting parking adjustment information to prompt a user to adjust the parking direction of the vehicle so that the parking direction of the vehicle and the target parking direction of the target parking fence meet the consistency requirement.

According to a second aspect of the invention, there is provided an electronic device comprising a processor and a memory; the memory has stored therein computer instructions which, when executed by the processor, implement the method of the first aspect of the invention.

According to a third aspect of the present invention, there is provided a vehicle comprising:

a processor and a memory;

the memory having stored therein computer instructions;

the positioning module is used for acquiring the parking position of the vehicle;

the gyroscope is used for acquiring the parking direction of the vehicle;

the computer instructions, when executed by the processor, implement the method of the first aspect of the invention.

According to a fourth aspect of the present invention, there is provided a computer storage medium having stored thereon computer instructions which, when executed by a processor, perform the method of the first aspect of the present invention.

According to the parking management method provided by the embodiment of the disclosure, the parking angle and the parking position of the vehicle are detected, the target parking angle of the corresponding target parking fence is determined according to the parking position of the vehicle, and whether the current parking direction of the vehicle is consistent with the target parking direction is detected by comparing the parking angle of the vehicle with the target parking angle. When the current parking direction of the vehicle is consistent with the target parking direction, the parking confirmation information is output to control the vehicle to lock the vehicle, so that the one-way parking of the vehicle is realized, the standard parking of the vehicle is realized, the conditions that the disordered parking of the vehicle affects city appearance and traffic can be avoided, meanwhile, the dispatching management of operation and maintenance personnel on the vehicle is facilitated, and the management efficiency on the vehicle is improved.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a schematic diagram of a shared vehicle system capable of implementing embodiments of the present disclosure;

fig. 2 is a flowchart of a parking management method provided by an embodiment of the present disclosure;

FIG. 3 is a schematic illustration of a road provided by an implementation of the present disclosure;

fig. 4 is a schematic diagram of determining a target parking direction of a parking fence according to an embodiment of the present disclosure;

fig. 5 is a schematic view of a parking fence disposed along a parking strip according to an embodiment of the present disclosure.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

< shared vehicle System >

FIG. 1 is a block diagram of a shared vehicle system that may be used to implement an embodiment of the present invention.

As shown in fig. 1, the shared vehicle system 100 includes a server 1000, a terminal 2000, and a vehicle 3000.

The server 1000 is a service point that provides processing, databases, and communications facilities. The server 1000 may be a unitary server or a distributed server across multiple computers or computer data centers. The server may be of various types, such as, but not limited to, a web server, a news server, a mail server, a message server, an advertisement server, a file server, an application server, an interaction server, a database server, or a proxy server. In some embodiments, each server may include hardware, software, or embedded logic components or a combination of two or more such components for performing the appropriate functions supported or implemented by the server. For example, a server, such as a blade server, a cloud server, etc., or may be a server group consisting of a plurality of servers, which may include one or more of the above types of servers, etc.

In one embodiment, the server 1000 may be as shown in fig. 1, including a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600. In other embodiments, the server 1000 may further include a speaker, a microphone, and the like, which are not limited herein.

The processor 1100 may be a dedicated server processor, or may be a desktop processor, a mobile version processor, or the like that meets performance requirements, and is not limited herein. The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, various bus interfaces such as a serial bus interface (including a USB interface), a parallel bus interface, and the like. The Communication device 1400 may be capable of wired or Wireless Communication, for example, the Communication device 1400 may include a short-range Communication device, for example, a device that performs short-range Wireless Communication based on a short-range Wireless Communication protocol such as Wi-Fi, bluetooth, and NFC (Near Field Communication), and the Communication device 1400 may also include a remote Communication device, for example, any device that performs WLAN (Wireless Local Area Network), GPRS (General Packet Radio Service), and 2G/3G/4G/5G remote Communication. The display device 1500 is, for example, a liquid crystal display panel, a touch panel, or the like. The input device 1600 may include, for example, a touch screen, a keyboard, and the like.

Although a plurality of devices in the server 1000 are shown in fig. 1, the present invention may only relate to some of the devices, for example, the server 1000 only relates to the processor 1100, the memory 1200 and the communication device 1400.

In this embodiment, the terminal 2000 is, for example, a mobile phone, a portable computer, a tablet computer, a palm computer, a wearable device, or the like. The terminal 2000 may be loaded with software necessary for using the vehicle. For example, an Application (APP) required for using the shared vehicle is installed on the terminal 2000.

As shown in fig. 1, the terminal 2000 may include a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, a display device 2500, an input device 2600, a speaker 2700, a microphone 2800, a camera, and the like.

The processor 2100 may be a mobile version processor. The memory 2200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 2300 includes, for example, a USB interface, a headphone interface, and the like. The Communication device 2400 may include a short-range Communication device, for example, a device that performs short-range Wireless Communication based on a short-range Wireless Communication protocol such as Wi-Fi, bluetooth, and NFC (Near Field Communication), and the Communication device 2400 may also include a remote Communication device, for example, any device that performs WLAN (Wireless Local Area Network), GPRS (General Packet Radio Service), and 2G/3G/4G/5G remote Communication. The display device 2500 is, for example, a liquid crystal display panel, a touch panel, or the like. The input device 2600 may include, for example, a touch screen, a keyboard, and the like. A user can input/output voice information through the speaker 2700 and the microphone 2800.

Although a plurality of devices in the terminal 2000 are illustrated in fig. 1, the present invention may relate to only some of the devices, for example, the terminal 2000 relates to only the processor 2100, the memory 2200, the communication device 2400, and the display device 2500.

The vehicle 3000 is any vehicle that can give the use right to different users in a shared manner in time or in a separate manner. Such as sharing bicycles, sharing automobiles, etc. The vehicle 3000 may be an electric bicycle, that is, the vehicle 3000 has a power assist system provided with a battery as a power source, a motor for driving wheels to rotate, a handle, and the like. The battery may also be used to provide operating power for various portions of the vehicle 3000.

The vehicle lock of vehicle 3000 may include processor 3100, memory 3200, interface device 3300, communication device 3400, acceleration sensor 3500, gyroscope 3600, positioning module 3700, speaker 3800, and so forth. The processor 3100 may be a microprocessor MCU or the like. The memory 3200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface 3300 includes, for example, a USB interface, a headphone interface, and the like. The Communication device 3400 may include a short-range Communication device, for example, a device that performs short-range Wireless Communication based on a short-range Wireless Communication protocol such as Wi-Fi, bluetooth, or NFC (Near Field Communication), and the Communication device 3400 may include a remote Communication device, for example, any device that performs WLAN (Wireless Local Area Network), GPRS (General Packet Radio Service), or 2G/3G/4G/5G remote Communication. The acceleration sensor 3500 may be used to measure the acceleration of the vehicle, and the gyroscope 3600 may be used to measure the angular velocity of the vehicle. The positioning device 3700 may include, for example, a base station positioning module, a global Navigation Satellite system gnss (global Navigation Satellite system) positioning module, and the like. The GNSS Positioning module may be, for example, a GPS (Global Positioning System) module or a beidou module.

Although a plurality of devices in the vehicle lock are shown in fig. 1, the present invention may relate only to some of the devices, for example, only to the processor 3100, the memory 3200, the communication device 3400, and the acceleration sensor 3500 in the vehicle lock.

In this embodiment, the memory 2200 of the user terminal 2000 is configured to store program instructions for controlling the processor 2100 to operate to perform a method of using the vehicle 3000, including, for example: under the condition that a user scans a two-dimensional code on a vehicle body or manually inputs a vehicle number, a unique identification of the vehicle is obtained, an unlocking request aiming at the specific vehicle is formed, and the unlocking request is sent to a server. Sending a lock closing request to a server aiming at a specific vehicle; and bill settlement and the like according to the charge settlement notice sent by the server.

In the shared vehicle system shown in fig. 1, communication between the lock and the server 1000, between the terminal 2000 and the server 1000, and between the lock and the terminal 2000 can be performed through the network 4000. The network 4000 over which the vehicle lock communicates with the server 1000, the terminal 2000 communicates with the server 1000, and the vehicle lock communicates with the terminal 2000 may be the same or different, and is not limited herein. The network 4000 may be a wireless communication network, a wired communication network, a local area network, a wide area network, a short-distance communication network, or a long-distance communication network. By using the communication network 4000, the vehicle lock, the server 1000, and the terminal 2000 may communicate directly or indirectly to transmit information, which helps to implement the parking management method according to the embodiment of the present disclosure.

It should be understood that although fig. 1 shows only one server 1000, terminal 2000, vehicle 3000, there is no intention to limit the number of each, and multiple servers 1000, multiple terminals 2000, multiple vehicles 3000 may be included in the shared vehicle system 100.

In the above description, the skilled person can design the instructions according to the solutions provided in the present disclosure. How the instructions control the operation of the processor is well known in the art and will not be described in detail herein.

< method examples >

Fig. 2 is a flowchart of a parking management method according to an embodiment of the present invention. The parking management method is adapted to detect whether a vehicle is parked to a prescribed area and whether parking is performed in a prescribed parking direction. For example, it is detected whether the vehicle is parked with a prescribed vehicle head toward the road. The vehicle in this embodiment may be a shared bicycle. The method may be performed by a server, a vehicle or a terminal device. The method is specifically described below by taking the server as an example for executing the method. Referring to fig. 2, the method specifically includes the following steps:

s110, when a vehicle returning request to the vehicle is received, the parking position and the parking angle of the vehicle are obtained, and the parking angle of the vehicle is the azimuth angle of the parking direction of the vehicle.

Wherein, the car returning request can be sent by the user triggering terminal equipment. For example, the user operates the APP in the terminal, and outputs a car returning request to the server by clicking a car returning option in the APP.

The parking position of the vehicle may be obtained by a positioning module in the vehicle. The parking direction of the vehicle can be detected by means of a sensor device already present in the vehicle. For example, a gyroscope is mounted on the vehicle body, and the parking direction of the vehicle is determined by the gyroscope. For example, during riding of the vehicle, the initial direction of the gyroscope is calibrated using the GPS direction of the vehicle, and the direction acquired by the gyroscope while parking is taken as the parking direction of the vehicle. For example, a gyroscope is arranged at the head position of the vehicle to acquire the head orientation of the vehicle, and the acquired head orientation is taken as the parking direction of the vehicle.

In some embodiments, the parking direction of the vehicle is a heading direction of the vehicle when parked. In other embodiments, the direction of parking of the vehicle is the direction of the rear of the vehicle when parked. It should be noted that, in implementation, all vehicles need to execute a unified standard, that is, all vehicles have the front direction as the parking direction of the vehicle, or all vehicles have the front direction as the parking direction of the vehicle.

And after the parking direction of the vehicle is acquired, taking the azimuth angle of the parking direction of the vehicle as the parking angle of the vehicle. In the embodiment of the present disclosure, the azimuth angle of a certain direction refers to a horizontal included angle between a north-pointing direction line at any point on the direction line of the direction and a direction line of the direction along the clockwise direction. It is noted that, in the embodiments of the present disclosure, the parking angle of the vehicle specifically refers to a horizontal angle from the right north of the parking position of the vehicle to the parking direction of the vehicle in the clockwise direction. Obviously, the parking angle of the vehicle can be uniquely determined by the parking direction of the vehicle. For example, if the parking direction of the vehicle is 45 ° north, the current parking angle of the vehicle is 45 °; if the parking direction of the vehicle is 30 degrees north, the current parking angle of the vehicle is 330 degrees; if the parking direction of the vehicle is the due north direction, the current parking angle of the vehicle is 0 °.

The parking angle of the vehicle is correspondingly determined by acquiring the parking direction of the vehicle, and the parking angle is used for detecting whether the vehicle parks according to the regulations in the subsequent steps.

And S120, determining a target parking fence according to the parking position of the vehicle.

The area corresponding to the parking fence is a legal parking area, and a user can be guided to park the vehicle to the legal parking area by pre-defining the parking fence. In an embodiment of the present disclosure, the parking fence may be an electronic fence.

Since the parking fence has the determined position information, the parking fence matched with the parking position of the vehicle, namely the target parking fence, can be searched from the parking position of the vehicle.

For example, a parking fence may be defined in terms of a rectangular area, and after the parking fence is defined, the parking fence may be recorded by storing coordinates of four points of the parking fence and coordinates of a center point of the parking fence. After the user parks the vehicle, the server can search the matched target parking fence according to the coordinates of the parking position of the vehicle.

S130, obtaining a target parking angle of the target parking fence, wherein the target parking angle of the target parking fence is an azimuth angle of a target parking direction of the target parking fence.

In the embodiment of the present disclosure, the azimuth angle of the target parking direction of the parking fence is a horizontal angle from the clockwise direction to the target parking direction in the due north direction of the target parking direction.

In practice, an angle attribute value can be pre-configured for each parking fence, so as to characterize the target parking angle of the parking fence by the angle attribute value. That is, after the target parking fence is determined, the target parking angle of the target parking fence may be derived based on the angle attribute value of the target parking fence.

Optionally, the angle attribute value may be specifically configured according to the following method:

the angle attribute value of the target parking fence is an azimuth angle of a direction in which the target parking direction of the target parking fence is rotated by 90 degrees in a clockwise direction or a counterclockwise direction. Correspondingly, the step of obtaining the parking angle of the target parking fence specifically comprises the following steps: and obtaining the angle attribute value of the target parking fence, and reducing the target parking angle of the target parking fence according to the angle attribute value of the target parking fence.

For example, if the angle attribute value of the target parking fence is 150 ° and the angle attribute value is the azimuth angle of the direction in which the target parking direction is rotated by 90 ° clockwise, after the angle attribute value of the target parking fence is 150 °, the server may obtain, through calculation and reduction, that the target parking angle of the target parking fence is 60 °, that is, the direction of 60 ° north to east is the target parking direction of the target parking fence.

It should be noted that the angle attribute value provided by the present embodiment may be used to detect whether the vehicle is parked in two directions, or may be used to detect whether the vehicle is parked in one direction. For a scheme of one-way parking, please refer to the description of the following steps. Here, a brief description is given of a scheme for detecting bidirectional parking of a vehicle based on the angle attribute value: the target parking fence is a long-strip-shaped fence arranged on one side of a road along the road, the angle attribute value of the target parking fence is an azimuth angle of a direction obtained by rotating the target parking direction of the target parking fence by 90 degrees in the clockwise direction or the anticlockwise direction, the azimuth angle is equivalent to the azimuth angle of the long edge direction of the target parking fence, when the parking angle of the vehicle is different from the azimuth angle of the long edge by 90 degrees or 270 degrees, the vehicle can be confirmed to be parked perpendicular to the road, the two-way parking requirement is met, and the server can control the vehicle to lock the vehicle at the moment.

S140, determining whether the parking direction of the vehicle and the target parking direction of the target parking fence meet the requirement of consistency or not according to the parking angle of the vehicle and the target parking angle of the target parking fence.

The parking angle of the vehicle is the azimuth angle of the parking direction, the target parking angle is the azimuth angle of the target parking direction, and whether the parking direction of the vehicle is consistent with the target parking direction required by the parking fence in which the vehicle is located can be detected by comparing the parking angle of the vehicle with the target parking angle, so that whether the vehicle is parked in one direction according to the requirement is detected. For example, it is detected whether the locomotive is parked towards the road.

Optionally, step S140 may further include steps S141-S142, wherein,

and S141, determining the absolute value of the difference value between the target parking angle of the target parking fence and the parking angle of the vehicle.

Wherein the absolute value of the difference belongs to [ 0-360 ]. Illustratively, the target parking fence has a target parking angle of 150 °, the parking angle of the vehicle is 120 °, and the absolute value of the determined difference is 30 °.

It should be noted that, in this embodiment, the target parking angle may be represented by storing the angle attribute value of the target parking fence, and after the server acquires the angle attribute value of the target parking fence, the server needs to restore the angle attribute value to obtain the target parking angle. For example, if the angle attribute value of the target parking fence is 150 ° and the angle attribute value is the azimuth angle of the target parking direction of the target parking fence rotated by 90 ° clockwise, 90 ° needs to be subtracted from 150 ° to restore the target parking angle to 60 °, and then the absolute value of the difference between the target parking angle and the parking angle of the vehicle is determined.

And S142, determining that the parking direction of the vehicle and the target parking direction of the target parking fence meet the requirement of coincidence under the condition that the absolute value of the difference is smaller than or equal to a first threshold value or larger than or equal to a second threshold value, wherein the second threshold value is the difference between 360 degrees and the first threshold value.

That is, any one of the two conditions that the absolute value of the difference is less than or equal to the first threshold and the absolute value of the difference is greater than or equal to the second threshold is satisfied, it is determined that the parking direction of the vehicle and the target parking direction of the target parking fence meet the requirement of coincidence, and otherwise, it is determined that the parking direction of the vehicle and the target parking direction of the target parking fence do not meet the requirement of coincidence.

In practical applications, the maximum angle that allows the parking direction of the vehicle to deviate from the target parking direction is usually an acute angle value, which represents the range that the parking direction of the vehicle is allowed to deviate from the target parking direction. The acute angle value is taken as a first threshold value, and the second threshold value is the difference between 360 degrees and the first threshold value. For example, the range of allowable deviation from the target parking direction is 30 °, the first threshold value is 30 °, and the second threshold value is 330 °.

When the vehicle is parked, it may be deviated from the target parking direction in the clockwise direction or may be deviated from the target parking direction in the counterclockwise direction, and there may be a case where the deviation angle is within the allowable range from the target parking direction in the counterclockwise direction. The second threshold value is set in order to take into account the fact that the vehicle is deviated counterclockwise from the target parking direction by the deviation angle within the allowable range. In the case where the absolute value of the difference is larger than the first threshold, it is also necessary to determine the coincidence of the parking direction of the vehicle and the target parking direction based on the result of comparison of the absolute value of the difference with the second threshold.

For example, if the absolute value of the difference calculated in the above steps is 20 °, which is smaller than the first threshold value of 30 °, it is determined that the parking direction of the vehicle and the target parking direction of the target parking fence meet the requirement of coincidence.

For example, if the parking angle of the vehicle is 350 °, i.e. the parking direction of the vehicle is 10 ° north and west, and the target parking angle of the target parking fence is 10 °, i.e. the target parking direction of the target parking fence is 10 ° north and east, then the absolute value of the difference obtained by calculation should be 340 °, obviously 340 ° being greater than the first threshold value of 30 °. In practice, the vehicle is now merely displaced 20 ° counter-clockwise from the target parking direction, and in actual use, the parking situation is also considered to be a satisfactory one-way parking. Therefore, at this time, the calculated absolute value 340 ° of the difference is required to be compared with the second threshold 330 °, and the absolute value 340 ° of the difference is larger than the second threshold 330 °, so that it can be determined that the parking direction of the vehicle at the present time is the same as the target parking direction.

In some embodiments, the correspondence between the parking direction of the vehicle and the target parking direction of the target parking fence is detected using in particular the following formula:

abs(a-b)≤c (1)

abs(a-b)≥d (2)

in the formula: abs () is a function taking the absolute value, a is the parking angle of the vehicle, b is the target parking angle of the target parking fence, c is the first threshold, d is the second threshold, and d is 360 ° -c.

And S150, outputting parking confirmation information responding to the vehicle returning request under the condition that the consistency requirement is met.

The analysis shows that when the parking direction of the vehicle is consistent with the target parking direction, the vehicle is indicated to be parked in one direction according to the rule, and at the moment, the vehicle is controlled to lock by outputting parking confirmation information, and the vehicle returning process is finished.

In actual operation, a user may not park the vehicle to be consistent with a target parking direction at a time, and the server may output a prompt signal and the like to guide the user to park when determining that the parking direction of the vehicle is inconsistent with the target parking direction. This is further described below.

Optionally, the server outputs parking adjustment information to prompt the user to adjust the parking direction of the vehicle so that the parking direction of the vehicle and the target parking direction of the target parking fence meet the requirement of consistency when determining that the parking direction of the vehicle and the target parking direction do not meet the requirement of consistency. For example, the server transmits the parking adjustment information to the terminal of the user, and the terminal prompts the user to adjust the parking direction of the vehicle in a text manner, a schematic diagram manner with an animation effect, a voice manner, or the like after receiving the parking adjustment information. Or the server sends the parking adjustment information to the vehicle, and the vehicle plays voice information through a loudspeaker on the vehicle body to prompt the user to adjust the parking direction of the vehicle.

Optionally, the server may further output a vehicle locking prohibition signal to the vehicle to control the vehicle lock of the vehicle to prohibit locking, so as to remind the user that a problem exists in the current vehicle returning process.

The following describes a specific process of generating a target parking direction of a parking fence in the present embodiment with reference to a specific example.

In general, a parking fence is arranged along an extending direction of a road at one side of the road, the parking fence being in a regular rectangular shape and a long side of the rectangle being disposed along the extending direction of the road. For example, a walking road on one side of a road defines a rectangular area as a parking fence. Under the working condition, the target parking direction of the parking fence is generated according to the following mode:

and S210, acquiring the attributive road of the parking fence.

And S220, taking any point of the parking fence as a starting point, making a perpendicular line to the road to which the point belongs, and taking the direction of the perpendicular line as the target parking direction of the parking fence.

After the attribution road of the parking fence is determined, taking any point in the parking fence as a starting point to make a perpendicular line towards the attribution road, wherein the perpendicular line is perpendicular to the attribution road and faces towards the attribution road, and the direction of the perpendicular line is based on the target parking direction of the parking fence.

For example, fig. 4 is a schematic diagram of determining a target parking direction provided in this embodiment, where a rectangle ABCD in the diagram is a parking fence, I is a due north direction, EF is a home road of the parking fence, a perpendicular line GH is obtained by making a perpendicular line from a central point G of the parking fence to the home road EF, and a pointing direction of the perpendicular line GH is the target parking direction of the parking fence. In one embodiment, rotating the perpendicular GH 90 ° clockwise results in ray GJ, the azimuth angle of the direction of ray GJ is 75 °, and the angular attribute value of the parking fence is 75 °.

In one embodiment, when a parking fence is defined along a road, the road is set as the home road of the parking fence and recorded for use in determining a target parking direction for the parking fence.

In one embodiment, step S210, acquiring the home road of the parking fence, may include steps S211-S212.

S211, determining candidate roads within a preset range from the center point of the parking fence.

The candidate road can be a road marked in advance and capable of defining a parking fence along one side or two sides of the road. For example, all candidate roads in the map may be manually marked by a worker. In step S211, according to the geographical location of the central point of the parking fence, candidate roads within a preset range from the central point of the parking fence can be determined.

And S212, gradually enlarging the circle by taking the central point of the parking fence as the center of the circle in a mode from small to large, and taking the candidate road which is tangent at first as the home road of the parking fence.

In the embodiment, the attribution road is searched by gradually enlarging the circle by taking the central point of the parking fence as the circle center in a mode from small to large, so that the interference roads which are close to the parking fence can be effectively eliminated.

For example, fig. 3 is a schematic diagram of a road provided in the present embodiment. Referring to fig. 3, there are two candidate roads m and n within a predetermined range from a center point P1 of a parking fence P, the road m intersecting the road n, the parking fence P being disposed along one side of the road m. At this time, although the road n is close to the parking fence P, the road m should be the home road of the parking fence P when the parking direction of the vehicle is desired to be toward the road m according to the actual situation. By the method, the road m can be determined to be the first tangent road, so that the road m is determined to be the attribution road of the parking fence P and is consistent with the actual situation. Therefore, the method provided by the step can effectively eliminate the interference roads which are close to the parking fence, and accurately find the attribution road of the parking fence.

The method for determining the attribution road provided by the embodiment is particularly suitable for the situation that the road is marked artificially, and the attribution road of the parking fence is determined from the candidate roads.

In practical operation, for those situations where the road is not labeled in advance, it is considered that the two side areas of some roads are not suitable for parking, that is, are not suitable for defining parking fences, such as a highway side, a roadside located under a bridge, and the like. The server takes all roads within a preset range from the center point of the parking fence as candidate roads, and then further screens the candidate roads according to a screening rule to obtain roads with parking conditions as effective roads. For example, there are three roads within a preset range from the parking fence, where a first road is located in a cell, and obviously, the first road cannot be used as a road for defining the parking fence, so that the first road needs to be excluded, and the home road is determined in the remaining two roads.

In one embodiment, the step S210 of obtaining the home road of the parking fence may include steps S213-S216, wherein,

and S213, determining candidate roads within a preset range from the central point of the parking fence.

And S214, acquiring the grade attribute and the structure attribute of the candidate road.

The grade attribute of the road can be divided according to the traffic flow of the road. The higher the traffic flow, the higher the rating attribute accordingly. For example, roads may be classified into five levels of an expressway, a first-level road, a second-level road, a third-level road, and a fourth-level road according to the hierarchical attributes of the roads. For another example, an urban road may be divided into three levels, i.e., a main road, a secondary road, and a branch road, according to the administrative level of the road. The vicinity of roads with high traffic flow, such as expressways, first-level roads and the like, and the vicinity of urban road trunks are not suitable for parking.

The structural attribute of the road reflects whether the road is a special type of road, for example, the road may be divided into a general road, a bridge, an elevated road, a tunnel, a fully enclosed road, a sinking road, etc. according to the structural attribute of the road. The roads with special structures such as bridges, elevated roads, tunnels, fully-enclosed roads, sunken roads and the like are not suitable for parking vehicles.

S215, screening the candidate roads according to the grade attributes and the structure attributes of the candidate roads and preset rules, and taking the screened candidate roads as effective roads.

Wherein the vicinity of the active road allows for a parking fence to be defined.

The preset rule in this embodiment may be: screening the candidate roads for the first time according to the grade attributes of the candidate roads to exclude roads with overlarge traffic flow and roads with overlarge administrative levels; and then removing roads with special structures from the remaining candidate roads according to the structural attributes of the candidate roads, and finally obtaining the effective roads.

For example, an expressway, a first-level highway, a second-level highway and a trunk road in the candidate roads can be removed according to the grade attributes, and then a bridge, an elevated road, a tunnel, a totally-enclosed road and a sunken road are removed according to the structural attributes, so that an effective road within a preset distance range is obtained.

In some embodiments, the candidate roads may be classified according to the category attribute of the road, and then further screened according to the level attribute and the structure attribute of the road. Specifically, roads may be classified into urban roads, highways, factory roads, forest roads, or rural roads according to the category attributes of the roads. The method is characterized in that the grades of roads and urban roads are divided, and the grades of forest roads, factory roads and rural roads are not divided.

The preset rule under this condition may be, for example: firstly, screening possible candidate roads such as urban roads, highways, rural roads and the like according to categories; further screening candidate roads, such as urban main roads, urban secondary main roads, urban branches, county roads, rural roads and the like, which meet the parking requirements according to the grade attributes; and removing road sections with special structures such as bridges, elevated roads, tunnels, totally-enclosed roads, sunken roads and the like from the screened candidate roads according to the structural attributes of the roads to obtain effective roads.

S216, gradually enlarging the circle by taking the center point of the parking fence as the circle center in a mode from small to large, and taking the first tangent effective road as the home road of the parking fence.

And gradually enlarging the circle by taking the central point of the parking fence as the center of the circle in a mode from small to large, and taking the effective road which is firstly tangent to the circle as the attribution road of the parking fence.

In the embodiment, the candidate roads are optimized on the basis of the above embodiment, roads which do not meet the parking conditions are further excluded from the candidate roads to obtain effective roads, and then the attribution road of the parking fence is determined from the effective roads.

In practice, the parking fence may be defined along an irregular section of road, for example, the parking fence may be a strip-shaped parking fence disposed along one side of a bent section of road and also bent in shape. In this case, can cut the parking rail to cut the parking rail into a plurality of sub-rails, determine the target parking direction of sub-rail.

In this case, the determination of the target parking direction of the sub-fence will be described by taking the first parking fence as an example. The first parking fence is a bent-shaped parking fence disposed along the bent section, and the steps S310 to S320 are performed to divide the first parking fence into sub-fences.

S310, acquiring the road units contained in the bent road section and the connection nodes between any two adjacent road units.

In the map data, a bent section is formed by connecting a plurality of road units (links), each of which is a straight line. In step S310, map data of a bent segment is obtained, and road units (link) included in the bent segment and connection nodes (nodes) between any two adjacent road units are obtained, where the connection nodes (nodes) between any two adjacent road units represent bending points of the bent segment.

And S320, taking a point corresponding to the first edge of the first parking fence and the connecting node as a first dividing point, taking a point corresponding to the second edge of the first parking fence and the connecting node as a second dividing point, taking a connecting line of the first dividing point and the second dividing point as a dividing line, and dividing the first parking fence into sub-fences, wherein the first edge and the second edge of the first parking fence are parallel to the bent road section.

In this way, the first parking fence is divided into a plurality of sub-fences according to the bending condition, and for each sub-fence, the target parking direction of the sub-fence can be determined using the aforementioned method.

In step S120, it can be determined which sub-fence of the first parking fence the vehicle is parked in according to the parking position of the vehicle, the sub-fence is determined as a target parking fence, and a target parking angle of the sub-fence is obtained.

For example, fig. 5 is a schematic diagram of a bent parking fence disposed along a bent road section according to the present embodiment, and as described with reference to fig. 5, a road ABCD is the bent road section, and an irregular area composed of EFGHIJKL is a first parking fence disposed along the road ABCD.

AB. BC and CD are road units of the bent road section, and the node B, C is a connecting node between adjacent road units. Accordingly, the bending point F, K forms a division line FK as one set of division points, the bending point G, J forms another division line GJ, and the first parking fence is cut into three sub-fences by the resulting two sets of division lines. The three sub-fences obtained after cutting are all parking fences with approximate regular shapes. At this time, it is determined that the target parking direction of the sub-fence EFKL is the perpendicular line I by a method of making a perpendicular line to the road unit corresponding to the sub-fence with any point of the sub-fence as a starting point₁L₁The target parking direction of the sub-fence FGJK is the perpendicular line E₁H₁The target parking direction of the sub-fence GHIJ is the perpendicular line A₁D₁In the direction of (a). When the target parking direction of the first parking fence EFGHIJKL is generated, the target parking directions of the respective sub-fences and the sub-fence need to be stored separately.

Specifically, the method includes cutting the bent parking fence into a plurality of sub-fences which are approximately regular, determining the target parking direction of each sub-fence according to the method of the above embodiment, and correspondingly storing the sub-fences and the corresponding target parking directions. The server determines the corresponding sub-fence and the corresponding target parking direction according to the parking position of the vehicle, and then detects whether the parking direction of the vehicle is consistent with the target parking direction.

In addition, the parking fence may have other irregular shapes, and in this case, the operation and maintenance personnel can set the target parking direction of the parking fence, and the parking fence and the target parking direction thereof are entered into the server and recorded into the related database.

The disclosed embodiment provides an electronic device, comprising a processor and a memory; the storage stores computer instructions, and the computer instructions, when executed by the processor, implement the parking management method disclosed in any of the foregoing embodiments. The electronic device may be, for example, the aforementioned server or terminal.

The disclosed embodiment provides a vehicle, which includes: the device comprises a positioning module, a gyroscope, a processor and a memory; the positioning module is used for acquiring the parking position of the vehicle; the gyroscope is used for acquiring the parking direction of the vehicle; the storage stores computer instructions, and the computer instructions, when executed by the processor, implement the parking management method disclosed in any of the foregoing embodiments.

The embodiment of the disclosure provides a computer storage medium, on which computer instructions are stored, and when the computer instructions are executed by a processor, the parking management method disclosed in any one of the foregoing embodiments is implemented.

The skilled person can design instructions according to the disclosed solution, how the instructions control the operation of the processor, which is well known in the art, and therefore will not be described in detail here.

The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A method of parking management, the method comprising:

when a vehicle returning request to a vehicle is received, a parking position and a parking angle of the vehicle are obtained, wherein the parking angle of the vehicle is an azimuth angle of the parking direction of the vehicle;

2. The method of claim 1, wherein the target parking direction of the target parking fence is generated according to:

acquiring a home road of the target parking fence;

3. The method of claim 2, the obtaining a home road for the target parking fence, comprising:

4. The method of claim 2, the obtaining a home road for the target parking fence, comprising:

5. The method of any one of claims 1-4, wherein the target parking fence is a sub-fence of the first parking fence;

6. The method of any one of claims 1-4, wherein determining whether the parking direction of the vehicle and the target parking direction of the target parking fence meet a compliance requirement based on the parking angle of the vehicle and the target parking angle of the target parking fence comprises:

7. The method according to any one of claims 1-4, further comprising:

8. An electronic device comprising a processor and a memory; the memory has stored therein computer instructions which, when executed by the processor, implement the method of any of claims 1-7.

9. A vehicle, characterized in that the vehicle comprises:

a processor and a memory;

the memory having stored therein computer instructions;

the gyroscope is used for acquiring the parking direction of the vehicle;

the computer instructions, when executed by the processor, implement the method of any of claims 1-7.

10. A computer storage medium having computer instructions stored thereon, wherein the computer instructions, when executed by a processor, implement the method of any of claims 1-7.