CN114093198B

CN114093198B - Parking stall recommendation method, device, computer equipment and storage medium

Info

Publication number: CN114093198B
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: 2023-06-20
Anticipated expiration: 2041-12-17
Also published as: CN114093198A

Abstract

The application relates to a parking stall recommendation method, a parking stall recommendation device, computer equipment and a storage medium. The method comprises the following steps: according to the perception information of the first road side equipment, vehicle information of a vehicle to be parked is obtained at an entrance of a parking lot, a binding relation between a road side equipment system and the vehicle to be parked is established based on the vehicle information of the vehicle to be parked and vehicle-end communication information, then an idle parking space in the parking lot and an adjacent parking space of the idle parking space are determined according to the perception information of the second road side equipment, an initial parking size of the idle parking space is determined according to a parking state of the adjacent parking space, a target parking space is determined 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 the target parking space is output based on the binding relation 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 stall recommendation method, device, computer equipment and storage medium

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to a method and apparatus for recommending a parking space, a computer device, and a storage medium.

Background

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

In order to improve the parking efficiency of users, more and more parking lots are equipped with parking navigation service systems so as to recommend proper parking spaces for vehicles to be parked and further guide the vehicles to be parked to the parking spaces rapidly. In the prior art, the vehicle size of a vehicle to be parked is compared with the parking space size of an idle parking space to determine a target parking space suitable for the vehicle to be parked.

However, in practical application, the parking situation of the parking space around the idle parking space can influence the parking space of the idle parking space, and the situation that the parking space actually cannot be parked into the parking space due to the influence of the parking situation of the surrounding parking space exists in the parking space recommended for the vehicle to be parked by adopting the traditional technology, so that the recommending accuracy is reduced.

Disclosure of Invention

Based on the foregoing, it is necessary to provide a parking space recommending method, a device, a computer device and a storage medium for solving the above technical problems.

A parking space recommending method comprises the following steps:

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

Based on vehicle information and vehicle-end communication information of a vehicle to be parked, establishing a binding relation between a road side equipment system and 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 relation is used for determining the identity of the vehicle to be parked by the road side equipment system;

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

determining the initial parking size of the idle parking spaces according to the parking states of the adjacent parking spaces;

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

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

In one embodiment, the method further comprises:

if the to-be-parked vehicle selects the target parking space for parking, the target parking space is locked into a to-be-parked state; wherein the waiting state is a parking state which can not be selected;

Determining the real-time state of the adjacent parking spaces of the target parking space according to the perception information of the second road side equipment;

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

and outputting the real-time parking size based on the binding relation between the vehicle to be parked and the road side equipment system.

In one embodiment, the method further comprises:

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

determining a new target parking space based on the current parking size of each idle parking space; 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 sizes of the idle 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 a 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 a new target parking space from the candidate parking spaces according to the positions of the candidate parking spaces, the real-time positions of the vehicles to be parked and the real-time positions of other vehicles in the parking lot.

In one embodiment, the method further comprises:

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;

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

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

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

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 a parking lot;

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

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

A parking spot recommendation device, comprising:

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

the association binding module is used for establishing a binding relation between the road side equipment 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 relation is used for determining the identity of the vehicle to be parked by the road side equipment system;

the parking space determining module is used for determining an idle parking space in the parking lot and adjacent parking spaces of the idle parking space according to the perception information of the second road side equipment; the second road side equipment is arranged at a preset position in the parking lot;

the size determining module is used for determining the initial parking size of the idle parking spaces according to the parking states of the adjacent parking spaces;

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

And the parking space output module is used for outputting a target parking space based on the binding relation between the vehicle to be parked and the roadside equipment system.

A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:

A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

According to the parking space recommending method, the device, the computer equipment and the storage medium, vehicle information of a vehicle to be parked is acquired at an entrance of a parking lot according to sensing information of first road side equipment, a binding relation between a road side equipment system and the vehicle to be parked is established based on the vehicle information of the vehicle to be parked and vehicle end communication information, then an idle parking space in the parking lot and an adjacent parking space of the idle parking space are determined according to sensing information of second road side equipment, an initial parking size of the idle parking space is determined according to a parking state of the adjacent parking space, a target parking space is determined 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 the target parking space is output based on the binding relation between the vehicle to be parked and the road side equipment system. Because the initial parking size of the target parking space is matched with the to-be-parked vehicle, the target parking space determined by the method is suitable for the to-be-parked vehicle to park, the occurrence probability of the situation that the to-be-parked vehicle cannot actually park into 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 further improved.

Drawings

FIG. 1 is an application environment diagram of a parking spot recommendation method in one embodiment;

FIG. 2 is a flow chart of a parking space recommending method in an embodiment;

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

FIG. 4 is a flow chart of determining a real-time parking dimension of a target vehicle in one embodiment;

FIG. 5 is a schematic flow chart of determining a new target parking space in one embodiment;

FIG. 6 is a schematic flow chart of determining a new target parking space in another embodiment;

FIG. 7 is a flow chart of outputting a real-time parking route in one embodiment;

FIG. 8 is a flow chart of a method for obtaining a real-time parking route in one embodiment;

FIG. 9 is a flow chart of outputting a real-time parking route according to another embodiment;

FIG. 10 is a block diagram of a parking space recommending apparatus according to an embodiment;

FIG. 11 is an internal block diagram 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 will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The parking space recommending method provided by the application can be applied to an application environment shown in fig. 1. The road side equipment system comprises a first road side equipment 101, a second road side equipment 102 and a processing platform 103, wherein the first road side equipment 101 is road side equipment at the entrance of a parking lot, and the second road side equipment 102 is road side equipment deployed at a preset position in the parking lot. The first roadside device 101 and the second roadside device 102 communicate with the processing platform 103 via a network, respectively. The processing platform 103 obtains vehicle information of the vehicle to be parked at the entrance of the parking lot according to the perceived information of the first road side equipment 101, and establishes a binding relation between the road side equipment system and the vehicle to be parked based on the vehicle end communication information obtained by the communication between the first road side equipment 101 and the vehicle to be parked, and further according to the vehicle information and the vehicle end communication information of the vehicle to be parked corresponding to the content, so that the road side equipment system can determine the identity of the vehicle to be parked. The processing platform 103 pre-stores a map of the parking lot, a position of a road area, and parking space information of each parking space, such as position, size, suitable parking type, pose and other at least one parameter information, 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 road side device 102, so as to determine an initial parking size of the idle parking space according to the parking state of the adjacent vehicle, determine a target parking space matched with the vehicle 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 relation between the vehicle to be parked and the road side device system. The processing platform is a computer device with data processing capability.

In one embodiment, as shown in fig. 2, a parking space recommending method is provided, and the method is applied to the processing platform in fig. 1 for illustration, and includes the following steps:

s210, acquiring vehicle information of a vehicle to be parked at an entrance of a parking lot according to the perception information of the first road side equipment.

The first road side equipment is road side equipment at the 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 collected by the first road side device through an image sensor, or may be point cloud data collected by a laser radar. The vehicle information is attribute information of the vehicle itself, and may be information such as position, type, size, pose, etc.

Optionally, the processing platform may perform target detection on the sensing information collected by the first road side device to obtain vehicle information of the vehicle to be parked. Optionally, the first road side device may collect image data by using an image sensor and collect point cloud data by using a laser radar, and the processing platform fuses the collected 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 detect targets of the image data and the point cloud data, and further determine vehicle information of the vehicle to be parked according to the corresponding image detection result and the point cloud detection result. For example, the vehicle information of the vehicle to be parked is determined according to the detection result with high confidence in the image detection result and the point cloud detection result of the vehicle to be parked.

S220, based on the vehicle information and the vehicle-end communication information of the vehicle to be parked, a binding relation between the road side equipment system and the vehicle to be parked is established.

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

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

S230, determining an idle parking space in the parking lot and adjacent parking spaces of the idle parking space according to the perception information of the second road side equipment.

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

S240, determining the initial parking size of the idle parking space according to the parking states of the adjacent parking spaces.

The parking states of the adjacent parking spaces are used for reflecting whether the adjacent parking spaces are occupied or not, and the sizes of vehicles occupying the adjacent parking spaces under the condition that the adjacent parking spaces are occupied.

Optionally, the second road side device performs sensing data acquisition on the whole parking area through an image sensor or a laser radar, the processing platform can perform target detection on image data or point cloud data acquired by the second road side device, or perform target detection by adopting fusion data of the image data and the point cloud data, or determine positions of all vehicles in the parking lot by adopting a mode of respectively performing image detection results and point cloud detection results obtained by performing target detection according to the image data and the point cloud data, so as to match positions of all vehicles in the parking lot with positions of parking places in the parking lot, to determine a parking state of each parking place, to determine an idle parking place in the parking lot, and simultaneously determine adjacent parking places of each idle parking place, wherein a focus is to determine a parking state of each adjacent parking place, and to determine an initial parking size of the idle parking place according to the parking state of each adjacent parking place.

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

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

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

The processing platform determines that adjacent parking spaces F8-F10 on two sides of an idle parking space F4 are occupied on two sides of the idle parking space F4 in the x-axis direction, then the minimum distance l between the point cloud coordinates of the parked vehicle on the adjacent parking space F9 and the point cloud coordinates of the parked vehicle on the adjacent parking space F10 is obtained and is used as the initial parking size of the idle parking space F4 in the x-axis direction, while one side of the adjacent parking space F8 in the x-axis direction is occupied, and the other side of the adjacent parking space is not used as the parking space, then the minimum distance p between the point cloud coordinates of the parked vehicle on one side of the adjacent parking space F8 and the parking space boundary z farthest from the adjacent parking space F8 on one side of the idle parking space F4 is obtained and is used as the initial parking size of the idle parking space F4 in the y-axis direction of the adjacent parking space F8, and the initial parking size of the idle parking space F4 is l.

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

The initial parking size of the target parking space is matched with vehicle information of a vehicle to be parked. The vehicle information of the vehicle to be parked includes the vehicle size. The target parking space is the idle 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 of the free parking spaces, determine a free parking space satisfying the vehicle size, for example, a free parking space having an initial parking size greater than the vehicle size, and determine the free parking space as the target parking space of the vehicle to be parked. And further calculating the distance between the current position of the to-be-parked vehicle and the position of each idle parking space meeting the vehicle size, and determining the idle parking space with the minimum distance from the distance to be the target parking space.

Optionally, when determining a plurality of target parking spaces, the processing platform may further determine one target parking space based on other screening conditions. The screening conditions may include distance from the vehicle to be parked, approaching the exit, side parking space, non-adjacent pillars, etc.

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

Optionally, the processing platform sends the position of the target parking space to a display device, the position of the target parking space and/or a parking space identifier, such as a parking space number, are displayed on a parking lot map through the display device, and attribute information corresponding to a vehicle to be parked is marked on the display position of the target parking space based on the binding relationship, so that the user can check the attribute information. The display device can be an independent display device, and can be integrated with a display screen, and the first road side equipment and/or the second road side equipment have a display function.

In this embodiment, a processing platform in a roadside device system obtains vehicle information of a vehicle to be parked at an entrance of a parking lot according to perception 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, further determines an idle parking space in the parking lot and an adjacent parking space of the idle parking space according to perception information of a second roadside device, determines an initial parking size of the idle parking space according to a parking state of the adjacent parking space, determines 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 outputs the target parking space based on the binding relationship between the vehicle to be parked and the roadside device system. Because the initial parking size of the target parking space is matched with the to-be-parked vehicle, the target parking space determined by the method is suitable for the to-be-parked vehicle to park, the occurrence probability of the situation that the to-be-parked vehicle cannot actually park into 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 further improved.

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

S410, if the to-be-parked vehicle selects the target parking space for parking, the target parking space is locked into the to-be-parked state.

Wherein the waiting state is a parking state which can not be selected. The processing platform can not select the target parking space when determining the target parking space for other vehicles to be parked so as to avoid repetition.

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, so that the target parking space is locked into a state to be parked.

S420, determining the real-time state of the adjacent parking spaces of the target parking space according to the perception information of the second road side equipment.

Specifically, after the processing platform locks the target parking space into a to-be-stopped state, the processing platform continues to determine the real-time state of the adjacent parking spaces of the target parking space according to the perception information of the second road side equipment. The real-time state of the adjacent parking space is the real-time parking state of the adjacent parking space, and the specific determining process is the same as the process of determining the parking state of the adjacent parking space, and is not repeated here.

S430, calculating the real-time parking size of the target parking space based on the real-time state of the adjacent parking spaces 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 initial parking size of the target parking space is determined based on the real-time state of the adjacent parking spaces of the target parking space.

S440, outputting the real-time parking size based on the binding relation between the vehicle to be parked and the road side equipment 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 relation between the vehicle to be parked and the roadside equipment system so as to update the initial parking size of the corresponding target parking space.

In this embodiment, after a target parking space is selected for a vehicle to be parked, the processing platform locks the target parking space into a non-selectable parking waiting state, determines a real-time state of an adjacent parking space of the target parking space according to sensing information of the second road side device, calculates a 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 further outputs the real-time parking size based on a binding relationship between the vehicle to be parked and the road side device system. The method is used for monitoring the parking size of the target parking space in real time, finding out the change of the parking size in time, and being convenient for determining a new target parking space in time when the parking size is not suitable for parking of the vehicle to be parked, and improving 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:

s510, if the real-time parking size of the target parking space does not meet the parking requirement of the vehicle to be parked, acquiring the current parking size of each idle parking space of the parking lot.

The parking requirement of the vehicle to be parked is the vehicle size of the vehicle to be parked. Such as 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 idle parking space.

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 a 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 determines that a new target parking space is not required to be determined. If the real-time parking size of the target parking space does not meet the vehicle size of the vehicle to be parked, if the real-time length of the target parking space is not greater than the vehicle length of the vehicle to be parked and/or the real-time width of the target parking space is not 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 does not meet the parking requirement of the vehicle to be parked, and determines that a new target parking space needs to be determined. The method specifically comprises the steps of obtaining the current parking size of each idle parking space of a parking lot, and further determining that the idle parking space with the current parking size meeting the parking requirement of a vehicle to be parked is a new target parking space based on the current parking size of each idle parking space.

After determining the new target parking space, the processing platform can further execute the step of obtaining the real-time parking size of the new target parking space, comparing the real-time parking size of the new target parking space with the vehicle size of the vehicle to be parked, and re-determining the target parking space until the parking space is not free at the current moment of the parking lot under the condition that the real-time parking size of the new target parking space does not accord with the vehicle size of the vehicle to be parked.

In this embodiment, the processing platform obtains the current parking size of each idle 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 with the current parking size meeting the parking requirement of the vehicle to be parked based on the current parking size of each idle parking space. The method is suitable for the real-time parking size change of the target parking space, so that the target parking space meeting the vehicle requirements of the vehicle to be parked is provided for the user, and the success rate of parking is improved.

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

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

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 idle parking space, and compares the current parking size of each idle parking space with the vehicle size of the vehicle to be parked, so as to determine an idle parking space with the current parking size conforming to the vehicle size of the vehicle to be parked from the idle parking spaces, and the idle parking space is used as a candidate parking space.

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 perception information of the second road side equipment.

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

S630, determining a new target parking space from the candidate parking spaces according to the positions of the candidate parking spaces, the real-time positions of the vehicles 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 perceived information of the second road side device, and further determines a new target parking place from the candidate parking places according to the positions of the candidate parking places, the real-time positions 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 positions of the candidate parking spaces and the real-time positions of the vehicles to be parked, the 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 a high-precision map of the parking lot, match the real-time positions of each other vehicle with the parking route, and determine that the candidate parking space with no other vehicle or the minimum other vehicle on the corresponding parking route is the new target parking space.

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

Optionally, the processing platform may perform vehicle identification on the perceived data of the first road side device to obtain first vehicle information of each vehicle, perform vehicle identification on the perceived 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 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, in the free parking spaces, a candidate parking space with a current parking size according to the parking requirements of the vehicle to be parked according to the current parking size of each free parking space, and obtains the real-time position of the vehicle to be parked and the real-time positions of other vehicles in the parking space according to the sensing information of the second road side device, and further determines a new target parking space from the candidate parking spaces according to the positions of each candidate parking space, the real-time positions of the vehicle to be parked and the real-time positions of other vehicles in the parking space, and the determined new target parking space not only meets the parking requirements of the vehicle to be parked, but also considers whether other vehicles exist on the 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, as shown in fig. 7, and the method further includes:

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 a candidate parking space closest to the vehicle to be parked according to the position of each candidate parking space and the real-time position of the vehicle to be parked, further form a candidate parking route from the vehicle to be parked to the candidate parking space on a 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 minimum other vehicle is the real-time parking route from the vehicle to be parked to the new target parking space.

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

Optionally, the processing platform sends the real-time parking routes to a display device, the 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 a high-precision map of the parking lot, and the attribute information of the corresponding vehicle to be parked is marked on each real-time parking route based on the binding relation so as to be convenient for a user to check. The display device can be an independent display device, and can be integrated with a display screen, and the first road side equipment and/or the second road side equipment have 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 changed, as shown in fig. 8, and the step S710 includes:

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 a real-time position of a vehicle to be parked to a position of a target parking space on a parking lot high-precision map. Alternatively, the initial parking route may be a parking route with the shortest straight distance from the vehicle to be parked to the target parking space, or may be a parking route with the shortest driving distance, or may be a parking route with the smallest number of other vehicles on the route.

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 initial parking route to the minimum number of other vehicles on the route, thereby obtaining the real-time parking route of the corresponding vehicle to be parked.

In this embodiment, the processing platform generates 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, 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, dynamically adjust the initial parking route according to the real-time positions of the other vehicles, and 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 equipment system. According to the method, real-time dynamic adjustment of the parking route is realized based on the real-time positions of the vehicles to be parked and other vehicles, so that the driving safety and the parking efficiency are improved.

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

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

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

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, and simultaneously displays real-time positions of other vehicles in the parking lot on the high-precision map, so that the high-precision map which contains the real-time parking route of the vehicle to be parked and the real-time positions of other vehicles after projection is output.

Alternatively, the processing platform may send the high-precision map to a display device, and the display device outputs and displays the high-precision map. The identity of the vehicle to be parked can be determined based on the binding relation, so that 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 corresponding to the 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 map or a two-dimensional 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 other vehicles to the high-precision map of the parking lot, and outputs the high-precision map including the real-time parking route of the vehicle to be parked and the real-time positions of other vehicles after projection, so that the 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 steps in the flowcharts in fig. 2-9 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2-9 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the steps or stages in other steps or other steps.

In one embodiment, as shown in fig. 10, there is provided a parking space recommending apparatus, 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 perceived information of a first road side device; the first road side equipment is road side equipment at the entrance of the parking lot;

the association binding module 1002 is configured to establish 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 content contained in the vehicle information; the binding relation is used for determining the identity of the vehicle to be parked by the road side equipment system;

the parking space determining module 1003 is configured to determine an idle parking space in the parking lot and an adjacent parking space of the idle parking space according to the perceived information of the second roadside device; the second road side equipment is arranged at a preset position in the parking lot;

the size determining module 1004 is configured to determine an initial parking size of the idle parking space according to a parking state of the adjacent parking spaces;

The target determining module 1005 is configured to determine a target parking space from the free parking spaces based on vehicle information of the vehicle to be parked and an initial parking size of the free parking space; the initial parking size of the target parking space is matched with vehicle information of a 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 space output module 1006 is further configured to:

if the to-be-parked vehicle selects the target parking space for parking, the target parking space is locked into a to-be-parked state; wherein the waiting state is a parking state which can not be selected; determining the real-time state of the adjacent parking spaces of the target parking space according to the perception information of the second road side equipment; calculating the real-time parking size of the target parking space based on the real-time state of the adjacent parking spaces of the target parking space; and outputting the real-time parking size based on the binding relation between the vehicle to be parked and the road side equipment system.

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

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

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

determining candidate parking spaces in the idle parking spaces according to the current parking sizes of the idle 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 a 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 a new target parking space from the candidate parking spaces according to the positions of the candidate parking spaces, the real-time positions of the vehicles 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; based on the binding relation between the to-be-parked vehicle and the roadside equipment system, outputting the real-time parking route while outputting the target parking space.

In one embodiment, the parking space 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 a real-time parking route.

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

For specific limitation of the parking space recommending device, reference may be made to the limitation of the parking space recommending method hereinabove, and the description thereof will not be repeated here. All or part of the modules in the parking space recommending device can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof 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 includes a non-volatile 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 the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program, when executed by the processor, implements a method for recommending a parking space. 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, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in fig. 11 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application applies, and that a particular computer device may include more or fewer components than shown, or may combine some of the 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 stored therein a computer program, the processor when executing the computer program performing the steps of:

acquiring vehicle information of a vehicle to be parked at an entrance of a parking lot according to the perception information of the first road side equipment; the first road side equipment is road side equipment at the entrance of the parking lot; based on vehicle information and vehicle-end communication information of a vehicle to be parked, establishing a binding relation between a road side equipment system and 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 relation is used for determining the identity of the vehicle to be parked by the road side equipment system; determining an idle parking space in the parking lot and adjacent parking spaces of the idle parking space according to the perception information of the second road side equipment; the second road side equipment is arranged at a preset position in the parking lot; determining the initial parking size of the idle parking spaces according to the parking states of the adjacent parking spaces; determining a target parking space from the idle parking spaces based on vehicle information of the to-be-parked vehicles and the initial parking size of the idle parking spaces; the initial parking size of the target parking space is matched with vehicle information of a vehicle to be parked; and outputting the target parking space based on the binding relation between the vehicle to be parked and the roadside equipment 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:

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

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

based on the vehicle information and the vehicle-end communication information of the vehicle to be parked, establishing a binding relation between a road side equipment system and 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 relation is used for determining the identity of the vehicle to be parked by the road side equipment system;

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

outputting the target parking space based on the binding relation between the vehicle to be parked and the roadside equipment system;

if the to-be-parked vehicle selects the target parking space to park, locking the target parking space into a to-be-parked state; wherein the to-be-parked state is a non-selectable parked state; determining the real-time state of the adjacent parking spaces of the target parking space according to the perception information of the second road side equipment; calculating the real-time parking size of the target parking space based on the real-time state of the adjacent parking spaces of the target parking space; and outputting the real-time parking size based on the binding relation between the vehicle to be parked and the road side equipment system.

2. The method according to claim 1, wherein the method further comprises:

3. The method of claim 2, wherein determining a new target parking space based on the current parking size of each free parking space comprises:

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 positions of the vehicles to be parked and the real-time positions of other vehicles in the parking lot.

4. A method according to claim 3, characterized in that the method further comprises:

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

5. The method of claim 4, wherein the generating a real-time parking route from the real-time location of the vehicle to be parked, the real-time locations of other vehicles in the parking lot, based on the location of the target parking space, 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.

6. The method of claim 4, 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;

7. The method of claim 4, wherein outputting the real-time parking route of the vehicle to be parked based on the binding relationship comprises:

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

8. A parking spot recommendation device, the device comprising:

the association binding module is used for establishing a binding relation between a road side equipment system and the vehicle to be parked based on the vehicle information of the vehicle to be parked and the vehicle-end communication information; 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 relation is used for determining the identity of the vehicle to be parked by the road side equipment system;

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 spaces;

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

the parking space output module is used for outputting the target parking space based on the binding relation between the to-be-parked vehicle and the roadside equipment system; the parking system is also used for locking the target parking space into a to-be-parked state if the to-be-parked vehicle selects the target parking space to park; wherein the to-be-parked state is a non-selectable parked state; determining the real-time state of the adjacent parking spaces of the target parking space according to the perception information of the second road side equipment; calculating the real-time parking size of the target parking space based on the real-time state of the adjacent parking spaces of the target parking space; and outputting the real-time parking size based on the binding relation between the vehicle to be parked and the road side equipment system.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.