CN114093198A

CN114093198A - Parking space recommendation method and device, computer equipment and storage medium

Info

Publication number: CN114093198A
Application number: CN202111552572.7A
Authority: CN
Inventors: 时兵兵; 杜闻; 曹康; 房颜明; 孟令钊
Original assignee: Beijing Wanji Technology Co Ltd
Current assignee: Beijing Wanji Technology Co Ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2022-02-25
Anticipated expiration: 2041-12-17
Also published as: CN114093198B

Abstract

The application relates to a parking space recommendation method and device, computer equipment and a storage medium. The method comprises the following steps: the method comprises the steps of obtaining vehicle information of a vehicle to be parked at an entrance of a parking lot according to sensing information of first road side equipment, establishing a binding relationship between a road side equipment system and the vehicle to be parked based on the vehicle information and vehicle end communication information of the vehicle to be parked, determining an idle parking space in the parking lot and an adjacent parking space of the idle parking space according to the sensing information of second road side equipment, determining an initial parking size of the idle parking space according to the parking state of the adjacent parking space, determining a target parking space from the idle parking space based on the vehicle information of the vehicle to be parked and the initial parking size and position of the idle parking space, and outputting the target parking space based on the binding relationship between the vehicle to be parked and the road side equipment system. Therefore, the target parking space determined by the method is suitable for parking the vehicle to be parked, and the parking efficiency and reliability are improved.

Description

Parking space recommendation method and device, computer equipment and storage medium

Technical Field

The application relates to the technical field of computers, in particular to a parking space recommendation method and device, computer equipment and a storage medium.

Background

With the development of economy, the quantity of vehicles kept in the world is rapidly increased, and parking lots are built in some parking intensive places so as to solve the problem that parking of users is difficult.

In order to improve the parking efficiency of users, more and more parking lots are provided with parking navigation service systems to recommend a proper parking space for a vehicle to be parked, and then the vehicle to be parked is quickly guided to the parking space. In the conventional technology, the size of a vehicle to be parked is compared with the size of a parking space in an idle parking space, so as to determine a target parking space suitable for the vehicle to be parked.

However, in practical applications, parking spaces of the vacant parking spaces are affected by parking situations of parking spaces around the vacant parking spaces, and due to the fact that parking spaces recommended for vehicles to be parked are affected by parking situations of surrounding parking spaces, the vehicles to be parked cannot actually park in the parking spaces, and accuracy of recommendation is reduced.

Disclosure of Invention

In view of the foregoing, it is necessary to provide a parking space recommendation method, device, computer device and storage medium for solving the above technical problems.

A parking space recommendation method comprises the following steps:

acquiring vehicle information of a vehicle to be parked at an entrance of a parking lot according to the sensing information of the first road side equipment; the first road side equipment is road side equipment at an entrance of the parking lot;

establishing a binding relationship between a roadside device system and the vehicle to be parked based on the vehicle information and the vehicle-end communication information of the vehicle to be parked; the vehicle-end communication information is information obtained by communication between the first road-side equipment and the vehicle to be parked; the vehicle-end communication information corresponds to the content contained in the vehicle information; the binding relation is used for the roadside equipment system to determine the identity of the vehicle to be parked;

determining an idle parking space in the parking lot and adjacent parking spaces of the idle parking spaces according to the sensing information of the second road side equipment; the second roadside equipment is roadside equipment deployed at a preset position in the parking lot;

determining the initial parking size of an idle parking space according to the parking state of the adjacent parking spaces;

determining a target parking space from the idle parking spaces based on the vehicle information of the vehicle to be parked and the initial parking size of the idle parking space; the initial parking size of the target parking space is matched with the vehicle information of the vehicle to be parked;

and outputting the target parking space based on the binding relationship between the vehicle to be parked and the roadside device system.

In one embodiment, the method further includes:

if the vehicle to be parked selects the target parking space to park, locking the target parking space to be in a parking waiting state; the parking waiting state is a non-selectable parking state;

determining the real-time state of the adjacent parking space of the target parking space according to the sensing information of the second road side device;

calculating the real-time parking size of the target parking space based on the real-time state of the adjacent parking space of the target parking space;

and outputting the real-time parking size based on the binding relationship between the vehicle to be parked and the roadside device system.

In one embodiment, the method further includes:

if the real-time parking size of the target parking space does not accord with the parking requirement of the vehicle to be parked, acquiring the current parking size of each free parking space in the parking lot;

determining a new target parking space based on the current parking size of each free parking space; and the current parking size of the new target parking space meets the parking requirement of the vehicle to be parked.

In one embodiment, determining a new target parking space based on the current parking size of each free parking space includes:

determining candidate parking spaces in the idle parking spaces according to the current parking size of each idle parking space; the current parking size of the candidate parking space meets the parking requirement of the vehicle to be parked;

acquiring the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot according to the sensing information of the second road side equipment;

and determining a new target parking space from the candidate parking spaces according to the positions of the candidate parking spaces, the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot.

In one embodiment, the method further includes:

generating a real-time parking route according to the position of the target parking space, the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot;

and outputting the real-time parking route while outputting the target parking space based on the binding relationship between the vehicle to be parked and the roadside device system.

In one embodiment, generating a real-time parking route according to the position of the target parking space, the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot includes:

generating an initial parking route from the real-time position of the vehicle to be parked to the position of the target parking space;

and dynamically adjusting the initial parking route according to the real-time positions of other vehicles to obtain the real-time parking route.

In one embodiment, outputting the real-time parking route of the vehicle to be parked based on the binding relationship comprises:

projecting real-time parking routes of vehicles to be parked and real-time positions of other vehicles to a high-precision map of a parking lot;

and outputting a high-precision map which contains the real-time parking route of the vehicle to be parked and the real-time position of other vehicles after projection.

and sending the real-time parking route of the vehicle to be parked to the vehicle to be parked based on the binding relationship.

A parking spot recommendation device, comprising:

the information acquisition module is used for acquiring vehicle information of the vehicle to be parked at the entrance of the parking lot according to the sensing information of the first road side equipment; the first road side equipment is road side equipment at an entrance of the parking lot;

the association binding module is used for establishing a binding relationship between the roadside device system and the vehicle to be parked based on the vehicle information and the vehicle-end communication information of the vehicle to be parked; the vehicle-end communication information is information obtained by communication between the first road-side equipment and the vehicle to be parked; the vehicle-end communication information corresponds to the content contained in the vehicle information; the binding relation is used for the roadside equipment system to determine the identity of the vehicle to be parked;

the parking space determining module is used for determining an idle parking space in the parking lot and an adjacent parking space of the idle parking space according to the sensing information of the second road side device; the second roadside equipment is roadside equipment deployed at a preset position in the parking lot;

the size determining module is used for determining the initial parking size of the idle parking space according to the parking state of the adjacent parking space;

the target determining module is used for determining a target parking space from the idle parking spaces based on the vehicle information of the vehicle to be parked and the initial parking size of the idle parking space; the initial parking size of the target parking space is matched with the vehicle information of the vehicle to be parked;

and the parking space output module is used for outputting the target parking space based on the binding relationship between the vehicle to be parked and the roadside device system.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

According to the parking space recommendation method, the parking space recommendation device, the computer equipment and the storage medium, vehicle information of a vehicle to be parked is obtained at an entrance of a parking lot according to sensing information of first road side equipment, a binding relation between a roadside equipment system and the vehicle to be parked is established based on the vehicle information and vehicle end communication information of the vehicle to be parked, then a free parking space in the parking lot and an adjacent parking space of the free parking space are determined according to sensing information of second road side equipment, an initial parking size of the free parking space is determined according to a parking state of the adjacent parking space, a target parking space is determined from the free parking space based on the vehicle information of the vehicle to be parked and the initial parking size and position of the free parking space, and the target parking space is output based on the binding relation between the vehicle to be parked and the roadside equipment system. The initial parking size of the target parking space is matched with the vehicle to be parked, so that the target parking space determined by the method is suitable for parking the vehicle to be parked, the probability that the vehicle to be parked cannot actually park in the parking space due to the influence of the parking situation of surrounding parking spaces is reduced, the accurate recommendation of the parking space is realized, and the parking efficiency and the reliability are improved.

Drawings

FIG. 1 is a diagram of an exemplary implementation of a parking space recommendation method;

FIG. 2 is a flowchart illustrating a parking space recommendation method according to an embodiment;

FIG. 3 is a schematic view of a parking lot in one embodiment;

FIG. 4 is a schematic flow chart illustrating a process for determining a real-time parking size of a target vehicle according to one embodiment;

FIG. 5 is a schematic flow chart illustrating the process of determining a new target slot in one embodiment;

FIG. 6 is a schematic diagram illustrating a process for determining a new target parking space according to another embodiment;

FIG. 7 is a schematic flow chart illustrating outputting a real-time parking route according to an embodiment;

FIG. 8 is a schematic flow chart illustrating a process for obtaining a real-time parking route in one embodiment;

FIG. 9 is a schematic flow chart illustrating the output of a real-time parking route according to another embodiment;

FIG. 10 is a block diagram of a parking space recommendation device according to an embodiment;

FIG. 11 is a diagram illustrating an internal structure of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The parking space recommendation method can be applied to the application environment shown in fig. 1. The roadside device system comprises a first roadside device 101, a second roadside device 102 and a processing platform 103, wherein the first roadside device 101 is a roadside device at an entrance of a parking lot, and the second roadside device 102 is a roadside device deployed at a preset position in the parking lot. The first roadside apparatus 101 and the second roadside apparatus 102 communicate with the processing platform 103 through a network, respectively. The processing platform 103 acquires vehicle information of the vehicle to be parked at the entrance of the parking lot according to the sensing information of the first road side device 101, and establishes a binding relationship between the road side device system and the vehicle to be parked according to the vehicle information and the vehicle end communication information of the vehicle to be parked corresponding to the content based on the vehicle end communication information acquired by the communication between the first road side device 101 and the vehicle to be parked, so that the road side device system can determine the identity of the vehicle to be parked. The processing platform 103 prestores a map of a parking lot, a position of a road area, parking space information of each parking space, and at least one item of parameter information such as a position, a size, a proper parking type, a pose and the like, the processing platform 103 can determine an idle parking space in the parking lot and an adjacent parking space of the idle parking space according to the sensing information of the second roadside device 102, determine an initial parking size of the idle parking space according to the parking state of the adjacent vehicle, determine a target parking space of which the initial parking size is matched with the vehicle roadside information of the vehicle to be parked from the idle parking space based on the vehicle information of the vehicle to be parked and the initial parking size of the idle parking space, and output the target parking space based on the binding relationship between the vehicle to be parked and the roadside device system. The processing platform is a computer device with data processing capability.

In an embodiment, as shown in fig. 2, a parking space recommendation method is provided, which is described by taking an example that the method is applied to the processing platform in fig. 1, and includes the following steps:

s210, obtaining vehicle information of the vehicle to be parked at the entrance of the parking lot according to the perception information of the first road side device.

The first road side equipment is road side equipment at an entrance of the parking lot. The sensing information of the first road side equipment is the sensing data acquired by the first road side equipment.

Optionally, the sensing information of the first road-side device may be image data acquired by the first road-side device through an image sensor, or may be point cloud data acquired by a laser radar. The vehicle information is the attribute information of the vehicle itself, and can be information of position, type, size, pose, and the like.

Optionally, the processing platform may perform target detection on the perception information acquired by the first roadside device to obtain vehicle information of the vehicle to be parked. Optionally, the first road side device may simultaneously acquire image data by using an image sensor and point cloud data by using a laser radar, the processing platform then fuses the acquired image data and the point cloud data, and performs target detection on the obtained fused data to obtain vehicle information of the vehicle to be parked; the processing platform can also respectively carry out target detection on the image data and the point cloud data, and further determine the vehicle information of the vehicle to be parked according to the image detection result and the point cloud detection result which are correspondingly obtained. For example, the vehicle information of the vehicle to be parked is determined from the image detection result of the vehicle to be parked and the detection result with high confidence among the point cloud detection results.

S220, establishing a binding relationship between the roadside device system and the vehicle to be parked based on the vehicle information and the vehicle-end communication information of the vehicle to be parked.

The vehicle-end communication information is information obtained by communication between the first road-side device and the vehicle to be parked, and the vehicle-end communication information corresponds to content contained in the vehicle information. For example, the vehicle information includes the type and license plate number of the vehicle, and accordingly the vehicle-side communication information also includes the type and license plate number of the vehicle. The binding relationship is used for the roadside device system to determine the identity of the vehicle to be parked.

Optionally, the vehicle to be parked may communicate with the first roadside device, the processing platform obtains vehicle-end communication information sent by the vehicle to be parked through the first roadside device, and meanwhile, according to the vehicle information of the vehicle to be parked obtained through the sensing data of the first roadside device, the binding relationship between the whole roadside device system and the vehicle to be parked can be established. For example, a vehicle a to be parked enters the entrance of the parking lot, communicates with the first road side device, and sends the attribute information of the vehicle as vehicle end communication information to the first road side device, and the road side device system obtains the vehicle information of the vehicle a to be parked corresponding to the vehicle end communication information content of the vehicle a to be parked based on the sensing data of the first road side device, and then binds the vehicle a to be parked with the road side device system, wherein the vehicle a to be parked has the attribute information.

And S230, determining the vacant parking spaces in the parking lot and adjacent parking spaces of the vacant parking spaces according to the sensing information of the second roadside device.

And the perception information of the second road side equipment is the sensing data acquired by the second road side equipment. Optionally, the perception information of the second roadside device may be image data acquired by the second roadside device through an image sensor, or point cloud data acquired by a laser radar.

S240, determining the initial parking size of the free parking space according to the parking state of the adjacent parking space.

The parking state of the adjacent parking space is used for reflecting whether the adjacent parking space is occupied or not, and the size of the vehicle occupying the adjacent parking space is determined under the condition that the adjacent parking space is occupied.

Optionally, the second roadside device performs perception data acquisition on the whole parking area through an image sensor or a laser radar, the processing platform may perform target detection on the image data or the point cloud data acquired by the second roadside device, or the fused data of the image data and the point cloud data is adopted to carry out target detection, or the positions of all vehicles in the parking lot are determined by adopting the modes of image detection results and point cloud detection results obtained by respectively carrying out target detection according to the image data and the point cloud data, further matching the positions of all vehicles in the parking lot with the positions of the parking spaces in the parking lot to determine the parking state of each parking space, and then confirm the vacant parking stall in the parking lot, confirm the adjacent parking stall of each vacant parking stall simultaneously, the key is the parking state of confirming each adjacent parking stall to confirm the initial size of parking of vacant parking stall according to the parking state of each adjacent parking stall.

Optionally, if the parking states of the adjacent parking spaces around the vacant parking space are all vacant, the initial parking size corresponding to the vacant parking space is the actual planned size of the parking space. And if the parking states of the adjacent parking spaces on the two sides of the vacant parking space are both idle, determining that the actual parking size of the vacant parking space in the direction of the adjacent parking spaces on the two sides is the actual planned size of the vacant parking space in the corresponding direction. And if the parking states of the adjacent parking spaces on the two sides of the idle parking space are occupied, determining the initial parking size of the idle parking space in the direction of the adjacent parking spaces on the two sides according to the point cloud coordinates of the parked vehicles on the occupied parking spaces. If the parking states of the adjacent parking spaces on the two sides are occupied, acquiring the minimum distance between the point cloud coordinate of the vehicle on the occupied parking space on one side and the point cloud coordinate of the vehicle on the occupied parking space on the other side, and taking the minimum distance as the initial parking size of the idle parking space in the direction of the adjacent parking spaces on the two sides. And if the parking state of one adjacent parking space of the adjacent parking spaces on the two sides is occupied, acquiring the minimum distance between the point cloud coordinate of the vehicle parked in the adjacent parking space on one side and the parking space boundary line farthest from the adjacent parking space on one side in the idle parking space, and taking the minimum distance as the initial parking size of the idle parking space in the direction of the adjacent parking spaces on the two sides.

As shown in fig. 3, the processing platform determines that the parking states of the adjacent parking spaces F1-F3 around the vacant parking space F1 are all idle, and then determines that the actual available size of the vacant parking space F1 in the direction of the adjacent parking spaces on both sides is the actual planned size of the vacant parking space in the corresponding direction, that is, the marking size of the parking space, for example, the actual available size of the vacant parking space F1 in the x-axis direction of the adjacent parking spaces F2 and F3 is the actual planned size n, and the actual available size of the adjacent parking space F in the y-axis direction is the actual planned size m, that is, determines that the actual available size of the vacant parking space F1 is n × m.

And the processing platform determines that the parking states of the adjacent parking spaces F4-F5 on the two sides of the vacant parking space F2 are occupied, and then obtains the minimum distance s between the point cloud coordinate of the vehicle on the occupied parking space F4 on one side and the point cloud coordinate of the vehicle on the occupied parking space F5 on the other side as the initial parking size of the vacant parking space in the y-axis direction of the adjacent parking spaces F4-F5 on the two sides. And the other two sides of the vacant parking space F2 do not have adjacent parking spaces, the initial parking size of the corresponding vacant parking space F2 in the x-axis direction where the other two sides are located is the actual planning size n, and the initial parking size of the vacant parking space F2 can be determined to be n × s.

The processing platform determines that, of adjacent parking spaces F8-F10 on two sides of an idle parking space F4, adjacent parking spaces F9 and F10 on two sides of the idle parking space F4 in the x-axis direction are occupied, then the minimum distance l between the point cloud coordinate of the vehicle parked on the adjacent parking space F9 and the point cloud coordinate of the vehicle parked on the adjacent parking space F10 is obtained as the initial parking size of the idle parking space F4 in the x-axis direction, one side adjacent parking space F8 in the x-axis direction is occupied, the other side has no parking space, then the minimum distance p between the point cloud coordinate of the vehicle parked on one side adjacent parking space F8 and a farthest parking space boundary line z in the idle parking space F4 from one side adjacent parking space F8 is obtained as the initial parking size of the idle parking space F4 in the y-axis direction where the adjacent parking space F8 is located, and then the initial parking size of the idle parking space F4 can be determined as l p.

And S250, determining a target parking space from the free parking spaces based on the vehicle information of the vehicle to be parked and the initial parking size of the free parking spaces.

The initial parking size of the target parking space is matched with the vehicle information of the vehicle to be parked. The vehicle information of the vehicle to be parked includes the vehicle size. The target parking space is the free parking space with the initial parking size matched with the vehicle size of the vehicle to be parked.

Optionally, the processing platform may compare the vehicle size of the vehicle to be parked with the initial parking size of each free parking space, determine a free parking space satisfying the vehicle size, such as a free parking space with the initial parking size larger than the vehicle size, and determine that the free parking space is the target parking space of the vehicle to be parked. And then calculating the distance between the current position of the vehicle to be parked and the position of each free parking space meeting the size of the vehicle, and determining the free parking space with the minimum distance as the target parking space.

Optionally, when a plurality of target parking spaces are determined, the processing platform may also determine one target parking space based on other screening conditions. The screening conditions may include a distance from the vehicle to be parked, a proximity to an exit, a lateral parking space, a non-adjacent post, and the like.

And S260, outputting the target parking space based on the binding relationship between the vehicle to be parked and the roadside device system.

Optionally, the processing platform sends the position of the target parking space to a display device, displays the position of the target parking space and/or a parking space identifier, such as a parking space number, on a parking lot map through the display device, and marks attribute information corresponding to the vehicle to be parked on the display position of the target parking space based on the binding relationship so as to be conveniently checked by the user. The display device can be a stand-alone display device, and can also be integrated with a display screen, a first road side device and/or a second road side device with a display function.

In this embodiment, a processing platform in the roadside device system acquires vehicle information of a vehicle to be parked at an entrance of a parking lot according to sensing information of a first roadside device, establishes a binding relationship between the roadside device system and the vehicle to be parked based on the vehicle information of the vehicle to be parked and vehicle-end communication information, determines an empty parking space in the parking lot and an adjacent parking space of the empty parking space according to sensing information of a second roadside device, determines an initial parking size of the empty parking space according to a parking state of the adjacent parking space, determines a target parking space from the empty parking space based on the vehicle information of the vehicle to be parked and the initial parking size and position of the empty parking space, and outputs the target parking space based on the binding relationship between the vehicle to be parked and the roadside device system. The initial parking size of the target parking space is matched with the vehicle to be parked, so that the target parking space determined by the method is suitable for parking the vehicle to be parked, the probability that the vehicle to be parked cannot actually park in the parking space due to the influence of the parking situation of surrounding parking spaces is reduced, the accurate recommendation of the parking space is realized, and the parking efficiency and the reliability are improved.

In one embodiment, in an actual parking scene, a parking status of each parking space in the parking lot is constantly changed, and the determined initial parking size of the target parking space is correspondingly changed along with the change of the parking status of the parking space, so as shown in fig. 4, the method further includes:

and S410, if the vehicle to be parked selects the target parking space to park, locking the target parking space to be in a parking waiting state.

The parking waiting state is a non-selectable parking state. And when the processing platform determines the target parking space for other vehicles to be parked, the target parking space is not selected, so that the repetition is avoided.

Optionally, after the processing platform outputs the target parking space recommended for the vehicle to be parked through the display device, the user determines to select the target parking space on the display interface, and the processing platform can determine that the vehicle to be parked selects the target parking space to park, and then locks the target parking space in the parking state.

And S420, determining the real-time state of the adjacent parking space of the target parking space according to the sensing information of the second road side device.

Specifically, after the target parking space is locked to be in a waiting state, the processing platform continues to determine the real-time state of the adjacent parking space of the target parking space according to the sensing information of the second road side device. Wherein, the real-time status of adjacent parking stall is the real-time parking status of adjacent parking stall promptly, and concrete definite process is the same with the aforesaid process of confirming the parking status of adjacent parking stall, no longer gives unnecessary details here.

And S430, calculating the real-time parking size of the target parking space based on the real-time state of the adjacent parking space of the target parking space.

Specifically, the processing platform calculates the real-time parking size of the target parking space in the same manner as the aforementioned initial parking size of the target parking space determined based on the real-time state of the adjacent parking space of the target parking space.

And S440, outputting the real-time parking size based on the binding relationship between the vehicle to be parked and the roadside device system.

The real-time parking size of the target parking space may be the same as or different from the initial parking size.

Specifically, the processing platform outputs the real-time parking size based on the binding relationship between the vehicle to be parked and the roadside device system so as to update the initial parking size of the corresponding target parking space.

In this embodiment, the processing platform locks the target parking space into the unselected waiting parking state after the vehicle to be parked parks at the selected target parking space, determines the real-time state of the adjacent parking space of the target parking space according to the sensing information of the second roadside device, calculates the real-time parking size of the target parking space based on the real-time state of the adjacent parking space of the target parking space, and then outputs the real-time parking size based on the binding relationship between the vehicle to be parked and the roadside device system. The method monitors the parking size of the target parking space in real time, finds the change of the parking size in time, is convenient for determining a new target parking space in time when the parking size is not suitable for the parking of the vehicle to be parked, and improves the parking efficiency while improving the parking success rate.

In one embodiment, as shown in fig. 5, to improve the success rate of parking, the method further includes:

and S510, if the real-time parking size of the target parking space does not accord with the parking requirement of the vehicle to be parked, acquiring the current parking size of each free parking space in the parking lot.

The parking requirement of the vehicle to be parked is the vehicle size of the vehicle to be parked. For example the length and/or width of the vehicle to be parked.

S520, determining a new target parking space based on the current parking size of each free parking space.

And the current parking size of the new target parking space meets the parking requirement of the vehicle to be parked.

Specifically, the processing platform continuously determines the real-time parking size of the target parking space, compares the determined real-time parking size with the vehicle size of the vehicle to be parked, and determines whether a new target parking space needs to be determined according to the comparison result.

Optionally, if the real-time parking size of the target parking space meets the vehicle size of the vehicle to be parked, if the real-time length of the target parking space is greater than the vehicle length of the vehicle to be parked and the real-time width of the target parking space is greater than the vehicle width of the vehicle to be parked, the processing platform determines that the real-time parking size of the target parking space meets the parking requirement of the vehicle to be parked, and then determines that a new target parking space does not need to be determined. If the real-time parking size of the target parking space does not accord with the vehicle size of the vehicle to be parked, if the real-time length of the target parking space is not larger than the vehicle length of the vehicle to be parked and/or the real-time width of the target parking space is not larger than the vehicle width of the vehicle to be parked, the processing platform determines that the real-time parking size of the target parking space does not accord with the parking requirement of the vehicle to be parked, and then determines that a new target parking space needs to be determined. Specifically, the current parking size of each free parking space in the parking lot is obtained, and then the free parking space with the current parking size meeting the parking requirement of the vehicle to be parked is determined to be a new target parking space based on the current parking size of each free parking space.

It should be noted that, after the new target parking space is determined, the processing platform may further continue to acquire the real-time parking size of the new target parking space, compare the real-time parking size of the new target parking space with the vehicle size of the vehicle to be parked, and re-determine the target parking space until there is no free parking space in the parking lot at the current time under the condition that the real-time parking size of the new target parking space does not conform to the vehicle size of the vehicle to be parked.

In this embodiment, the processing platform obtains the current parking size of each free parking space in the parking lot under the condition that the real-time parking size of the target parking space does not meet the parking requirement of the vehicle to be parked, and determines a new target parking space of which the current parking size meets the parking requirement of the vehicle to be parked based on the current parking size of each free parking space. The method is suitable for the change of the real-time parking size of the target parking space, so that the target parking space meeting the vehicle requirement of the vehicle to be parked is provided for the user, and the success rate of parking is improved.

In an optional embodiment, to further improve the parking efficiency, as shown in fig. 6, the step S420 includes:

s610, determining candidate parking spaces in the vacant parking spaces according to the current parking sizes of the vacant parking spaces.

And the current parking size of the candidate parking space meets the parking requirement of the vehicle to be parked.

Specifically, the processing platform obtains the current parking size of each free parking space, and compares the current parking size of each free parking space with the vehicle size of the vehicle to be parked, so as to determine the free parking space of which the current parking size meets the vehicle size of the vehicle to be parked from the free parking spaces as a candidate parking space.

And S620, acquiring the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot according to the sensing information of the second road side device.

Alternatively, the real-time position of the vehicle to be parked and the real-time positions of the other vehicles may be the positions of the center points of the vehicles.

And S630, determining a new target parking space from the candidate parking spaces according to the positions of the candidate parking spaces, the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot.

Specifically, the processing platform determines the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot according to the sensing information of the second roadside device, and then determines a new target parking space from the candidate parking spaces according to the positions of the candidate parking spaces, the real-time position of the vehicle to be parked and the real-time positions of the other vehicles in the parking lot. Optionally, the processing platform may determine, according to the position of each candidate parking space and the real-time position of the vehicle to be parked, a candidate parking space closest to the vehicle to be parked, further form a parking route from the vehicle to be parked to the candidate parking space on the high-precision map of the parking lot, match the real-time position of each other vehicle with the parking route, and determine that the candidate parking space corresponding to the obtained parking route with no other vehicle or the least other vehicle is the new target parking space.

Optionally, the processing platform may determine the same vehicle to be parked according to the sensing information of the first roadside device and the second roadside device, and then track the vehicle to be parked, so as to obtain a real-time position of the vehicle to be parked.

Optionally, the processing platform may perform vehicle identification on the perception data of the first road side device to obtain first vehicle information of each vehicle, perform vehicle identification on the perception data of the second road side device to obtain second vehicle information of each vehicle, and perform information comparison on the first vehicle information and the second vehicle information to determine that the vehicles with the first vehicle information and the second vehicle information matched (identical or meeting an error range) are the same vehicle to be parked.

In this embodiment, the processing platform determines, according to the current parking size of each free parking space, a candidate parking space whose current parking size meets the parking requirement of the vehicle to be parked in the free parking space, and according to the sensing information of the second roadside device, obtains the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot, and then determines a new target parking space from the candidate parking spaces according to the position of each candidate parking space, the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot, where the determined new target parking space not only meets the parking requirement of the vehicle to be parked, but also considers whether other vehicles exist on a corresponding parking route, so that the determined parking route corresponding to the new target vehicle is the fastest, and further improves the parking efficiency.

In one embodiment, the method further includes a process of generating a real-time parking route, and as shown in fig. 7, the method further includes:

and S710, generating a real-time parking route according to the position of the target parking space, the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot.

Optionally, the processing platform may determine, according to the position of each candidate parking space and the real-time position of the vehicle to be parked, a candidate parking space closest to the vehicle to be parked, further form a candidate parking route from the vehicle to be parked to the candidate parking space on the high-precision map of the parking lot, further match the real-time position of each other vehicle with the candidate parking route, and determine that the candidate parking route with no other vehicle or the least other vehicle is the real-time parking route from the vehicle to be parked to the new target parking space.

And S720, outputting a real-time parking route while outputting a target parking space based on the binding relationship between the vehicle to be parked and the roadside device system.

Optionally, the processing platform sends the real-time parking route to a display device, displays the position of the new target parking space and the real-time parking route from the vehicle to be parked to the new target parking space on the high-precision map of the parking lot through the display device, and marks attribute information corresponding to the vehicle to be parked on each real-time parking route based on the binding relationship so as to be convenient for the user to check. The display device can be a stand-alone display device, and can also be integrated with a display screen, a first road side device and/or a second road side device with a display function.

In an alternative embodiment, the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot are also continuously changed, as shown in fig. 8, the step S710 includes:

and S810, generating an initial parking route from the real-time position of the vehicle to be parked to the position of the target parking space.

Specifically, the processing platform generates an initial parking route from the real-time position of the vehicle to be parked to the position of the target parking space on the parking lot high-precision map. Optionally, the initial parking route may be a parking route in which a straight distance from the vehicle to be parked to the target parking space is shortest, may also be a parking route in which a driving distance is shortest, and may also be a parking route in which other vehicles on the route are the fewest.

And S820, dynamically adjusting the initial parking route according to the real-time positions of other vehicles to obtain a real-time parking route.

Specifically, the processing platform can also continuously acquire the real-time positions of other vehicles, adjust the determined initial parking route, and adjust the target to the minimum number of other vehicles on the route, so as to obtain the real-time parking route corresponding to the vehicle to be parked.

In this embodiment, the processing platform generates the real-time parking route according to the position of the target parking space, the real-time position of the vehicle to be parked, and the real-time positions of other vehicles in the parking lot, and specifically may generate an initial parking route from the real-time position of the vehicle to be parked to the position of the target parking space, and then dynamically adjust the initial parking route according to the real-time positions of the other vehicles to obtain the real-time parking route, and further output the real-time parking route while outputting the target parking space based on the binding relationship between the vehicle to be parked and the roadside device system. By the method, the parking route is dynamically adjusted in real time based on the real-time positions of the vehicle to be parked and other vehicles, so that driving safety and parking efficiency are improved.

In an alternative embodiment, to facilitate the user to adjust the driving route autonomously in real time, as shown in fig. 9, the step S720 further includes:

s910, projecting the real-time parking route of the vehicle to be parked and the real-time positions of other vehicles to a high-precision map of the parking lot.

And S920, outputting the projected high-precision map containing the real-time parking route of the vehicle to be parked and the real-time position of other vehicles.

Specifically, the processing platform projects the determined real-time parking route of the vehicle to be parked to a high-precision map of the parking lot, displays the real-time positions of other vehicles in the parking lot on the high-precision map, and outputs the projected high-precision map containing the real-time parking route of the vehicle to be parked and the real-time positions of the other vehicles.

Optionally, the processing platform may send the high-precision map to a display device, and the high-precision map is output and displayed by the display device. The identity of the vehicle to be parked can be determined based on the binding relationship, communication is established between the identity of the vehicle to be parked and the vehicle-end equipment of the vehicle to be parked, the high-precision map is sent to the vehicle-end equipment of the corresponding vehicle to be parked, and the high-precision map is output and displayed through a display screen of the vehicle-end equipment.

Alternatively, the high-precision map may be a three-dimensional stereo map or a two-dimensional plane map.

In this embodiment, the processing platform projects the real-time parking route of the vehicle to be parked and the real-time positions of the other vehicles to the high-precision map of the parking lot, and outputs the projected high-precision map including the real-time parking route of the vehicle to be parked and the real-time positions of the other vehicles, so that a user can adjust the driving route by referring to the high-precision map, and convenience in flexibly adjusting the driving route by the user is improved.

It should be understood that although the various steps in the flow charts in fig. 2-9 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-9 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.

In one embodiment, as shown in fig. 10, there is provided a parking stall recommendation device, including: information acquisition module 1002, association binding module 1002, parking space determination module 1003, size determination module 1004, target determination module 1005 and parking space output module 1006, wherein:

the information acquisition module 1001 is configured to acquire vehicle information of a vehicle to be parked at an entrance of a parking lot according to the sensing information of the first road side device; the first road side equipment is road side equipment at an entrance of the parking lot;

the association binding module 1002 is configured to establish a binding relationship between a roadside device system and a vehicle to be parked based on vehicle information and vehicle-end communication information of the vehicle to be parked; the vehicle-end communication information is information obtained by communication between the first road-side equipment and the vehicle to be parked; the vehicle-end communication information corresponds to the content contained in the vehicle information; the binding relation is used for the roadside equipment system to determine the identity of the vehicle to be parked;

the parking space determining module 1003 is configured to determine an empty parking space in the parking lot and a parking space adjacent to the empty parking space according to the sensing information of the second roadside device; the second roadside equipment is roadside equipment deployed at a preset position in the parking lot;

the size determining module 1004 is used for determining the initial parking size of the free parking space according to the parking state of the adjacent parking space;

the target determining module 1005 is used for determining a target parking space from the free parking spaces based on the vehicle information of the vehicle to be parked and the initial parking size of the free parking spaces; the initial parking size of the target parking space is matched with the vehicle information of the vehicle to be parked;

the parking space output module 1006 is configured to output a target parking space based on a binding relationship between the vehicle to be parked and the roadside device system.

In one embodiment, the parking spot output module 1006 is further configured to:

if the vehicle to be parked selects the target parking space to park, locking the target parking space to be in a parking waiting state; the parking waiting state is a non-selectable parking state; determining the real-time state of the adjacent parking space of the target parking space according to the sensing information of the second road side device; calculating the real-time parking size of the target parking space based on the real-time state of the adjacent parking space of the target parking space; and outputting the real-time parking size based on the binding relationship between the vehicle to be parked and the roadside device system.

In one embodiment, the goal determining module 1005 is further configured to:

if the real-time parking size of the target parking space does not accord with the parking requirement of the vehicle to be parked, acquiring the current parking size of each free parking space in the parking lot; determining a new target parking space based on the current parking size of each free parking space; and the current parking size of the new target parking space meets the parking requirement of the vehicle to be parked.

In one embodiment, the target determining module 1005 is specifically configured to:

determining candidate parking spaces in the idle parking spaces according to the current parking size of each idle parking space; the current parking size of the candidate parking space meets the parking requirement of the vehicle to be parked; acquiring the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot according to the sensing information of the second road side equipment; and determining a new target parking space from the candidate parking spaces according to the positions of the candidate parking spaces, the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot.

generating a real-time parking route according to the position of the target parking space, the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot; and outputting the real-time parking route while outputting the target parking space based on the binding relationship between the vehicle to be parked and the roadside device system.

In one embodiment, the parking spot output module 1006 is specifically configured to:

generating an initial parking route from the real-time position of the vehicle to be parked to the position of the target parking space; and dynamically adjusting the initial parking route according to the real-time positions of other vehicles to obtain the real-time parking route.

projecting real-time parking routes of vehicles to be parked and real-time positions of other vehicles to a high-precision map of a parking lot; and outputting a high-precision map which contains the real-time parking route of the vehicle to be parked and the real-time position of other vehicles after projection.

For specific limitations of the parking space recommendation device, reference may be made to the above limitations of the parking space recommendation method, which is not described herein again. All modules in the parking place recommendation device can be completely or partially realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 11. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a stall recommendation method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 11 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

acquiring vehicle information of a vehicle to be parked at an entrance of a parking lot according to the sensing information of the first road side equipment; the first road side equipment is road side equipment at an entrance of the parking lot; establishing a binding relationship between a roadside device system and the vehicle to be parked based on the vehicle information and the vehicle-end communication information of the vehicle to be parked; the vehicle-end communication information is information obtained by communication between the first road-side equipment and the vehicle to be parked; the vehicle-end communication information corresponds to the content contained in the vehicle information; the binding relation is used for the roadside equipment system to determine the identity of the vehicle to be parked; determining an idle parking space in the parking lot and adjacent parking spaces of the idle parking spaces according to the sensing information of the second road side equipment; the second roadside equipment is roadside equipment deployed at a preset position in the parking lot; determining the initial parking size of an idle parking space according to the parking state of the adjacent parking spaces; determining a target parking space from the idle parking spaces based on the vehicle information of the vehicle to be parked and the initial parking size of the idle parking space; the initial parking size of the target parking space is matched with the vehicle information of the vehicle to be parked; and outputting the target parking space based on the binding relationship between the vehicle to be parked and the roadside device system.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of:

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A parking space recommendation method is characterized by comprising the following steps:

acquiring vehicle information of a vehicle to be parked at an entrance of a parking lot according to the sensing information of the first road side equipment; the first road side equipment is road side equipment at an entrance of a parking lot;

establishing a binding relationship between a roadside device system and the vehicle to be parked based on the vehicle information and the vehicle end communication information of the vehicle to be parked; the vehicle-end communication information is information obtained by communication between the first road-side equipment and the vehicle to be parked; the vehicle-end communication information corresponds to content contained in the vehicle information; the binding relationship is used for the roadside equipment system to determine the identity of the vehicle to be parked;

determining an idle parking space in the parking lot and a parking space adjacent to the idle parking space according to the sensing information of the second roadside device; the second roadside equipment is roadside equipment deployed at a preset position in the parking lot;

determining the initial parking size of the free parking space according to the parking state of the adjacent parking space;

determining a target parking space from the free parking spaces based on the vehicle information of the vehicle to be parked and the initial parking size of the free parking spaces; the initial parking size of the target parking space is matched with the vehicle information of the vehicle to be parked;

2. The method of claim 1, further comprising:

if the vehicle to be parked selects the target parking space to park, locking the target parking space to be in a parking waiting state; wherein the parking waiting state is a non-selectable parking state;

and outputting the real-time parking size based on the binding relationship between the vehicle to be parked and the roadside equipment system.

3. The method of claim 2, further comprising:

if the real-time parking size of the target parking space does not accord with the parking requirement of the vehicle to be parked, acquiring the current parking size of each free parking space of the parking lot;

4. The method of claim 3, wherein said determining a new target space based on the current parking size of said free spaces comprises:

determining candidate parking spaces in the vacant parking spaces according to the current parking sizes of the vacant parking spaces; the current parking size of the candidate parking space meets the parking requirement of the vehicle to be parked;

acquiring the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot according to the perception information of the second road side equipment;

and determining the new target parking space from the candidate parking spaces according to the positions of the candidate parking spaces, the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking lot.

5. The method of claim 4, further comprising:

6. The method of claim 5, wherein generating a real-time parking route according to the position of the target parking space, the real-time position of the vehicle to be parked, and the real-time positions of other vehicles in the parking lot comprises:

and dynamically adjusting the initial parking route according to the real-time positions of the other vehicles to obtain the real-time parking route.

7. The method of claim 5, wherein outputting the real-time parking route of the vehicle to be parked based on the binding relationship comprises:

projecting the real-time parking route of the vehicle to be parked and the real-time positions of other vehicles to a high-precision map of the parking lot;

8. The method of claim 5, wherein outputting the real-time parking route of the vehicle to be parked based on the binding relationship comprises:

9. The utility model provides a parking stall recommendation device which characterized in that, the device includes:

the information acquisition module is used for acquiring vehicle information of the vehicle to be parked at the entrance of the parking lot according to the sensing information of the first road side equipment; the first road side equipment is road side equipment at an entrance of a parking lot;

the association binding module is used for establishing a binding relationship between a roadside device system and the vehicle to be parked based on the vehicle information and the vehicle-end communication information of the vehicle to be parked; the vehicle-end communication information is information obtained by communication between the first road-side equipment and the vehicle to be parked; the vehicle-end communication information corresponds to content contained in the vehicle information; the binding relationship is used for the roadside equipment system to determine the identity of the vehicle to be parked;

the parking space determining module is used for determining an idle parking space in the parking lot and a parking space adjacent to the idle parking space according to the sensing information of the second road side device; the second roadside equipment is roadside equipment deployed at a preset position in the parking lot;

the size determining module is used for determining the initial parking size of the free parking space according to the parking state of the adjacent parking space;

the target determining module is used for determining a target parking space from the free parking spaces based on the vehicle information of the vehicle to be parked and the initial parking size of the free parking spaces; the initial parking size of the target parking space is matched with the vehicle information of the vehicle to be parked;

10. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 8 when executing the computer program.

11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.