CN113868350A - Parking lot map processing method, vehicle and equipment - Google Patents
Parking lot map processing method, vehicle and equipment Download PDFInfo
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Abstract
The application provides a parking lot map processing method, a vehicle and equipment. The method comprises the following steps: acquiring a parking lot map of a parking lot, wherein the parking lot map comprises variable attributes of parking places in the parking lot; determining parking space information of surrounding parking spaces acquired in the process that a user vehicle executes a parking task along a planned path, wherein the planned path is obtained based on the parking lot map, and the parking space information comprises variable attributes of the parking spaces; and updating the variable attribute of the parking space in the parking lot map based on the variable attribute of the parking space acquired by the user vehicle. Therefore, the parking lot map can be updated by using the parking space information acquired in the parking process of the user vehicle, so that the updating efficiency and accuracy of the parking lot map can be effectively improved.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a method, a vehicle, and a device for processing a parking lot map.
Background
Automatic parking means that the automobile can be automatically parked in a place without manual control. With the gradual popularization of the automatic passenger car parking technology, especially how to not depend on facility construction at a field end, the realization of the realization mode of combining a car end and a production stopping field map becomes a topic which is more popular at present. The combination of the vehicle end and the parking lot map is widely popularized and applied in the near future by virtue of the advantage that the combination does not depend on external conditions (vehicle end construction).
The parking lot map relates to whether the vehicle can carry out effective global path planning after entering the parking lot, so how to reasonably process the parking lot map is the problem of the existing technical difficulty.
Disclosure of Invention
The embodiment of the application provides a parking lot map processing method, which is used for effectively improving the updating efficiency and accuracy of a parking lot map.
The embodiment of the application further provides a parking lot map processing method, which comprises the following steps:
acquiring a parking lot map of a parking lot, wherein the parking lot map comprises variable attributes of parking places in the parking lot;
determining parking space information of surrounding parking spaces acquired in the process that a user vehicle executes a parking task along a planned path, wherein the planned path is obtained based on the parking lot map, and the parking space information comprises variable attributes of the parking spaces;
and updating the variable attribute of the parking space in the parking lot map based on the variable attribute of the parking space acquired by the user vehicle.
The embodiment of the present application further provides a parking lot map processing apparatus, including:
the system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring a parking lot map of a parking lot, and the parking lot map comprises variable attributes of parking places in the parking lot;
the parking lot management system comprises a determining module, a parking space management module and a parking space management module, wherein the determining module is used for determining parking space information of surrounding parking spaces collected in the process that a user vehicle executes a parking task along a planned path, the planned path is obtained based on the parking lot map planning, and the parking space information comprises variable attributes of the parking spaces;
and the updating module is used for updating the variable attribute of the parking space in the parking lot map based on the variable attribute of the parking space acquired by the user vehicle.
An embodiment of the present application further provides a vehicle, the vehicle includes: the sensor and the memory are connected with the processor;
a parking lot map of a parking lot is stored in the memory, the parking lot map including variable attributes of parking spaces within the parking lot;
the processor extracts a parking lot map from the memory and plans a planned path for parking based on the parking lot map;
the method comprises the steps that a sensor collects parking space information of surrounding parking spaces in the process that a user vehicle executes a parking task along a planned path, wherein the parking space information comprises variable attributes of the parking spaces;
and the processor updates the variable attribute of the parking space in the parking lot map based on the variable attribute of the parking space acquired by the user vehicle.
The embodiment of the application also provides an electronic device, which comprises a processor and a memory electrically connected with the processor, wherein the memory is used for storing a computer program, and the processor is used for calling the computer program to execute the method.
Embodiments of the present application also provide a computer-readable storage medium, which stores a computer program, where the computer program can be executed by a processor to implement the above-mentioned method.
According to the method and the device, the variable attributes of the parking places are configured in the parking lot map, and the variable attributes of the parking places are collected by the user vehicle in the parking process to update the parking lot map, so that the updating efficiency and accuracy of the parking lot map can be effectively improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of a parking lot map processing method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a parking lot map scaling transmission scheme according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a parking lot map processing system according to an embodiment of the present application;
fig. 4 is a schematic diagram of inherent attributes of a parking space according to an embodiment of the present application;
fig. 5 is a schematic diagram of a parking space temporary attribute updating mechanism according to an embodiment of the present application;
fig. 6 is a schematic flowchart of a parking lot map processing method according to another embodiment of the present application;
fig. 7 is a schematic structural diagram of a parking lot map processing apparatus according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given in the present application without making any creative effort, shall fall within the protection scope of this document.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a parking lot map processing method according to an embodiment of the present application, where the method may be executed by a vehicle or a cloud server, and referring to fig. 1, the parking lot map processing method may specifically include the following steps:
102, acquiring a parking lot map of a parking lot, wherein the parking lot map comprises variable attributes of parking places in the parking lot;
it will be appreciated that prior to performing step 102, the method further comprises: a step of constructing a parking lot map, which may include:
for the parking lot which needs primary map data acquisition and map building, a map acquisition vehicle is needed to execute the task. The collection vehicle collects the characteristic data in the parking lot through sensors such as a laser radar and a vision camera, so that a parking lot map is generated and used by other vehicles using AVP (automatic traffic protocol) passenger parking function. For the initial collection of the map data information of the parking lot, the collected map data information mainly comprises walls, obstacles, road surfaces, road signs and the like, and particularly, the inherent attributes (point coordinates and parking space attributes) of the parking space related to the patent are also required to be collected by vehicles to ensure the validity and the accuracy of the data.
104, determining parking space information of surrounding parking spaces collected in the process that a user vehicle executes a parking task along a planned path, wherein the planned path is obtained based on the parking lot map planning, and the parking space information comprises variable attributes of the parking spaces;
and 106, updating the variable attribute of the parking space in the parking lot map based on the variable attribute of the parking space acquired by the user vehicle.
Further, the parking lot map further comprises fixed attributes of parking places in the parking lot, and the parking place information further comprises fixed attributes of the parking places;
the method further comprises:
and comparing the fixed attribute of the parking space in the parking lot map with the fixed attribute of the parking space collected by the user vehicle, and if the relative deviation of the fixed attribute exceeds the target parking space with a preset threshold value, correcting the fixed attribute of the target parking space in the parking lot map.
Wherein the variable attribute comprises an occupancy state; the fixed attributes comprise parking space positions and parking space types.
Furthermore, in order to reduce the data transmission amount, the embodiment further provides a parking lot map reduction transmission scheme, and referring to fig. 2, the method may include the following steps:
the full-scale parking lot map can be generated based on a map acquisition vehicle;
and step 206, generating the parking lot map based on the full parking lot map, wherein the parking lot map comprises attribute information of parking spaces in the parking lot in the first occupation state.
Based on the above, in a scene that the cloud end needs to issue the parking lot map to the vehicle, the cloud end can only transmit the parking lot map carrying the attribute information of the least number of the continuously occupied parking spaces or the unoccupied parking spaces, so that the data volume of the issued map is reduced.
Moreover, in the scene that the cloud sends the parking lot map to the vehicle, the cloud still needs to know the parking lot where the vehicle parked, and in order to improve the parking efficiency, this embodiment also provides a scheme that sends the parking lot map in advance, and the scheme specifically can be:
determining location information of a user vehicle; determining a target parking lot for parking the user vehicle based on the position information, namely, estimating a parking lot for which the vehicle is expected to park based on the position of the vehicle; and extracting a parking lot map corresponding to the target parking lot from a parking lot map database, wherein the parking lot map corresponding to each parking lot is stored in the parking lot map database.
In addition, for a parking space in which the temporary attribute (variable attribute) is not updated for a long time in the parking lot, the embodiment further provides a guidance path planning scheme, specifically:
determining a target parking space of which the non-updated time length of the variable attribute in the parking lot reaches a preset time length threshold; and generating a planned path based on the parking lot map and the target parking space so that the user vehicle collects the variable attributes of the target vehicle in the process of executing a parking task along the planned path.
That is, in the present embodiment, the parking path is planned for the vehicle in a guiding manner in consideration of the position information of the target parking space, so as to ensure that the user vehicle can acquire the variable attribute of the target vehicle in the parking process.
In a specific example, the target parking spaces are multiple and arranged in sequence, and then the guidance path planning scheme may be:
generating an updating delay factor based on the non-updating time length of the variable attribute of the target parking space and a preset updating period; determining a first target parking space in the target parking spaces based on the updating delay factor, wherein the updating delay factor is used for describing the corresponding relation between the updating delay severity and the serial numbers of the target parking spaces; and generating a planning path based on the parking lot map and the first target parking space so as to enable a user vehicle to acquire the variable attribute of the first target parking space.
Further, in consideration of the fact that the parking path planned by guidance and the optimal planned path may be different, the embodiment further provides a compensation scheme, specifically: determining an optimal planned path generated based on the parking lot map; and if the planned path is not the optimal planned path, generating a compensation scheme and providing the compensation scheme for the user.
Therefore, the variable attributes of the parking spaces are configured in the parking lot map, and the variable attributes of the parking spaces are collected by the user vehicle in the parking process to update the parking lot map, so that the updating efficiency and accuracy of the parking lot map can be effectively improved.
Fig. 3 is a schematic structural diagram of a parking lot map processing system according to an embodiment of the present application, and referring to fig. 3, the parking lot map processing system includes: map acquisition vehicle, high in the clouds server and AVP vehicle (namely user's vehicle), wherein:
for a map-gathering vehicle:
for the parking lot which needs primary map data acquisition and map building, a map acquisition vehicle is needed to execute the task. The collection vehicle collects the characteristic data in the parking lot through sensors such as a laser radar and a vision camera, so that a parking lot map is generated and used by other vehicles using AVP (automatic traffic protocol) passenger parking function. For the initial collection of the map data information of the parking lot, the collected map data information mainly includes walls, obstacles, road surfaces, road signs, etc., and particularly, the inherent attributes (point coordinates, parking space attributes, as shown in fig. 4) of the parking spaces related to this patent are also required to be collected by vehicles to ensure the validity and accuracy of the data.
For A Valet Parking (AVP) vehicle:
aiming at vehicles which are about to enter a parking lot for a passenger parking task or are judged in advance, the vehicles can acquire parking lot map data issued by a cloud terminal. Based on the map data, when the vehicle executes the passenger-riding parking task, a global path for the vehicle to complete the starting point to the end point is rapidly planned based on a searching or random sampling mode. When the vehicle performs the parking task along the global path, the inherent and temporary attributes of the parking space of the parking lot are collected. And when the passenger car parking task is finished, the acquired data is uploaded to a cloud server.
For the cloud server:
the map collection vehicle is uploaded to a cloud server for storage after local manufacturing is completed aiming at the collected map, and the cloud server is responsible for storing a large number of parking lot maps fed back by the map collection vehicle.
Aiming at the inherent attribute information of a parking lot required by a vehicle executing the passenger-replacing parking, the cloud server adopts a convenient issuing mode, namely only outputting the parking space angular point coordinate values of the continuously occupied or unoccupied vehicles, so that the data volume of the issued map is reduced. The temporary attribute information of the parking lot required for the vehicle performing the valet parking is merged in the same manner as the inherent attribute information processing, thereby reducing the map data amount
Aiming at the inherent attribute information of the parking space returned by the vehicle executing the passenger parking, the cloud server performs data processing, in particular to coordinate point data, NF, front near point, (x) of the parking space1,y1) FF, far forward point, (x)2,y2). Respectively calculating the relative deviation of the coordinates, considering the error caused by positioning, and taking the phase of the acquired coordinates as the phaseAnd when the deviation is larger than the threshold value, the coordinate enters a sequence to be updated. Parking space attributes are often classified as: vertical parking spaces, parallel parking spaces, inclined parking spaces and the like. When the attribute fed back is inconsistent with the attribute stored in the map and exceeds a certain statistical value, updating is carried out, so that the attribute correctness of the target parking space is ensured.
The relative error is given by the formula (x)1’，y1’)，(x2’，y2') acquisition coordinates for the valet parking task, (x)1，y1)，(x2，y2) For the truth value of the map collecting vehicle, taking the abscissa of the NF as an example, the formula is as follows:
and aiming at the parking space temporary attribute information which is not updated for a long time, the cloud processor can obtain the known information of the previous image. The map updating is completed by comprehensively judging the non-updating time T and specifying the updating period T to issue the target destination parking space with guidance (filled with the identifier 1 occupied by the parking space) so as to drive the vehicle to transmit the temporary parking lot attribute information required to be obtained to the cloud. The filling of the occupancy identifier 1 may be performed according to the following formula.
The temporary attribute updating and filling mechanism is shown in fig. 5, when T/T is 1, n is 2, and the vehicle can be driven to acquire temporary attributes of the parking space No. 2 and the parking space No. 1 before; when T/T is 2, n is 4, and the vehicle can be driven to acquire temporary attributes of the parking spaces No. 4 and the previous parking spaces No. 1-3.
In addition, in order to ensure that the storage map of the cloud server is consistent with the coordinates of the vehicle for carrying out the passenger parking task. The same global coordinate system and origin of coordinates are used. The parking lot map generally takes a certain point easy to identify at an entrance of the parking lot as an origin of coordinates, so that the passenger parking task vehicle can be conveniently relocated through means such as loop detection, and the global coordinates are consistent.
Therefore, in the embodiment, the fixed attribute and the temporary attribute of the parking space are recorded, because whether the parking space is occupied or not is frequently updated, stored and issued as the temporary attribute, if no vehicle runs to a parking lot area for a long time under some conditions, the map can be updated in a fixed period, the terminal point of the global planning is guided to generate a task of enabling the vehicle to complete the passenger-riding parking, meanwhile, the server updating is carried out on the temporary attribute of the parking space, the timeliness of the map is guaranteed to the maximum extent, and the effectiveness of the global planning is improved.
Fig. 6 is a schematic flowchart of a parking lot map processing method according to another embodiment of the present application, and referring to fig. 6, the method may specifically include the following steps:
firstly, the cloud server uploads positioning or vehicle navigation information to know that a vehicle is about to drive into a parking lot, and the cloud server sends map data of the parking lot, which are acquired by a map acquisition vehicle and contain parking space data. And the vehicle enters the parking lot according to the issued map information and is subjected to global origin coordinate alignment. And starting to perform global path planning to drive into the parking space to be driven into. In the project of executing the task, the vehicle carries out parking space data acquisition, and fixed attribute, the interim attribute information of the parking stall in the parking area are gathered respectively. And then, respectively processing and updating the parking place attribute information updating mechanism according to the system flow chart cloud server.
In addition, in some cases, a temporary information of a parking space cannot be effectively updated due to the fact that no map collection vehicle or a vehicle for carrying out passenger parking enters the parking space for a long time, and the cloud server serves as a background. The map collecting process of the passenger car for parking is as follows:
step 602, a vehicle is about to drive into a parking lot;
step 604, the vehicle acquires a map issued by a cloud server;
step 606, collecting parking space information of the parking lot by the vehicle according to the planned path;
step 608, classifying the parking space map attributes;
step 610, whether the attribute is a temporary parking space attribute or not;
if yes, go to step 612, otherwise go to step 616;
step 612, feeding back the parking space temporary attribute value to a cloud;
step 614, the cloud updates the map;
step 616, carrying out statistical calculation on the coordinate values of the fixed attributes of the parking spaces;
step 618, whether the relative deviation exceeds a threshold value;
if yes, go to step 620, otherwise go to step 622;
step 620, entering a statistical sequence to be updated;
step 622, no update.
Based on this, the cloud server is as parking area map data processing terminal, updates the parking stall data. Especially the temporary attribute information of the parking space, when no data information is fed back for a long time. Filling the parking space occupation character 1 according to the temporary attribute updating mechanism of the parking lot, so that the vehicles which subsequently execute the passenger-riding parking task can traverse the parking space occupation information, and the updating of the map information of the parking lot is realized.
It can be seen that the present embodiment records two types of attributes of the parking space, 1, fixed attribute: a parking space NF (near point in front) coordinate, a parking space FF (far point in front) coordinate and a parking space frame attribute (slot _ attr); 2. temporary attributes: data content of whether the parking space frame is occupied. Whether the parking space is occupied or not is used as a temporary attribute and needs to be updated, stored and issued frequently, in some cases, if no vehicle runs to a parking lot area for a long time, a map can be updated in a fixed period, the destination of global planning is guided to generate a task for enabling the vehicle to complete passenger-riding parking, meanwhile, the temporary attribute of the parking space is updated through a server, the timeliness of the map is guaranteed to the maximum extent, and the effectiveness of global planning is improved.
Fig. 7 is a schematic structural diagram of a parking lot map processing device according to an embodiment of the present application, and referring to fig. 7, the parking lot map processing device may specifically include:
an obtaining module 701, configured to obtain a parking lot map of a parking lot, where the parking lot map includes variable attributes of parking spaces in the parking lot;
a determining module 702, configured to determine parking space information of surrounding parking spaces collected during a process in which a user vehicle executes a parking task along a planned path, where the planned path is obtained based on the parking lot map, and the parking space information includes variable attributes of the parking spaces;
the updating module 703 is configured to update the variable attribute of the parking space in the parking lot map based on the variable attribute of the parking space acquired by the user vehicle.
Optionally, the parking lot map further includes fixed attributes of parking spaces in the parking lot, and the parking space information further includes fixed attributes of parking spaces;
the apparatus further comprises:
and the correction module is used for comparing the fixed attribute of the parking space in the parking lot map with the fixed attribute of the parking space collected by the user vehicle, and correcting the fixed attribute of the target parking space in the parking lot map if the relative deviation of the fixed attribute exceeds the target parking space with a preset threshold value.
Optionally, the variable attribute includes an occupancy state;
the fixed attributes comprise parking space positions and parking space types.
Optionally, the apparatus further comprises:
the map processing module is used for acquiring a full-scale parking lot map of the parking lot, wherein the full-scale parking lot map comprises attribute information of all parking places in the parking lot; determining a parking space set in a first occupied state, wherein the parking space in the first occupied state is the least one of the parking space in the occupied state and the parking space in an idle state; and generating the parking lot map based on the full parking lot map, wherein the parking lot map comprises attribute information of parking spaces in the parking lot in a first occupation state.
Optionally, the apparatus further comprises:
the map preprocessing module is used for determining the position information of the user vehicle; determining a target parking lot for parking the user vehicle based on the position information; and extracting a parking lot map corresponding to the target parking lot from a parking lot map database, wherein the parking lot map corresponding to each parking lot is stored in the parking lot map database.
Optionally, the apparatus further comprises:
the route planning module is used for determining a target parking space when the non-updated time of the variable attribute in the parking lot reaches a preset time threshold; and generating a planned path based on the parking lot map and the target parking space so that the user vehicle collects the variable attributes of the target vehicle in the process of executing a parking task along the planned path.
Optionally, if the target parking spaces are multiple and arranged in sequence, the path planning module is specifically configured to:
generating an updating delay factor based on the non-updating time length of the variable attribute of the target parking space and a preset updating period; determining a first target parking space in the target parking spaces based on the updating delay factor, wherein the updating delay factor is used for describing the corresponding relation between the updating delay severity and the serial numbers of the target parking spaces; and generating a planning path based on the parking lot map and the first target parking space so as to enable a user vehicle to acquire the variable attribute of the first target parking space.
Optionally, the apparatus further comprises:
a compensation module for determining an optimal planned path generated based on the parking lot map; and if the planned path is not the optimal planned path, generating a compensation scheme and providing the compensation scheme for the user.
Therefore, in the embodiment, the fixed attribute and the temporary attribute of the parking space are recorded, because whether the parking space is occupied or not is frequently updated, stored and issued as the temporary attribute, if no vehicle runs to a parking lot area for a long time under some conditions, the map can be updated in a fixed period, the terminal point of the global planning is guided to generate a task of enabling the vehicle to complete the passenger-riding parking, meanwhile, the server updating is carried out on the temporary attribute of the parking space, the timeliness of the map is guaranteed to the maximum extent, and the effectiveness of the global planning is improved. Further, it should be noted that, in the respective components of the apparatus of the present application, the components therein are logically divided according to the functions to be realized, but the present application is not limited thereto, and the respective components may be newly divided or combined as necessary.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and referring to fig. 8, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include hardware required by other services. The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the parking lot map processing device on a logic level. Of course, besides the software implementation, the present application does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or logic devices.
The network interface, the processor and the memory may be interconnected by a bus system. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 8, but that does not indicate only one bus or one type of bus.
The memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both read-only memory and random access memory, and provides instructions and data to the processor. The Memory may include a Random-Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least 1 disk Memory.
The processor is used for executing the program stored in the memory and specifically executing:
acquiring a parking lot map of a parking lot, wherein the parking lot map comprises variable attributes of parking places in the parking lot;
determining parking space information of surrounding parking spaces acquired in the process that a user vehicle executes a parking task along a planned path, wherein the planned path is obtained based on the parking lot map, and the parking space information comprises variable attributes of the parking spaces;
and updating the variable attribute of the parking space in the parking lot map based on the variable attribute of the parking space acquired by the user vehicle.
The method executed by the parking lot map processing apparatus or the manager (Master) node according to the embodiment shown in fig. 7 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The parking lot map processing apparatus may also perform the methods of fig. 1-6 and implement the methods performed by the manager node.
Based on the same invention creation, the embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to execute the parking lot map processing method provided by the corresponding embodiment of fig. 1 to 6.
Fig. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present application, and referring to fig. 9, the vehicle includes: a processor 901, a sensor 902 and a memory 903 connected with the processor;
a parking lot map of a parking lot is stored in the memory 903, and the parking lot map includes variable attributes of parking spaces in the parking lot;
the processor 901 extracts a parking lot map from the memory and plans a planned path for parking based on the parking lot map;
the sensor 902 collects the parking space information of the surrounding parking spaces in the process that the user vehicle executes the parking task along the planned path, wherein the parking space information comprises the variable attributes of the parking spaces;
the processor 901 updates the variable attribute of the parking space in the parking lot map based on the variable attribute of the parking space collected by the user vehicle.
Optionally, the parking lot map further includes fixed attributes of parking places in the parking lot, and the parking place information further includes fixed attributes of parking places;
the processor 901 is further configured to compare the fixed attributes of the parking spaces in the parking lot map with the fixed attributes of the parking spaces collected by the user vehicle, and correct the fixed attributes of the target parking spaces in the parking lot map if there is a target parking space whose relative deviation of the fixed attributes exceeds a preset threshold.
Optionally, the variable attribute includes an occupancy state;
the fixed attributes comprise parking space positions and parking space types.
Optionally, the processor 901 is further configured to obtain a full-scale parking lot map of the parking lot, where the full-scale parking lot map includes attribute information of all parking spaces in the parking lot; determining a parking space set in a first occupied state, wherein the parking space in the first occupied state is the least one of the parking space in the occupied state and the parking space in an idle state; and generating the parking lot map based on the full parking lot map, wherein the parking lot map comprises attribute information of parking spaces in the parking lot in a first occupation state.
Optionally, the processor 901 is further configured to determine location information of the user vehicle; determining a target parking lot for parking the user vehicle based on the position information; and extracting a parking lot map corresponding to the target parking lot from a parking lot map database, wherein the parking lot map corresponding to each parking lot is stored in the parking lot map database.
Optionally, the processor 901 is further configured to determine a target parking space where the non-updated time length of the variable attribute in the parking lot reaches a preset time length threshold; and generating a planned path based on the parking lot map and the target parking space so that the user vehicle collects the variable attributes of the target vehicle in the process of executing a parking task along the planned path.
Optionally, if the target parking spaces are multiple and sequentially arranged, the processor 901 is further configured to generate an update delay factor based on an un-updated duration of the variable attribute of the target parking spaces and a preset update period; determining a first target parking space in the target parking spaces based on the updating delay factor, wherein the updating delay factor is used for describing the corresponding relation between the updating delay severity and the serial numbers of the target parking spaces; and generating a planning path based on the parking lot map and the first target parking space so as to enable a user vehicle to acquire the variable attribute of the first target parking space.
Optionally, the processor 901 is further configured to determine an optimal planned path generated based on the parking lot map; and if the planned path is not the optimal planned path, generating a compensation scheme and providing the compensation scheme for the user.
Therefore, in the embodiment, the fixed attribute and the temporary attribute of the parking space are recorded, because whether the parking space is occupied or not is frequently updated, stored and issued as the temporary attribute, if no vehicle runs to a parking lot area for a long time under some conditions, the map can be updated in a fixed period, the terminal point of the global planning is guided to generate a task of enabling the vehicle to complete the passenger-riding parking, meanwhile, the server updating is carried out on the temporary attribute of the parking space, the timeliness of the map is guaranteed to the maximum extent, and the effectiveness of the global planning is improved. The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The foregoing description of specific embodiments of the present application has been presented. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, 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 specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the present application.
Claims (10)
1. A parking lot map processing method is characterized by comprising the following steps:
acquiring a parking lot map of a parking lot, wherein the parking lot map comprises variable attributes of parking places in the parking lot;
determining parking space information of surrounding parking spaces acquired in the process that a user vehicle executes a parking task along a planned path, wherein the planned path is obtained based on the parking lot map, and the parking space information comprises variable attributes of the parking spaces;
and updating the variable attribute of the parking space in the parking lot map based on the variable attribute of the parking space acquired by the user vehicle.
2. The method of claim 1, wherein the parking lot map further includes fixed attributes of parking spots within the parking lot, the parking spot information further including fixed attributes of parking spots;
the method further comprises:
and comparing the fixed attribute of the parking space in the parking lot map with the fixed attribute of the parking space collected by the user vehicle, and if the relative deviation of the fixed attribute exceeds the target parking space with a preset threshold value, correcting the fixed attribute of the target parking space in the parking lot map.
3. The method of claim 2,
the variable attribute comprises an occupancy state;
the fixed attributes comprise parking space positions and parking space types.
4. The method of claim 3, further comprising:
acquiring a full-scale parking lot map of the parking lot, wherein the full-scale parking lot map comprises attribute information of all parking places in the parking lot;
determining a parking space set in a first occupied state, wherein the parking space in the first occupied state is the least one of the parking space in the occupied state and the parking space in an idle state;
and generating the parking lot map based on the full parking lot map, wherein the parking lot map comprises attribute information of parking spaces in the parking lot in a first occupation state.
5. The method of claim 4, further comprising:
determining location information of a user vehicle;
determining a target parking lot for parking the user vehicle based on the position information;
and extracting a parking lot map corresponding to the target parking lot from a parking lot map database, wherein the parking lot map corresponding to each parking lot is stored in the parking lot map database.
6. The method of claim 1, further comprising:
determining a target parking space of which the non-updated time length of the variable attribute in the parking lot reaches a preset time length threshold;
and generating a planned path based on the parking lot map and the target parking space so that the user vehicle collects the variable attributes of the target vehicle in the process of executing a parking task along the planned path.
7. The method of claim 6, wherein the target parking spaces are multiple and sequentially arranged, and the generating a planned path based on the parking lot map and the target parking spaces comprises:
generating an updating delay factor based on the non-updating time length of the variable attribute of the target parking space and a preset updating period;
determining a first target parking space in the target parking spaces based on the updating delay factor, wherein the updating delay factor is used for describing the corresponding relation between the updating delay severity and the serial numbers of the target parking spaces;
and generating a planning path based on the parking lot map and the first target parking space so as to enable a user vehicle to acquire the variable attribute of the first target parking space.
8. The method of claim 7, further comprising:
determining an optimal planned path generated based on the parking lot map;
and if the planned path is not the optimal planned path, generating a compensation scheme and providing the compensation scheme for the user.
9. A vehicle, characterized in that the vehicle comprises: the sensor and the memory are connected with the processor;
a parking lot map of a parking lot is stored in the memory, the parking lot map including variable attributes of parking spaces within the parking lot;
the processor extracts a parking lot map from the memory and plans a planned path for parking based on the parking lot map;
the method comprises the steps that a sensor collects parking space information of surrounding parking spaces in the process that a user vehicle executes a parking task along a planned path, wherein the parking space information comprises variable attributes of the parking spaces;
and the processor updates the variable attribute of the parking space in the parking lot map based on the variable attribute of the parking space acquired by the user vehicle.
10. An electronic device, comprising a processor and a memory electrically connected to the processor, the memory configured to store a computer program, the processor configured to invoke the computer program to perform the method of any of claims 1-8.
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| CN202111034418.0A CN113868350A (en) | 2021-09-03 | 2021-09-03 | Parking lot map processing method, vehicle and equipment |
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| CN202111034418.0A CN113868350A (en) | 2021-09-03 | 2021-09-03 | Parking lot map processing method, vehicle and equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114501308A (en) * | 2022-01-10 | 2022-05-13 | 广州小鹏自动驾驶科技有限公司 | Method and device for downloading parking lot map, vehicle and storage medium |
| CN114743405A (en) * | 2022-03-29 | 2022-07-12 | 广州小鹏自动驾驶科技有限公司 | Parking space data processing method and device, electronic equipment and storage medium |
| CN115310728A (en) * | 2022-10-11 | 2022-11-08 | 禾多科技（北京）有限公司 | Parking route generation method, device, equipment and computer readable medium |
| WO2024067175A1 (en) * | 2022-09-26 | 2024-04-04 | 华为技术有限公司 | Map construction method and apparatus, and vehicle |
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2021
- 2021-09-03 CN CN202111034418.0A patent/CN113868350A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114501308A (en) * | 2022-01-10 | 2022-05-13 | 广州小鹏自动驾驶科技有限公司 | Method and device for downloading parking lot map, vehicle and storage medium |
| CN114743405A (en) * | 2022-03-29 | 2022-07-12 | 广州小鹏自动驾驶科技有限公司 | Parking space data processing method and device, electronic equipment and storage medium |
| CN114743405B (en) * | 2022-03-29 | 2023-10-31 | 广州小鹏自动驾驶科技有限公司 | Parking space data processing method and device, electronic equipment and storage medium |
| WO2024067175A1 (en) * | 2022-09-26 | 2024-04-04 | 华为技术有限公司 | Map construction method and apparatus, and vehicle |
| CN115310728A (en) * | 2022-10-11 | 2022-11-08 | 禾多科技（北京）有限公司 | Parking route generation method, device, equipment and computer readable medium |
| CN115310728B (en) * | 2022-10-11 | 2022-12-23 | 禾多科技（北京）有限公司 | Parking route generation method, device, equipment and computer readable medium |
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