CN113658446A - Path planning method and device, computer readable storage medium and terminal - Google Patents

Path planning method and device, computer readable storage medium and terminal Download PDF

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CN113658446A
CN113658446A CN202110963234.6A CN202110963234A CN113658446A CN 113658446 A CN113658446 A CN 113658446A CN 202110963234 A CN202110963234 A CN 202110963234A CN 113658446 A CN113658446 A CN 113658446A
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parking lot
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吴倩
姚瑞
朱琳玲
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Spreadtrum Communications Shanghai Co Ltd
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Abstract

A path planning method and device, a computer readable storage medium and a terminal are provided, wherein the path planning method comprises the following steps: according to a destination of a user, acquiring a candidate parking lot within a preset range of the destination; selecting an optimal parking lot from the candidate parking lots according to the number of the vacant parking lots of the candidate parking lots and the distance between the candidate parking lots and the current position of the vehicle, wherein the current position of the vehicle is obtained by positioning based on a first positioning mode; and planning and navigating a route from the current position of the vehicle to the optimal parking lot. According to the scheme, the convenience of finding and reaching the parking lot can be improved.

Description

Path planning method and device, computer readable storage medium and terminal
Technical Field
The embodiment of the invention relates to the field of path planning, in particular to a path planning method and device, a computer-readable storage medium and a terminal.
Background
As a convenient transportation mode, the automobile becomes a travel mode for numerous people. Especially, when driving to a market, playing in a recreation place or going out for business in holidays, finding a parking lot and a parking space is a troublesome thing for drivers. It is not possible to know exactly which parking lot is enough with enough free space near the destination and it is most convenient to reach the destination.
Disclosure of Invention
The embodiment of the invention solves the technical problem of how to improve the convenience of finding and arriving at the parking lot.
To solve the above technical problem, an embodiment of the present invention provides a path planning method, including: according to a destination of a user, acquiring a candidate parking lot within a preset range of the destination; selecting an optimal parking lot from the candidate parking lots according to the number of the vacant parking lots of the candidate parking lots and the distance between the candidate parking lots and the current position of the vehicle, wherein the current position of the vehicle is obtained by positioning based on a first positioning mode; and planning and navigating a route from the current position of the vehicle to the optimal parking lot.
Optionally, the selecting an optimal parking lot from the candidate parking lots according to the number of empty parking lots of the candidate parking lots and the distance between the candidate parking lots and the current position of the vehicle includes: respectively calculating a first recommendation index of each candidate parking lot according to the number of the spare parking lots of each candidate parking lot; calculating a second recommendation index of each candidate parking lot according to the distance between each candidate parking lot and the current position of the vehicle; calculating a comprehensive recommendation index of each candidate parking lot according to the first recommendation index and the second recommendation index of each candidate parking lot; and selecting the optimal parking lot from the candidate parking lots based on the comprehensive recommendation index of the candidate parking lots.
Optionally, the calculating the first recommendation index of each candidate parking lot according to the number of empty parking lots of each candidate parking lot includes: and calculating the ratio of the number of the vacant parking spaces of each candidate parking lot to the total number of the vacant parking spaces of all the candidate parking lots, and recording the ratio as the first recommendation index.
Optionally, the calculating a second recommendation index for each candidate parking lot according to the distance between each candidate parking lot and the current position of the vehicle includes: calculating the distance between each candidate parking lot and the current position of the vehicle, and taking the reciprocal of the calculated distance; and calculating the ratio of the reciprocal of the distance corresponding to each candidate parking lot to the sum of the reciprocals of the distances of all the candidate parking lots, and recording the ratio as the second recommendation index.
Optionally, the selecting the optimal parking lot from the candidate parking lots based on the comprehensive recommendation index of each candidate parking lot includes: selecting a recommended parking lot from the candidate parking lots according to the comprehensive recommendation index; and selecting the optimal parking lot from the recommended parking lots according to the distance between the recommended parking lots and the destination.
Optionally, the selecting the optimal parking lot from the recommended parking lots according to the distance between the recommended parking lots and the destination includes: estimating an arrival time from the current position of the vehicle to each recommended parking lot; estimating the number of vacant parking lots of each recommended parking lot when the recommended parking lots are reached based on the arrival time of the recommended parking lots and the historical vacancy rate of the recommended parking lots; and selecting an optimal parking lot from the recommended parking lots according to the estimated number of the vacant parking lots when the recommended parking lots arrive and the distance between the recommended parking lots and the destination.
Optionally, the number of empty parking spaces of each candidate parking lot is determined by the following method: estimating an arrival time from the current position of the vehicle to each candidate parking lot; and estimating the number of the vacant parking lots of the candidate parking lots when the candidate parking lots are reached based on the arrival time of the candidate parking lots and the historical vacancy rate of the candidate parking lots, and taking the number of the vacant parking lots as the number of the vacant parking lots of the candidate parking lots.
Optionally, the path planning method further includes: and after the optimal parking lot is selected, reserving a parking space for the vehicle.
Optionally, the reserving a parking space for the vehicle includes: estimating parking demand information of each time period in each day; and reserving the parking spaces for the vehicles according to the estimated parking demand information of each time period in each day, the received reserved parking space demand number and the number of the spare parking spaces of the optimal parking lot.
Optionally, the path planning method further includes: calculating the sum of the estimated parking demand information of each time period in each day and the received reserved parking space demand number, and recording as an estimated demand; and when the estimated demand exceeds the number of the vacant parking spaces of the optimal parking lot, reserving the parking spaces for the vehicles according to the priority of each user.
Optionally, the path planning method further includes: calculating the sum of the estimated parking demand information of each time period in each day and the received reserved parking space demand number, and recording as an estimated demand; and when the estimated demand exceeds the number of the vacant parking spaces of the optimal parking lot, the reserved parking spaces with the reserved time length exceeding the set time length are released for reservation.
Optionally, the reserving the reserved parking space with the reserved time length exceeding the set time length by the preset time length is released, including: acquiring the reserved parking space with the reserved time length exceeding the set time length; and acquiring the distance between the vehicle corresponding to each reserved parking space and the optimal parking lot, and releasing the reservation corresponding to the vehicle with the distance exceeding the set distance range.
Optionally, the path planning method further includes: after the vehicle arrives at the entrance of the optimal parking lot according to the current position of the vehicle, switching the first positioning mode to a second positioning mode, wherein the second positioning mode is used for positioning the position in the vehicle room; acquiring an indoor map of the optimal parking lot and the positions of the vacant parking spaces in the optimal parking lot; selecting an optimal parking space from the vacant parking spaces in the optimal parking lot according to one or more of the congestion state from the entrance of the optimal parking lot to the vacant parking spaces in the optimal parking lot, the distance from the entrance of the optimal parking lot to the vacant parking spaces in the optimal parking lot, and the distance from the positions of the vacant parking spaces in the optimal parking lot to a pedestrian safety exit; and planning and navigating a route from the entrance of the optimal parking lot to the optimal parking space.
Optionally, the second positioning mode is a WIFI positioning mode.
Optionally, the path planning method further includes: and selecting and outputting the optimal pedestrian safety exit according to the position of the optimal parking space and the position of each pedestrian safety exit in the optimal parking space.
Optionally, the path planning method further includes: and planning and navigating a route from the position of the optimal parking space to the position of the optimal pedestrian safety exit according to the position of the optimal parking space and the position of the optimal pedestrian safety exit.
Optionally, the path planning method further includes: when a vehicle searching request is received, the parking position of the vehicle is obtained; and planning and navigating a route from the current position of the user to the parking position of the vehicle according to the current position of the user and the parking position of the vehicle, wherein the current position of the user is obtained by positioning in the second positioning mode.
Optionally, when the user binds a plurality of vehicles, the parking position of the vehicle used by the user last time is used as the parking position of the vehicle.
Optionally, the path planning method further includes: and when the user is detected to arrive at the parking position of the vehicle, displaying payment information, wherein the payment information comprises the identification of the vehicle and the parking fee.
Optionally, the path planning method further includes: when the payment completion is detected, acquiring an exit of the optimal parking lot; and planning and navigating the parking position of the vehicle and the exit of the optimal parking lot according to the parking position of the vehicle and the exit of the optimal parking lot.
An embodiment of the present invention further provides a path planning apparatus, including: the system comprises an acquisition unit, a storage unit and a control unit, wherein the acquisition unit is used for acquiring candidate parking lots in a preset destination range according to a destination of a user; the selection unit is used for selecting an optimal parking lot from the candidate parking lots according to the number of the spare parking lots of the candidate parking lots and the distance between the candidate parking lots and the current position of the vehicle, wherein the current position of the vehicle is obtained by positioning based on a first positioning mode; and the path planning unit is used for planning a route from the current position of the vehicle to the optimal parking lot and navigating, and the first positioning mode is used for positioning the current position of the vehicle.
An embodiment of the present invention further provides a computer-readable storage medium, which is a non-volatile storage medium or a non-transitory storage medium, and on which a computer program is stored, where the computer program is executed by a processor to perform any one of the steps of the path planning method.
The embodiment of the present invention further provides a terminal, which includes a memory and a processor, where the memory stores a computer program capable of running on the processor, and the processor executes any of the steps of the path planning method when running the computer program.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
the method comprises the steps of obtaining candidate parking lots within a preset range of a destination according to the destination of a user, selecting an optimal parking lot from the candidate parking lots according to the number of empty parking lots of the candidate parking lots and the distance between the candidate parking lots and the current position of a vehicle, planning a route from the current position of the vehicle to the optimal parking lot and navigating, and positioning the current position of the vehicle by using a first positioning mode, so that the optimal parking lot is selected in advance before the destination is reached, the route from the current position of the vehicle to the optimal parking lot is planned and navigated, and convenience in parking lot searching and parking lot reaching is improved.
Drawings
Fig. 1 is a flowchart of a path planning method in an embodiment of the present invention;
FIG. 2 is a flowchart of another path planning method in an embodiment of the present invention
Fig. 3 is a schematic diagram illustrating a WIFI positioning principle in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a path planning apparatus in an embodiment of the present invention.
Detailed Description
As described above, when a user uses a car as a trip mode, the user usually suffers from trouble of finding parking lots and parking spaces, and usually only after arriving at a parking lot, the user can know whether there is a parking space, and usually cannot accurately know which parking lot has enough free parking spaces near a destination and is most convenient to arrive at the destination. Although the number of vacant parking spaces can be displayed in some parking public numbers or applets, the number of vacant parking spaces can be known by a user who needs to click one by one, so that the operation is inconvenient, and especially, potential safety hazards can be caused by frequently operating terminal equipment such as a mobile phone in the driving process.
In order to solve the problem, in the embodiment of the invention, candidate parking lots within a preset destination range are obtained according to a destination of a user, an optimal parking lot is selected from the candidate parking lots according to the number of empty parking lots of each candidate parking lot and the distance between each candidate parking lot and the current position of a vehicle, a route from the current position of the vehicle to the optimal parking lot is planned and navigated, and the first positioning mode is used for positioning the current position of the vehicle, so that the selection of the optimal parking lot and the path planning and navigation from the current position of the vehicle to the optimal parking lot are performed in advance before the destination is reached, and the convenience of searching and reaching the parking lot of the parking lot is improved.
In order to make the aforementioned objects, features and advantages of the embodiments of the present invention more comprehensible, specific embodiments accompanied with figures are described in detail below.
The embodiment of the invention provides a path planning method, which can be executed by terminal equipment such as a mobile phone, a vehicle machine and the like. In particular, the method can be implemented by application software (APP) installed on the terminal device, or integrated in some application software, such as electronic map application software. The method can also be realized by matching the terminal equipment with a server (or cloud).
Referring to fig. 1, a flowchart of a path planning method in the embodiment of the present invention is shown, which may specifically include the following steps:
and step S101, acquiring candidate parking lots within a preset destination range according to the destination of the user.
In implementations, a user typically needs to park the vehicle near a destination after reaching the destination. In order to improve the convenience of the user and shorten the distance from the parking lot to the destination as much as possible, candidate parking lots in a preset range of the destination can be acquired.
In some non-limiting embodiments, parking lots within an area range within a range with a preset value as a radius are taken as candidate parking lots within a preset range of the destination with the destination as a center. The preset value of the radius can be configured according to the acceptance degree of the user on the distance from the parking lot to the destination. For users who desire a closer distance from the parking lot to the destination, the radius may be of a relatively small value.
In a specific implementation, a destination configuration entrance can be arranged on a user interface of the terminal device, and a user can input a destination through the destination configuration entrance. The user may input the destination in a variety of ways, such as by voice or in a destination entry box.
And S102, selecting the optimal parking lot from the candidate parking lots according to the number of the spare parking lots of the candidate parking lots and the distance between the candidate parking lots and the current position of the vehicle.
In a specific implementation, the number of empty parking lots of each candidate parking lot can be obtained. In some non-limiting embodiments, the number of empty parking spaces may be obtained from the management system of each candidate parking lot in communicative connection with the management system of each candidate parking lot.
The distance between each candidate parking lot and the current position of the vehicle may be calculated from the position of each candidate parking lot and the current position of the vehicle. And selecting the optimal parking lot from the candidate parking lots according to the current positions of the candidate parking lots and the vehicles and the number of the vacant parking lots.
In some non-limiting embodiments, the current position of the vehicle may be located using the first positioning mode. The first Positioning method may be a Global Navigation Satellite System (GNSS), a Global Positioning System (GPS), or other systems suitable for performing outdoor Positioning, which is not illustrated herein.
In some non-limiting embodiments, the step S102 may be implemented as follows: respectively calculating a first recommendation index of each candidate parking lot according to the number of the spare parking lots of each candidate parking lot; and calculating a second recommendation index of each candidate parking lot according to the distance between each candidate parking lot and the current position of the vehicle. Calculating a comprehensive recommendation index of each candidate parking lot according to the first recommendation index and the second recommendation index of each candidate parking lot; and selecting the optimal parking lot from the candidate parking lots based on the comprehensive recommendation index of the candidate parking lots.
In practice, the number of vacant parking spaces of the candidate parking lot dynamically changes with time, and the accuracy of determining the number of vacant parking spaces of the candidate parking lot is improved, so that the probability that the optimal parking lot has vacant parking spaces is improved after a user arrives at the optimal parking lot; and estimating the number of the vacant parking lots of the candidate parking lots when the candidate parking lots are reached based on the arrival time of the candidate parking lots and the historical vacancy rate of the candidate parking lots, and taking the number of the vacant parking lots as the number of the vacant parking lots of the candidate parking lots. The vacancy rate is used for representing the probability of the vacant parking spaces of the parking lot.
In a specific implementation, when calculating the comprehensive recommendation index of each candidate parking lot, corresponding weights may be allocated to the first recommendation index and the second recommendation index, where the weight of the first recommendation index is the first weight, and the weight of the second recommendation index is the second weight. The comprehensive recommendation index can be obtained according to the weighting result of the first recommendation index and the first weight of each candidate parking lot and the weighting result of the second recommendation index and the second weight.
For example, the following formula (1) is used to calculate the comprehensive recommendation index of the kth candidate parking lot.
zk＝W1*αk+W2*βk； (1)
Wherein z iskA comprehensive recommendation index for the kth candidate parking lot; alpha is alphakA first recommendation index for a kth candidate parking lot; w1Is a first weight; beta is akA second recommendation index for a kth candidate parking lot; w2Is the second weight.
In a specific implementation, the values of the first weight and the second weight may be configured according to the parking preference of the user. If the parking preference of the user is the number of the vacant parking spaces, the first weight can be configured to be larger than the second weight. Accordingly, if the user parking preference is a parking distance (i.e., a distance between the candidate parking lot and the current position of the vehicle), the second weight may be configured to be greater than the first weight.
In some embodiments, e.g., W1Take 0.7, W2Take 0.3. It can be understood that W1And W2And other values can be adopted, and the configuration can be specifically carried out according to the requirements.
In specific implementation, the optimal parking lot is selected from the candidate parking lots based on the comprehensive recommendation index of the candidate parking lots, and the optimal parking lot can be selected in multiple ways:
in an embodiment of the present invention, after the comprehensive recommendation index of each candidate parking lot is obtained through calculation, the candidate parking lot with the highest comprehensive recommendation index may be selected as the optimal parking lot.
In another embodiment of the invention, in order to improve the user experience, the top m candidate parking lots are selected from high to low according to the comprehensive recommendation index of each candidate parking lot and output for the user to select, and the selected parking lot selected by the user is used as the optimal parking lot in response to the selection of the user. Wherein m is more than or equal to 1 and less than or equal to N, and N is the total number of the candidate parking lots.
In another embodiment of the present invention, a recommended parking lot is selected from the candidate parking lots according to the comprehensive recommendation index. And selecting the optimal parking lot from the recommended parking lots according to the distance between the recommended parking lots and the destination.
Specifically, an arrival time from the current position of the vehicle to each recommended parking lot is estimated; estimating the number of vacant parking lots of each recommended parking lot when the recommended parking lots are reached based on the arrival time of the recommended parking lots and the historical vacancy rate of the recommended parking lots; and selecting an optimal parking lot from the recommended parking lots according to the estimated number of the vacant parking lots when the recommended parking lots arrive and the distance between the recommended parking lots and the destination.
The historical vacancy rate of each recommended parking lot can be obtained by performing big data analysis based on the historical parking information of each recommended parking lot, the number of vacant vehicles of each recommended parking lot in each time period can be estimated, and the number of vacant vehicles of each recommended parking lot can be estimated when the arrival time of the vehicles at the recommended parking lots is obtained.
The third weight and the fourth weight may be configured, and the number of empty parking lots in each recommended parking lot when the vehicle arrives at each recommended parking lot is weighted with the third weight, so as to obtain a third recommendation index. And weighting the distance between each recommended parking lot and the destination and a fourth weight to obtain a fourth recommendation index, and selecting an optimal parking lot from each recommended parking lot according to the sum of the third recommendation index and the fourth recommendation index of each recommended parking lot.
In some non-limiting embodiments, a ratio of the number of empty parking spaces of each candidate parking lot to the total number of empty parking spaces of all candidate parking lots may be calculated and recorded as the first recommendation index.
For example, taking the kth candidate parking lot as an example, the following formula (2) may be adopted to calculate the first recommendation index for the kth candidate parking lot.
Figure BDA0003222866770000081
Wherein alpha iskA first recommendation index for a kth candidate parking lot; n is the total number of the candidate parking lots, i is more than or equal to 1 and less than or equal to N,
Figure BDA0003222866770000091
and the total number of the vacant parking spaces of the N candidate parking lots is N.
In some non-limiting embodiments, a distance between each candidate parking lot and the current position of the vehicle is calculated, and an inverse of the calculated distance is taken; and calculating the ratio of the reciprocal of the distance corresponding to each candidate parking lot to the sum of the reciprocals of the distances of all the candidate parking lots, and recording the ratio as the second recommendation index.
For example, the second recommendation index for the k-th parking lot may be calculated using the following equation (3):
Figure BDA0003222866770000092
wherein, betakA second recommendation index for a kth candidate parking lot; and N is the total number of the candidate parking lots.
And step S103, planning a route from the current position of the vehicle to the optimal parking lot and navigating.
In particular implementations, after determining the optimal parking lot, a route from the current location of the vehicle to the optimal parking lot may be planned and navigated based on the current location of the vehicle and the location of the optimal parking lot.
In some non-limiting embodiments, the path to the optimal parking lot may be planned fastest using an algorithm such as depth-first traversal or breadth-first traversal, according to the current position of the vehicle and the position of the optimal parking lot.
According to the method, the candidate parking lots within the preset destination range are obtained according to the destination of the user, the optimal parking lot is selected from the candidate parking lots according to the number of the spare vehicle bits of the candidate parking lots and the distance between the candidate parking lots and the current position of the vehicle, the route from the current position of the vehicle to the optimal parking lot is planned and navigated, and the first positioning mode is used for positioning the current position of the vehicle, so that the optimal parking lot is selected in advance before the destination is reached, the route from the current position of the vehicle to the optimal parking lot is planned and navigated, and convenience in finding the parking lot and reaching the parking lot is improved.
In specific implementation, on the basis of the embodiment shown in fig. 1, in some non-limiting embodiments, the following step S104 may also be included.
And step S104, after the optimal parking lot is selected, parking space reservation can be carried out on the vehicle.
Step S104 may be after step S102, or after step S103.
In a specific implementation, the above steps S101 to S102 may be applied to a non-reservation mode, where the non-reservation mode is to obtain candidate parking lots near a destination by using a first positioning method (e.g., GNSS) to navigate to the destination after the user inputs the destination, and select an optimal parking lot from the candidate parking lots according to the number of empty parking lots of each candidate parking lot and a distance between each candidate parking lot and a current position of the vehicle, and select the optimal parking lot from the candidate parking lots. In this case, step S104 may be executed after step S102, or may be executed after step S103.
Further, the above step S101 may be performed when it is detected that the vehicle is within a certain range from the destination. Such as step S101 performed at 2km from the destination.
In a specific implementation, the foregoing steps S101 to S102 may also be applied to a reservation mode, where the reservation mode is that the user inputs the destination before departing, and checks the candidate parking lots near the destination and the vacant parking spaces of the candidate parking lots, and selects an optimal parking lot from the candidate parking lots according to the number of vacant parking lots of the candidate parking lots and the distance between the candidate parking lots and the current position of the vehicle. Step S104 is then performed after step S102.
In a specific implementation, after the optimal parking lot is determined in step S102, the number of empty parking lots in each candidate parking lot may change over time, and steps S101 to S102 may be performed periodically to dynamically update the optimal parking lot.
In some non-limiting embodiments, parking space reservation can be performed for the vehicle according to the historical parking demand information of the optimal parking lot, the received number of reserved parking spaces and the number of vacant parking spaces of the optimal parking lot.
In other non-limiting embodiments, parking space reservation for the vehicle may be performed by estimating the parking demand information, the number of reserved parking spaces received, and the number of empty parking spaces in the optimal parking lot for each time period of the day.
For example, the time period is in units of one hour, and the j hour of each day has a parking demand of MjThe number of the received reserved parking space demands is NjThe number of the vacant parking lots is KjWherein j ∈ [0,23 ]]。
In a specific implementation, the parking demand information in each time period in each day can be estimated by adopting a second-order exponential smoothing prediction model.
For example, the following equations (4) to (7) are used to estimate the parking demand information for each time period of each day:
Figure BDA0003222866770000111
Figure BDA0003222866770000112
Figure BDA0003222866770000113
Figure BDA0003222866770000114
wherein,
Figure BDA0003222866770000115
the predicted value of the parking demand at the moment T + T is obtained; t is a time interval, which refers to the interval between the predicted time T + T and the current time T; delta is a smoothing coefficient;
Figure BDA0003222866770000116
is a first-order exponential smoothing value at the time t;
Figure BDA0003222866770000117
the second-order exponential smoothing value at the time t-1;
Figure BDA0003222866770000118
is a second-order exponential smoothing value at the time t; a istCalculated by the formula (6); btCalculated by the above formula (7).
Further, the sum of the historical parking demand information of the optimal parking lot and the received reserved parking space demand number is calculated and recorded as the estimated demand. And when the estimated demand exceeds the number of the vacant parking spaces of the optimal parking lot, reserving the parking spaces for the vehicles according to the priority of each user. Accordingly, when the estimated demand does not exceed the number of the vacant parking spaces in the optimal parking lot, parking space reservation can be performed for all vehicles with reservation demands.
In a specific implementation, the priority of the user may be represented by credit points, and if the user successfully completes a parking space reservation and arrives at a parking lot according to the reservation, the corresponding credit points may be accumulated. If the user does not arrive at the parking lot according to the reservation, the credit points of the user can be deducted. The credit points of the user can be updated according to the parking space reservation completion condition of the user. The higher the credit score of the user is, the higher the corresponding priority is, and the higher the priority of the user is, the higher the probability of reserving the parking space is.
In specific implementation, when the estimated demand exceeds the number of the vacant parking spaces of the optimal parking lot, the reserved parking spaces with the reserved time length exceeding the set time length are released for reservation. The reserved time length is beyond the set time length through releasing, but the reserved time length does not reach the parking space reservation of the vehicle with the parking length, a certain number of spare parking spaces can be released, and the reasonable arrangement of the spare parking spaces in the parking lot is realized.
In order to further improve the rationality of reservation removal of reserved parking spaces, in the embodiment of the invention, the reserved parking spaces with the reserved duration exceeding the set duration can be obtained, the distance between the vehicle corresponding to each reserved parking space and the optimal parking lot can be obtained, and the reservation corresponding to the vehicle with the distance exceeding the set distance range can be removed, so that the reservation of the parking spaces of the vehicles which are about to arrive at the optimal parking lot can be kept.
In some embodiments, a user with priority higher than a preset level may be configured to have the right to reserve a parking space.
Further, in some embodiments, movement information of the vehicle in the reserved parking space may also be acquired, and the reservation may be released for the vehicle whose movement information indicates that the vehicle is in a stationary state.
Further, the movement information of the vehicle in the reserved parking space and the distance between the vehicle corresponding to the reserved parking space and the optimal parking lot can be comprehensively considered, and the vehicle needing to be released from the reservation can be determined.
In a specific implementation, after determining the optimal parking space, on the basis of the above embodiment, on the basis of fig. 1, the following steps may also be included:
and step S105, after the vehicle arrives at the entrance of the optimal parking lot according to the current position of the vehicle, switching the first positioning mode to a second positioning mode.
In a specific implementation, when it is detected that a vehicle arrives at an entrance of an optimal parking lot, a management system (e.g., a license plate recognition module in the management system) of the optimal parking lot may obtain a license plate number of the vehicle. Switching from the first positioning mode to the second positioning mode is possible.
The second positioning method may be used for positioning an indoor position of the vehicle.
In some non-limiting embodiments, the second positioning manner may be a WIFI positioning manner.
The following explains the principle of the WIFI positioning method: considering the loss of the electromagnetic wave in the air, the transmission loss model can be simplified as the following equation (8).
Pr(d)＝f-εlgd； (8)
Figure BDA0003222866770000121
Where D represents the distance between the receiver and the transmitter, e.g. the distance D between the transmitter A and the receiver D in FIG. 31Distance D between transmitter B and receiver D2Distance D between transmitter C and receiver D3And epsilon represents a consumption coefficient of a non-free space, and the constant f can be calculated by the formula (9). Pr (d) is the received signal power of the receiver; w is the unit watt of power.
The coordinates (x, y) of the receiver D can be solved using the following equations (10) to (12):
Figure BDA0003222866770000122
Figure BDA0003222866770000123
Figure BDA0003222866770000124
wherein the distance D between the transmitter A and the receiver D1Distance D between transmitter B and receiver D2Distance D between transmitter C and receiver D3The coordinates of transmitter A are (x)1,y1) The coordinates of transmitter B are (x)2,y2) The coordinates of the transmitter C are (x)3,y3)。
In specific implementation, due to the influence of external interference, the above equations (10) to (12) can be usedThe calculated position of receiver D may not meet at a point, and an approximate solution for receiver D may be calculated. Specifically, the two intersection points (x) can be calculated by equations (10) and (11)ab1,yab1) And (x)ab2,yab2) Will intersect (x)ab1,yab1) And (x)ab2,yab2) Substituting the above equation (12), the point (x) closest to the transmitter C is calculatedab，yab). By analogy, the point (x) closest to the transmitter A is calculatedbc,ybc) Calculating the closest point (x) to transmitter Bac,yac). May be based on the point (x)ab,yab)、(xbc,ybc) And (x)ac,yac) The approximate coordinates are solved and the solved approximate coordinates are used as the coordinates of the receiver D. For example, the coordinates (x, y) of the receiver D are calculated using the following formula (13).
Figure BDA0003222866770000131
The receiver D, that is, the terminal device, can obtain the current position of the vehicle or the user through the coordinates of the terminal device.
And S106, acquiring the indoor map of the optimal parking lot and the positions of the vacant parking spaces in the optimal parking lot.
The indoor map of the optimal parking lot may be preconfigured. After the indoor map of the optimal parking lot and the positions of the vacant parking spaces in the optimal parking lot are obtained, the indoor map and the current positions of the users can be displayed on a display interface of the terminal device, so that the users can visually know the internal layout of the parking lot and the positions of the vacant parking spaces.
And S107, selecting the optimal parking space from the vacant parking spaces in the optimal parking lot according to one or more of the congestion state from the entrance of the optimal parking lot to the vacant parking spaces in the optimal parking lot, the distance from the entrance of the optimal parking lot to the vacant parking spaces in the optimal parking lot, and the distance from the positions of the vacant parking spaces in the optimal parking lot to a pedestrian safety exit.
In some embodiments, the optimal parking space may be selected from the vacant parking spaces in the optimal parking lot according to the congestion state from the entrance of the optimal parking lot to the vacant parking spaces in the optimal parking lot. Wherein the congestion state can be characterized by the number of vehicles on the road in the garage. And selecting the vacant parking spaces with the least number of vehicles on the road in the garage as the optimal parking spaces. The number of vehicles on the road can be obtained according to a WIFI positioning algorithm.
In other embodiments, the optimal parking space may be selected from the vacant parking spaces in the optimal parking lot according to a distance from the entrance of the optimal parking lot to the vacant parking spaces in the optimal parking lot.
In other embodiments, the optimal parking space may be selected from the vacant parking spaces in the optimal parking lot according to the distance between the position of each vacant parking space in the optimal parking lot and the pedestrian safety exit.
In other embodiments, the optimal parking space may be selected from the vacant parking spaces in the optimal parking lot according to any two or three of a congestion state from the entrance of the optimal parking lot to each vacant parking space in the optimal parking lot, a distance from the entrance of the optimal parking lot to each vacant parking space in the optimal parking lot, and a distance from the position of each vacant parking space in the optimal parking lot to a pedestrian safety exit.
Specifically, a fifth recommendation index is calculated based on the congestion state from the entrance of the optimal parking lot to each vacant parking space in the optimal parking lot, wherein the fifth recommendation index is inversely related to the severity of the congestion state. And calculating a sixth recommendation index according to the distance from the entrance of the optimal parking lot to each vacant parking space in the optimal parking lot, wherein the sixth recommendation index is positively correlated with the distance from the entrance of the optimal parking lot to each vacant parking space in the optimal parking lot. And calculating a seventh recommendation index according to the distance between the position of each vacant parking space in the optimal parking lot and the pedestrian safety exit, wherein the seventh recommendation index is positively correlated with the distance between the position of each vacant parking space in the optimal parking lot and the pedestrian safety exit. And selecting the optimal parking space from the vacant parking spaces in the optimal parking lot according to at least one of the fifth recommendation index, the sixth recommendation index and the seventh recommendation index of the vacant parking spaces in the optimal parking lot.
For example, a fifth weight is assigned to the fifth recommendation index, a sixth weight is assigned to the sixth recommendation index, and a seventh weight is assigned to the seventh recommendation index. When all the factors are considered, the comprehensive recommendation index of each vacant parking space can be obtained by calculation according to the weighting result of the fifth recommendation index and the fifth weight, the weighting result of the sixth recommendation index and the sixth weight, and the weighting result of the seventh recommendation index and the seventh weight of each vacant parking space, and the optimal parking space is selected according to the comprehensive recommendation index of each vacant parking space.
In some embodiments, the vacant parking space with the highest comprehensive recommendation index may be selected as the optimal parking space.
In specific implementation, values of the fifth weight, the sixth weight and the seventh weight may be configured according to a preference selected for an optimal parking space. Even the values of the fifth weight, the sixth weight and the seventh weight can be set to realize the consideration factor when the final parking space is selected. For example, if the value of the fifth weight is zero, the congestion state from the entrance of the optimal parking lot to each vacant parking lot in the optimal parking lot is not considered when the optimal parking lot is selected; correspondingly, the larger the value of the fifth weight is, the larger the influence of the congestion state from the entrance of the optimal parking lot to each vacant parking space in the optimal parking lot on the selection of the optimal parking space is represented. If the value of the sixth weight is zero, representing that the distance from the entrance of the optimal parking lot to each vacant parking lot in the optimal parking lot is not considered when the optimal parking lot is selected; correspondingly, the larger the value of the sixth weight is, the larger the influence of the distance from the entrance of the optimal parking lot to each vacant parking space in the optimal parking lot on the selection of the optimal parking space is represented. And if the value of the seventh weight is zero, representing that the distance between the position of each vacant parking space in the optimal parking lot and the safety exit of the pedestrian is not considered when the optimal parking lot is selected. Correspondingly, the larger the value of the seventh weight is, the larger the influence of the position of each vacant parking space in the optimal parking lot and the distance between the pedestrian safety exit in the optimal parking lot on the optimal parking space selection is represented.
When the optimal parking space is selected, multiple factors are comprehensively considered, so that the most appropriate parking space can be selected instead of the closest parking space in the parking peak period and the congestion of the road in the parking lot.
And step S108, planning and navigating a route from the entrance of the optimal parking lot to the optimal parking space.
In specific implementation, after the optimal parking space is obtained, a route from an entrance of the optimal parking lot to the optimal parking space can be planned according to algorithms such as depth-first traversal or breadth-first traversal, and navigation is performed based on the planned route. Therefore, the navigation from the entrance of the optimal parking lot to the optimal parking space can improve the convenience of the user for reaching the optimal parking space.
Further, when it is determined that the vehicle reaches the optimal parking space according to the current position of the vehicle, the number of empty parking spaces of the optimal parking lot may be updated.
To further provide the user experience, in some embodiments of the present invention, with continued reference to fig. 2, on the basis of step S108, the following step S109 may also be included.
And S109, selecting and outputting the optimal pedestrian safety exit according to the position of the optimal parking space and the positions of the pedestrian safety exits in the optimal parking lot.
Through exporting optimum pedestrian safety export, even under the condition that the user is unfamiliar with the overall arrangement in parking area, according to the optimum pedestrian safety export of output to the realization is left the parking area to the user and is guided, makes the user can be quick find pedestrian safety export, shortens the time that the user left the parking area.
Further, with continued reference to fig. 2, in some non-limiting embodiments, on the basis of the above step S109, the following step S110 may also be included.
And step S110, planning and navigating a route from the position of the optimal parking space to the position of the optimal pedestrian safety exit according to the position of the optimal parking space and the position of the optimal pedestrian safety exit.
Through planning and navigating the route from the position of the optimal parking space to the position of the optimal pedestrian safety exit, the user can further and quickly find the pedestrian safety exit under the assistance of navigation, the time for the user to leave the parking lot is further shortened, and the user experience is improved. The nearest elevator/stair is recommended for the user to leave the garage, the situation that the user cannot see the elevator/stair in the visual field is avoided, and the problem that the user is difficult to leave the garage is solved.
Further, vehicle state information can be detected, and after the vehicle is judged to be stopped according to the vehicle state information, a safety exit navigation prompt can be output. If output voice broadcast "find the nearest elevator or stairs to you, ask if need to navigate to? ". And if the user confirms the navigation, displaying the current position of the user in real time, and guiding the user to go to the elevator or the stairs.
The vehicle state information may include a vehicle speed, a current position of the vehicle, or a start or shutdown signal of the vehicle, so that whether the vehicle stops or not may be determined according to the vehicle speed, the current position of the vehicle, the start or shutdown signal of the vehicle, or the like.
In practice, for a large business establishment, there may be multiple elevators (or stairways) arriving at the parking lot, and when the user is not the same elevator (or stairway) going out of the garage and into the garage, it may take a lot of time to find the vehicle. In order to improve the convenience of the user for searching the car, in some non-limiting embodiments of the present invention, the following step S111 may be further included. Wherein, step S111 may be after any step from step S107 to step S110, and fig. 2 gives an illustration after step S110, it is understood that this is only an embodiment mode given for easy understanding, and this does not limit the protection scope of the present invention.
And step S111, planning and navigating a route from the current position of the user to the parking position of the vehicle according to the current position of the user and the parking position of the vehicle.
And the position of the user can be obtained by positioning in a second positioning mode. The parking position of the vehicle can be obtained according to the optimal parking space.
For example, a vehicle searching key may be arranged on a user interface of the terminal device, when it is detected that the user triggers the vehicle searching key, a vehicle searching operation may be entered, and a route from the current position of the user to a parking position of the vehicle may be planned and navigated according to the current position of the user and the parking position of the vehicle.
In some embodiments, since one user may bind one or more vehicles, when a user binds a plurality of vehicles, the parking location of the vehicle that the user used last time may be used as the parking location of the vehicle.
In particular implementation, with continued reference to fig. 2, in some non-limiting embodiments, step S112 may be further included after any of the above steps S107 to S111. Fig. 2 shows a schematic diagram after step S111, and it is understood that this is only an embodiment mode for facilitating understanding, and this does not limit the scope of the present invention.
Step S112, after the user is detected to arrive at the parking position of the vehicle, displaying payment information, wherein the payment information comprises the identification of the vehicle and the parking fee.
The identification of the vehicle may be a license plate number or other information capable of uniquely identifying the vehicle.
In specific implementation, the time when the vehicle enters the optimal parking lot and the time when the payment of the parking fee is requested, and the parking fee charging rule of the optimal parking lot can be obtained, and the parking fee is calculated. Parking fees may also be obtained from the management system of the optimal parking lot. Or obtain the parking fee by other means, and the calculation or obtaining manner of the parking fee is not limited herein. Therefore, one-key payment can be realized, the identification information of the vehicle can be preset, the identification of the vehicle can be automatically called out in the subsequent parking process, the number of the license plate is input without scanning, and the operation convenience and the user experience of a user are improved.
In particular implementations, displaying payment information may also include available electronic parking tickets.
Further, with continued reference to fig. 2, in some non-limiting embodiments, after step S112, step S113 and step S114 may also be included.
And S113, acquiring an exit of the optimal parking lot when the payment completion is detected.
And step S114, planning and navigating the parking position of the vehicle and the route of the exit of the optimal parking lot according to the parking position of the vehicle and the exit of the optimal parking lot.
In the embodiment of the invention, outdoor positioning and indoor positioning are integrated into one system through switching between the first positioning mode and the second positioning mode, and a whole set of solutions for guiding, parking and searching vehicles from a starting place to a destination of a user are realized. And calculating a parking lot recommendation coefficient for the user according to the number of empty vehicles and the distance of the parking lots near the destination when the user is about to arrive at the destination, and recommending the optimal parking lot. And then can also carry on the choice of the optimal parking stall. After the optimal parking space is selected, the optimal pedestrian safety exit (namely, the optimal elevator or stair) can be selected for the user. The system can also help the user to quickly find the car and carry out car-finding navigation. And when leaving the parking lot, the parking fee payment can be completed without inputting a license plate and a code scanning, and the navigation of leaving the parking lot is carried out. The intelligent parking, reverse vehicle searching, parking fee payment and the like from the departure place to the destination are achieved, and user experience is improved.
An embodiment of the present invention further provides a path planning apparatus, and referring to fig. 4, a schematic structural diagram of the path planning apparatus in the embodiment of the present invention is provided, where the path planning apparatus 40 may include:
an obtaining unit 41, configured to obtain candidate parking lots within a preset range of a destination according to the destination of a user;
the selecting unit 42 is configured to select an optimal parking lot from the candidate parking lots according to the number of empty parking lots of each candidate parking lot and a distance between each candidate parking lot and a current position of the vehicle, where the current position of the vehicle is located based on a first locating manner;
a path planning unit 43, configured to plan a route from the current position of the vehicle to the optimal parking lot and navigate, where the first positioning mode is used to position the current position of the vehicle.
In a specific implementation, reference may be made to the description in the foregoing embodiments for specific working principles and working flows of the path planning apparatus 40, which are not described herein again.
In a specific implementation, the path planning apparatus 40 may correspond to a terminal (also referred to as a user equipment) or a chip having a path planning function; or to a chip having a data processing function, such as a baseband chip; or a chip module corresponding to a chip including a path planning function in the user equipment; or to a chip module having a chip with data processing function, or to a user equipment.
In a specific implementation, each module/unit included in each apparatus and product described in the foregoing embodiments may be a software module/unit, may also be a hardware module/unit, or may also be a part of a software module/unit and a part of a hardware module/unit.
For example, for each device or product applied to or integrated into a chip, each module/unit included in the device or product may be implemented by hardware such as a circuit, or at least a part of the module/unit may be implemented by a software program running on a processor integrated within the chip, and the rest (if any) part of the module/unit may be implemented by hardware such as a circuit; for each device or product applied to or integrated with the chip module, each module/unit included in the device or product may be implemented by using hardware such as a circuit, and different modules/units may be located in the same component (e.g., a chip, a circuit module, etc.) or different components of the chip module, or at least some of the modules/units may be implemented by using a software program running on a processor integrated within the chip module, and the rest (if any) of the modules/units may be implemented by using hardware such as a circuit; for each device and product applied to or integrated in the terminal, each module/unit included in the device and product may be implemented by using hardware such as a circuit, and different modules/units may be located in the same component (e.g., a chip, a circuit module, etc.) or different components in the terminal, or at least part of the modules/units may be implemented by using a software program running on a processor integrated in the terminal, and the rest (if any) part of the modules/units may be implemented by using hardware such as a circuit.
An embodiment of the present invention further provides a computer-readable storage medium, which is a non-volatile storage medium or a non-transitory storage medium, and a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the path planning method provided in any of the above embodiments.
The embodiment of the present invention further provides a terminal, which includes a memory and a processor, where the memory stores a computer program capable of running on the processor, and the processor executes the steps of the path planning method provided in any of the above embodiments when running the computer program.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in any computer readable storage medium, and the storage medium may include: ROM, RAM, magnetic or optical disks, and the like.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (23)

1. A method of path planning, comprising:
according to a destination of a user, acquiring a candidate parking lot within a preset range of the destination;
selecting an optimal parking lot from the candidate parking lots according to the number of the vacant parking lots of the candidate parking lots and the distance between the candidate parking lots and the current position of the vehicle, wherein the current position of the vehicle is obtained by positioning based on a first positioning mode;
and planning and navigating a route from the current position of the vehicle to the optimal parking lot.
2. The path planning method according to claim 1, wherein the selecting an optimal parking lot from the candidate parking lots according to the number of empty parking lots of the candidate parking lots and the distance between the candidate parking lots and the current position of the vehicle comprises:
respectively calculating a first recommendation index of each candidate parking lot according to the number of the spare parking lots of each candidate parking lot; calculating a second recommendation index of each candidate parking lot according to the distance between each candidate parking lot and the current position of the vehicle;
calculating a comprehensive recommendation index of each candidate parking lot according to the first recommendation index and the second recommendation index of each candidate parking lot;
and selecting the optimal parking lot from the candidate parking lots based on the comprehensive recommendation index of the candidate parking lots.
3. The path planning method according to claim 2, wherein the calculating the first recommendation index for each candidate parking lot according to the number of empty parking lots of each candidate parking lot comprises:
and calculating the ratio of the number of the vacant parking spaces of each candidate parking lot to the total number of the vacant parking spaces of all the candidate parking lots, and recording the ratio as the first recommendation index.
4. The path planning method according to claim 2, wherein the calculating of the second recommendation index for each candidate parking lot based on the distance between each candidate parking lot and the current position of the vehicle comprises:
calculating the distance between each candidate parking lot and the current position of the vehicle, and taking the reciprocal of the calculated distance;
and calculating the ratio of the reciprocal of the distance corresponding to each candidate parking lot to the sum of the reciprocals of the distances of all the candidate parking lots, and recording the ratio as the second recommendation index.
5. The path planning method according to any one of claims 2 to 4, wherein the selecting the optimal parking lot from the candidate parking lots based on the composite recommendation index of the candidate parking lots comprises:
selecting a recommended parking lot from the candidate parking lots according to the comprehensive recommendation index;
and selecting the optimal parking lot from the recommended parking lots according to the distance between the recommended parking lots and the destination.
6. The path planning method according to claim 5, wherein the selecting the optimal parking lot from the recommended parking lots according to the distance between the recommended parking lots and the destination comprises:
estimating an arrival time from the current position of the vehicle to each recommended parking lot;
estimating the number of vacant parking lots of each recommended parking lot when the recommended parking lots are reached based on the arrival time of the recommended parking lots and the historical vacancy rate of the recommended parking lots;
and selecting an optimal parking lot from the recommended parking lots according to the estimated number of the vacant parking lots when the recommended parking lots arrive and the distance between the recommended parking lots and the destination.
7. The path planning method according to claim 2, wherein the number of empty parking spaces of each candidate parking lot is determined as follows:
estimating an arrival time from the current position of the vehicle to each candidate parking lot;
and estimating the number of the vacant parking lots of the candidate parking lots when the candidate parking lots are reached based on the arrival time of the candidate parking lots and the historical vacancy rate of the candidate parking lots, and taking the number of the vacant parking lots as the number of the vacant parking lots of the candidate parking lots.
8. The path planning method according to claim 1, further comprising:
and after the optimal parking lot is selected, reserving a parking space for the vehicle.
9. The path planning method according to claim 8, wherein the reserving a parking space for the vehicle includes:
estimating parking demand information of each time period in each day;
and reserving the parking spaces for the vehicles according to the estimated parking demand information of each time period in each day, the received reserved parking space demand number and the number of the spare parking spaces of the optimal parking lot.
10. The path planning method according to claim 9, further comprising:
calculating the sum of the estimated parking demand information of each time period in each day and the received reserved parking space demand number, and recording as an estimated demand;
and when the estimated demand exceeds the number of the vacant parking spaces of the optimal parking lot, reserving the parking spaces for the vehicles according to the priority of each user.
11. The path planning method according to claim 9, further comprising:
calculating the sum of the estimated parking demand information of each time period in each day and the received reserved parking space demand number, and recording as an estimated demand;
and when the estimated demand exceeds the number of the vacant parking spaces of the optimal parking lot, the reserved parking spaces with the reserved time length exceeding the set time length are released for reservation.
12. The path planning method according to claim 11, wherein the reserving the reserved parking space with the reserved duration exceeding the set duration for releasing the reservation comprises:
acquiring the reserved parking space with the reserved time length exceeding the set time length;
and acquiring the distance between the vehicle corresponding to each reserved parking space and the optimal parking lot, and releasing the reservation corresponding to the vehicle with the distance exceeding the set distance range.
13. The path planning method according to claim 1, further comprising:
after the vehicle arrives at the entrance of the optimal parking lot according to the current position of the vehicle, switching the first positioning mode to a second positioning mode, wherein the second positioning mode is used for positioning the position in the vehicle room;
acquiring an indoor map of the optimal parking lot and the positions of the vacant parking spaces in the optimal parking lot;
selecting an optimal parking space from the vacant parking spaces in the optimal parking lot according to one or more of the congestion state from the entrance of the optimal parking lot to the vacant parking spaces in the optimal parking lot, the distance from the entrance of the optimal parking lot to the vacant parking spaces in the optimal parking lot, and the distance from the positions of the vacant parking spaces in the optimal parking lot to a pedestrian safety exit;
and planning and navigating a route from the entrance of the optimal parking lot to the optimal parking space.
14. The path planning method according to claim 13, wherein the second positioning mode is a WIFI positioning mode.
15. The path planning method according to claim 13, further comprising:
and selecting and outputting the optimal pedestrian safety exit according to the position of the optimal parking space and the position of each pedestrian safety exit in the optimal parking space.
16. The path planning method according to claim 15, further comprising:
and planning and navigating a route from the position of the optimal parking space to the position of the optimal pedestrian safety exit according to the position of the optimal parking space and the position of the optimal pedestrian safety exit.
17. The path planning method according to claim 13, further comprising:
when a vehicle searching request is received, the parking position of the vehicle is obtained;
and planning and navigating a route from the current position of the user to the parking position of the vehicle according to the current position of the user and the parking position of the vehicle, wherein the current position of the user is obtained by positioning in the second positioning mode.
18. The path planning method according to claim 17, wherein when the user binds a plurality of vehicles, a parking position of a vehicle that the user used last time is taken as the parking position of the vehicle.
19. A path planning method according to any one of claims 17, further comprising:
and when the user is detected to arrive at the parking position of the vehicle, displaying payment information, wherein the payment information comprises the identification of the vehicle and the parking fee.
20. The path planning method according to claim 19, further comprising:
when the payment completion is detected, acquiring an exit of the optimal parking lot;
and planning and navigating the parking position of the vehicle and the exit of the optimal parking lot according to the parking position of the vehicle and the exit of the optimal parking lot.
21. A path planning apparatus, comprising:
the system comprises an acquisition unit, a storage unit and a control unit, wherein the acquisition unit is used for acquiring candidate parking lots in a preset destination range according to a destination of a user;
the selection unit is used for selecting an optimal parking lot from the candidate parking lots according to the number of the spare parking lots of the candidate parking lots and the distance between the candidate parking lots and the current position of the vehicle, wherein the current position of the vehicle is obtained by positioning based on a first positioning mode;
and the path planning unit is used for planning a route from the current position of the vehicle to the optimal parking lot and navigating, and the first positioning mode is used for positioning the current position of the vehicle.
22. A computer-readable storage medium, being a non-volatile storage medium or a non-transitory storage medium, having a computer program stored thereon, the computer program, when being executed by a processor, performing the steps of the path planning method according to any of the claims 1 to 20.
23. A terminal comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, wherein the processor, when executing the computer program, performs the steps of the path planning method according to any of claims 1 to 20.
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CN105551301A (en) * 2016-03-08 2016-05-04 京东方科技集团股份有限公司 Auxiliary parking method and device used in parking lot, navigation method and terminal and navigation system
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CN110675651A (en) * 2019-09-29 2020-01-10 百度在线网络技术（北京）有限公司 Parking lot recommendation method and device
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CN112422671A (en) * 2020-11-10 2021-02-26 四川长虹电器股份有限公司 Parking lot recommendation method and system
CN112820134A (en) * 2020-12-30 2021-05-18 深圳市前海亿车科技有限公司 Method, system and medium for reserving parking in local area

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CN114495552A (en) * 2022-01-21 2022-05-13 东南大学成贤学院 Navigation method and system for quickly parking and finding vehicle
CN114495552B (en) * 2022-01-21 2023-04-07 东南大学成贤学院 Navigation method and system for quickly parking and finding vehicle
CN114842667A (en) * 2022-04-01 2022-08-02 合众新能源汽车有限公司 Parking navigation method, device and network equipment
CN114842667B (en) * 2022-04-01 2024-01-16 合众新能源汽车股份有限公司 Parking navigation method, device and network equipment
CN114913704A (en) * 2022-05-06 2022-08-16 江苏阳光智慧城市科技有限公司 Intelligent parking guiding method and system based on big data
CN114913704B (en) * 2022-05-06 2024-03-08 上海软杰智能设备有限公司 Intelligent parking guiding method and system based on big data
CN114999200A (en) * 2022-05-23 2022-09-02 田萍 Auxiliary parking method and system applied to intelligent automobile
CN115100901A (en) * 2022-06-22 2022-09-23 长沙理工大学 Parking space sharing intelligent management system and method for underground parking lot
CN115547096A (en) * 2022-09-26 2022-12-30 重庆长安汽车股份有限公司 Method and device for planning guide route of vehicle
CN115410411A (en) * 2022-10-31 2022-11-29 宜宾腾卓智能科技有限公司 Parking planning method for large parking lot

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Application publication date: 20211116