CN114333395A - Parking method and system based on label system - Google Patents
Parking method and system based on label system Download PDFInfo
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- CN114333395A CN114333395A CN202011069222.0A CN202011069222A CN114333395A CN 114333395 A CN114333395 A CN 114333395A CN 202011069222 A CN202011069222 A CN 202011069222A CN 114333395 A CN114333395 A CN 114333395A
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Abstract
The invention provides a parking method based on a label system, which comprises the following steps: the server acquires various label information; generating road network topology information of the parking lot according to the various label information; determining the vehicle type according to the vehicle ID; when the vehicle is a first type vehicle, sending a first response message to the first type vehicle; the first type of vehicle carries out path planning according to the parking space number and the network topology information of the parking lot, generates a first global path and parks in the parking space according to the first global path; when the vehicle is a second type vehicle, generating a second global path according to the area label, the target parking space number and the road network topology information, and sending the position of the target parking space number in the second global path and the second global path to the second type vehicle; the second type of vehicle is hereby parked. Therefore, unmanned vehicles and manned vehicles can be served simultaneously, and the traffic efficiency of all vehicles in the parking lot is improved.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a parking method and system based on a label system.
Background
In recent years, the holding amount of automobiles in various cities is continuously increased, but the number and the management level of parking lots are not correspondingly increased, so that the problem of difficult parking is increasingly highlighted. In order to save the Parking time, various automatic Parking systems (AVP) have come into use. The automatic parking scheme in the market needs large-scale transformation of a vehicle end or a field end, is high in cost, only serves unmanned vehicles, and is difficult to popularize on a large scale in a short time. Therefore, a low-cost and light-weight modification scheme is urgently needed.
Currently, parking lot identification system schemes are roughly divided into two categories:
the first is the existing general parking lot identification system which only serves the manned vehicle and comprises a driving direction identification, a parking lot partition mark, a parking space number mark and the like;
the second is a parking lot identification system that serves unmanned vehicles. The method comprises the steps of transforming a parking lot, arranging a large number of laser radars, cameras or UWB and other devices, positioning the unmanned vehicle, and providing parking lot routes and parking space information.
Neither of the above two parking lot identification schemes solves the aforementioned problems well.
The first solution is the existing parking lot universal identification solution. Even if the parking lot label is striking again, be limited by driver's field of vision, driver can only obtain the partial information in parking lot. The driver does not know the nearest parking spot to the vehicle or the least parking spot when parking. The parking space can only be searched by blind roaming. This is the case for every vehicle driven by a person, which can result in inefficient traffic in the entire parking lot. And the unmanned vehicle parks in the parking lot, a high-precision map needs to be established, and the maintenance cost is high.
The second field end modification scheme has higher cost and larger volume production resistance, and when the field end changes or the traffic flow is denser, more sensors are required to be added to ensure safety. Meanwhile, the field terminal is only used for unmanned vehicles, and the manned vehicles cannot obtain effective information from the unmanned vehicles. Under the condition that the number of the vehicles driven by people is large, the problem of low traffic efficiency of the parking lot is difficult to solve.
Disclosure of Invention
The embodiment of the invention aims to provide a parking method and system based on a label system, so as to solve the problem of low traffic efficiency of a parking lot in the prior art.
In order to solve the above problem, in a first aspect, the present invention provides a parking method based on a tag system, the method including:
the server acquires various label information; the label information comprises an area label, a tracking label, a road section label, an intersection label, a speed limit label, a parking space label and a cylindrical surface label;
the server generates road network topology information of the parking lot according to the various label information;
the server receives a first request message sent by a vehicle, wherein the first request message comprises an area tag and a vehicle ID;
the server determines the type of the vehicle according to the vehicle ID; the vehicle types include a first type vehicle and a second type vehicle;
when the vehicle is a first type vehicle, the server sends a first response message to the first type vehicle; the first response message comprises a target parking space number and road network topology information of a parking lot corresponding to the area label;
the first type of vehicle carries out path planning according to the parking space number and the network topology information of the parking lot to generate a first global path, and parks in the parking space according to the first global path;
when the vehicle is a second type vehicle, the server generates a second global path according to the area label, the target parking space number and the road network topology information, and sends the position of the target parking space number in the second global path and the second global path to the second type vehicle;
and parking the second type of vehicle in the position according to the position of the second target parking space number in the second global path and the second global path.
In a possible implementation manner, the path planning performed by the first type of vehicle according to the parking space number and the network topology information of the parking lot to generate a first global path, and parking in the parking space according to the first global path specifically includes:
the first type of vehicle generates a first global path according to the number of the target parking space and the road network topology information of the parking lot;
the first type of vehicle respectively generates speed information of road sections and road points, direction and position information of the road sections and road points and direction and position information of turnout road points according to the first global path and the speed limit label, the tracing label and the intersection label;
and the first type of vehicle runs according to the speed information of the road section and the road point, the direction and the position information of the road section and the road point and the direction and the position information of the turnout road point, and parks in the parking space when the number of the target parking space is detected.
In one possible implementation, the method further includes, after the step of:
when the target parking space is not available, the first type of vehicle generates a message for prompting parking failure;
and the server re-issues the target parking space according to the message for prompting the parking failure.
In a possible implementation manner, the second global path includes a section tag, an intersection tag, and a cylindrical tag, and the parking of the second type vehicle in the second global path according to the position of the second target slot number in the second global path and the second global path specifically includes:
the second type vehicle compares the currently acquired road section label, intersection label and cylindrical surface label with the road section label, intersection label and cylindrical surface label in the second global path;
when the currently acquired road section label, intersection label and cylindrical surface label are the same as those in the second global path, the second type vehicle sends the currently acquired road section label, intersection label and cylindrical surface label to the server;
the second type vehicle sends the current speed information to a server;
the server calculates the real-time position of the second type of vehicle according to the current speed information, the current road section label, the intersection label and the cylindrical surface label;
the server calculates a first distance between the real-time position of the second type of vehicle and the position of the target parking space number in the second global path;
and when the first distance is not greater than a preset first distance threshold, the server generates a first prompt message for prompting that the parking space is approached and displays the first prompt message.
In one possible implementation, the method further includes, after the step of:
the second type vehicle starts to detect the parking space label according to the first prompt message;
when the second type vehicle detects a target parking space label, generating a second prompt message for prompting parking in a position;
when the target parking space is available, parking in the space;
and when the target parking space is unavailable, the second type vehicle sends a third prompt message that the target parking space is unavailable to the server.
In a possible implementation manner, the parking stall label comprises a parking stall reinforcing label arranged at two corners of the parking stall and a parking stall numbering label arranged at the center of the parking stall line.
In one possible implementation, the second type of vehicle includes an input device; the input device is a vehicle-mounted touch display screen.
In one possible implementation, the second type of vehicle is associated with a terminal; the method further comprises the following steps:
the server also receives a second request message sent by the terminal; the second request message includes a terminal ID and a zone tag, the terminal ID being associated with an ID of a second type of vehicle;
the server sends the network topology information of the parking lot and the position information of the area label to the terminal according to the second request message;
the server receives a target parking space sent by the terminal;
the server generates a third global path according to the target parking space;
and the server sends the third global path to the terminal.
In a second aspect, the invention provides a parking system based on a label system, wherein the parking system comprises the server, the first type vehicle and/or the second type vehicle and the terminal in any item of the first aspect.
The parking method based on the label system provided by the invention is perfectly integrated with the existing identification system, is not obtrusive, can simultaneously serve unmanned vehicles and manned vehicles, adopts the label system for positioning, avoids high-cost field side modification cost or high-precision map acquisition cost, and improves the traffic efficiency of all vehicles in a parking lot.
Drawings
Fig. 1 is a schematic flow chart of a parking method based on a tag system according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating various tag information in a tag system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a first global path according to a first embodiment of the present invention;
fig. 4 is a schematic diagram of planning a first global path according to a first embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be further noted that, for the convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a schematic flow chart of a parking method based on a tag system according to an embodiment of the present invention, where the parking method is applied to a manned vehicle and an unmanned vehicle. As shown in fig. 1, the present application includes the steps of:
Specifically, the label system includes the following types of labels: the system comprises an area label, a tracking label, a road section label, an intersection label, a speed limit label, a parking space label and a column surface label.
Each tag functions as follows:
(1) and an area tag indicating the number of the current parking lot. First, the zone label is placed on the starting ground and the hang tag of the unmanned vehicle where the AVP function is activated, as in S1 in fig. 2. In another example, the area tag has another expression, namely, a two-dimensional code, namely, not only S1, but also the two-dimensional code.
(2) The tracking tag is placed at a central position along the turnout road section, see the triangle-like symbols in fig. 2. The unmanned vehicle recognizes the tag through the camera and is used for correcting the current driving direction. The driver of the vehicle with the driver can know the traveling direction of the road section to avoid the reverse traveling through the label.
(3) And road section labels arranged at the head and tail parts of each road section, see S101 and S102 in FIG. 2. The unmanned vehicle recognizes the label through the camera, so that the position of the vehicle in the parking lot can be corrected, and the global path can be updated. The driver of the vehicle with the driver can know the name of the road section through the label.
(4) And the tracking label is arranged at the central position along the turnout-free road section.
(5) And the intersection label is used for guiding the unmanned vehicle to select the steering direction and is arranged at each road branch of the intersection. See B, C, D, E in fig. 2.
(5) And the speed limit labels are arranged at the head and tail parts of each road section and near the road section labels. And the unmanned vehicle acquires the speed limit information of the road section after detecting the label through the camera. The driver of the vehicle driven by someone can also make clear the speed limit information of the road section by reading the number. See 10 in the circle in fig. 2, indicating a maximum speed of 10 km/h.
(6) The parking stall label contains two parts. And the other part is a parking space enhancement label which is arranged at two corners of a parking space line close to a driving road, and is referred to as a capital letter A in fig. 2, so that the parking space detection of a camera of the unmanned vehicle is facilitated, and the relative position information of the parking space is determined, so that the parking path planning of the unmanned vehicle is realized. The other part is a parking space number tag which is arranged at the center of a parking space line of a parking space close to a driving road, see P123 in FIG. 2, and is used for determining the parking space number by drivers of unmanned vehicles and manned vehicles.
(7) The cylinder label sets up four sides at the parking area support column. Configuring a parking lot partition label on the surface of the vertical traffic lane; the link label is disposed on a plane parallel to the traffic lane. Different two-dimensional codes are arranged at the lower left corners of different cylindrical surface labels, so that the mobile phone can conveniently scan and access the cloud server to acquire the global information of the parking lot and the position information of the cylindrical surfaces in the parking lot.
The server can be a cloud server, the label has fluorescence, and the fluorescence of the label reduces the dependency on ambient light when the label is visually identified.
It will be appreciated that all tag types may also be simple patterns, alphanumeric combinations, etc.; the label may also be applied to places other than the floor, a cylinder, such as a wall or ceiling, etc.
And 102, generating road network topology information of the parking lot by the server according to the various label information.
Specifically, the server may generate road network topology information of the parking lot based on various tag information, where the road network topology information includes various tags and corresponds to a tag map of the parking lot.
The first type of vehicle is an unmanned vehicle, and the second type of vehicle is a manned vehicle.
When the unmanned vehicle travels to a specified parking area near the parking lot, the AVP function is started, the area tag is detected by the camera, and then a first request message including the area tag and the vehicle ID is generated.
The execution body of the first type vehicle is a processor of the first type vehicle, is equivalent to an unmanned brain, and executes calculation such as path planning and the like.
Manned vehicles include two types: the first type comprises a look-around system, a car networking system, a processing device and a central control screen, wherein the look-around system is used for detecting label information, the car networking system is used for communicating with a server or a terminal and the like, and the processing device can perform subsequent label ratio peer-to-peer work. The central control screen is an input device, can be a vehicle-mounted touch screen and is used for man-machine interaction.
When a human-driven vehicle parks in a designated parking area near the parking lot, the second type of vehicle activates the look-around system to detect the area tag, as shown in fig. 2. After detecting the area tag, the vehicle networking system of the vehicle sends a first request message including the area tag and the vehicle ID to the server.
The second type is different from the first type, and does not have a look-around system, an internet of vehicles system and a central control screen, and may have a terminal associated with a second type of vehicle, for example, a mobile phone is installed with an Application (APP) associated with the second type of vehicle, that is, a terminal ID may be associated with a vehicle ID, and then an area tag of a two-dimensional code type is scanned through a camera of the mobile phone, so that a first request message including the area tag and the vehicle ID is sent to a server.
Wherein, for different types of vehicles, the first type of vehicle and the second type of vehicle can be distinguished through the mark position or the license plate number. After analyzing the mark position or the license plate number, the server determines the vehicle as a first type of vehicle or a second type of vehicle according to a preset mark position table or license plate type table.
Specifically, when the server judges that the vehicle type is the unmanned vehicle, the target parking space number and the road network topology information of the parking lot are sent to the unmanned vehicle.
And 106, planning a path of the first type of vehicle according to the parking space number and the network topology information of the parking lot to generate a first global path, and parking the vehicle according to the first global path.
Specifically, first, the first type of vehicle generates a first global path according to the number of the target parking space and the road network topology information of the parking lot.
The road network topology information comprises a plurality of parking spaces, the positions of the target parking spaces in the road network topology information are determined according to the numbers of the target parking spaces, then the unmanned vehicle automatically carries out path planning, the generated first path is S101- > S201- > B- > E- > S105- > S106- > D- > C- > S107, and the global path is expressed in the form of intersection label road section labels.
And then, according to the first global path, respectively generating speed information of the road section and road point, direction and position information of the road section and road point, and direction and position information of the fork road point.
The speed information of the road section and the road point is generated by combining the speed limit label, and the direction and the position information of the road section and the road point are generated by combining the tracing label. And generating direction and position information of the road points at the fork according to the road tag. Referring to fig. 4, the unmanned vehicle travels according to a reference route of waypoint connection.
And finally, the first type of vehicle runs according to the speed information of the road section and the road point, the direction and the position information of the road section and the road point and the direction and the position information of the turnout road point, and parks in the target parking space when the number of the target parking space is detected.
Referring to fig. 3 and 4, when the vehicle travels to the last road segment, S107, the unmanned vehicle starts to detect a parking space tag through the camera and analyze the detected parking space tag, and when the number of the detected parking space tag includes the number of the target parking space, the unmanned vehicle calls a local path planning algorithm to perform local path planning, so as to generate a parking path. After confirming that the parking path of the vehicle is free of obstacles, a parking operation is performed.
And after the parking is successful, the vehicle end sends the information of successful parking to the cloud server. If the parking fails, the unmanned vehicle sends a message for prompting the parking failure to the cloud server, the cloud server receives the message for prompting the parking failure, a new target parking space is reallocated to the unmanned vehicle, and the unmanned vehicle continues to execute the operation of the step 106 until the unmanned vehicle is parked.
And step 107, when the vehicle is a second type vehicle, the server generates a second global path according to the area label, the target parking space number and the road network topology information, and sends the position of the target parking space number in the second global path and the second global path to the second type vehicle.
If the server determines that the vehicle type is a second type vehicle, the server performs path planning to generate a second global path, and sends the target parking space, such as the position of the S107-P123 in the second global path and the second global path, to the second type vehicle together.
The second type vehicle displays a second global path and a target parking space on the central control screen of the vehicle to prompt the driver, so that the driver drives the vehicle to run according to the second global path according to the prompt of the central control screen or the HUB.
And step 108, parking the second type of vehicle in the position in the second global path according to the position of the second target parking space number and the second global path.
Step 107 will be described with reference to a manned vehicle of the first type as an example.
First, the second type vehicle compares the currently acquired road section tag, intersection tag and cylindrical surface tag with the road section tag, intersection tag and cylindrical surface tag in the second global path. Then, when the currently acquired road section label, intersection label and cylindrical surface label are the same as the road section label, intersection label and cylindrical surface label in the second global path, the second type vehicle sends the currently acquired road section label, intersection label and cylindrical surface label to the server.
When the second type of vehicle runs according to the second global path, the look-around system can detect the tags, the processing equipment compares the tags, and if the currently detected tags are in the second global path, the detected tags are sent to the server through the Internet of vehicles system.
Then, the second type vehicle transmits the current vehicle speed information to the server.
The second type vehicle is also provided with a sensor, acquires vehicle speed information and sends the acquired vehicle speed information to the server through the Internet of vehicles system.
And then, the server calculates the real-time position of the second type of vehicle according to the current speed information, the current road section label, the intersection label and the cylindrical surface label.
The server then calculates a first distance between the real-time location of the second type of vehicle and the location of the target slot number in the second global path.
And then, when the first distance is not greater than a preset first distance threshold, the server generates a first prompt message for prompting that the parking space is approached and displays the first prompt message.
And when the second type of vehicle is determined to be close to the target parking space, the central control screen or the HUB displays a first prompt message.
And then, the second type of vehicle starts to detect the parking space tag according to the first prompt message.
And then, when the second type vehicle detects the target parking space tag, generating a second prompt message for prompting the parking space.
Then, when the target parking space is available, parking is performed.
And finally, when the target parking space is unavailable, the second type vehicle sends a third prompt message that the target parking space is unavailable to the server.
Wherein, when the road section S107 is driven, the central control screen or the HUB prompts that the parking space is approached. The look-around system of the second type vehicle begins to detect parking stall label and parking stall number, and when detecting the target parking stall, well accuse screen or HUB suggestion parking stall are nearby. The center control screen or the HUB finishes the navigation. And prompting the driver to park. If the driver finds that the target space S107-P123 is not available. And uploading the unavailable information of the target parking space to a cloud server through a central control screen or a mobile phone APP. The cloud server reallocates the available slots and re-executes step 108.
Further, a second type of vehicle is associated with the terminal; the method further comprises the following steps:
the server also receives a second request message sent by the terminal; the second request message includes a terminal ID and a zone tag, the terminal ID being associated with an ID of the second type of vehicle; according to the second request message, sending the network topology information of the parking lot and the position information of the area label to the terminal; receiving a target parking space sent by a terminal; generating a third global path according to the target parking space; and sending the third global path to the terminal.
Specifically, if a driver drives a vehicle without hardware such as a look-around system, the driver may scan the two-dimensional code of the area tag or the two-dimensional code of the cylindrical tag through a terminal, such as a mobile phone. After the mobile phone scans the two-dimensional code, a global map of the whole parking lot and the position of the two-dimensional code in the global map of the parking lot can be obtained. The unavailable parking spaces are displayed in red and the available parking spaces are displayed in green in the global map of the parking lot. The driver selects the green available parking space through the mobile phone interface. And the cloud server returns the recommended driving route and prompts a cylindrical surface label, an intersection label and a road section label through which the recommended driving route passes. Meanwhile, the cloud server can feed back the traffic jam condition on the traffic lane of the parking lot by using different colors. Darker colors represent more traffic congestion for the road segment.
The parking method based on the label system provided by the embodiment of the invention is perfectly integrated with the existing identification system, is not obtrusive, can simultaneously serve unmanned vehicles and manned vehicles, adopts the label system for positioning, avoids high cost field end modification cost or high precision map acquisition cost, and improves the traffic efficiency of all vehicles in a parking lot.
The second embodiment of the invention provides a system, which comprises the server, the first type vehicle and/or the second type vehicle and the terminal in the first embodiment.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A method for parking a vehicle based on a tag system, the method comprising:
the server acquires various label information; the label information comprises an area label, a tracking label, a road section label, an intersection label, a speed limit label, a parking space label and a cylindrical surface label;
the server generates road network topology information of the parking lot according to the various label information;
the server receives a first request message sent by a vehicle, wherein the first request message comprises an area tag and a vehicle ID;
the server determines the type of the vehicle according to the vehicle ID; the vehicle types include a first type vehicle and a second type vehicle;
when the vehicle is a first type vehicle, the server sends a first response message to the first type vehicle; the first response message comprises a target parking space number and road network topology information of a parking lot corresponding to the area label;
the first type of vehicle carries out path planning according to the parking space number and the network topology information of the parking lot to generate a first global path, and parks in the parking space according to the first global path;
when the vehicle is a second type vehicle, the server generates a second global path according to the area label, the target parking space number and the road network topology information, and sends the position of the target parking space number in the second global path and the second global path to the second type vehicle;
and parking the second type of vehicle in the position according to the position of the second target parking space number in the second global path and the second global path.
2. The method according to claim 1, wherein the path planning is performed on the first type of vehicle according to the parking space number and the network topology information of the parking lot, a first global path is generated, and parking in the parking space according to the first global path specifically comprises:
the first type of vehicle generates a first global path according to the number of the target parking space and the road network topology information of the parking lot;
the first type of vehicle respectively generates speed information of road sections and road points, direction and position information of the road sections and road points and direction and position information of turnout road points according to the first global path and the speed limit label, the tracing label and the intersection label;
and the first type of vehicle runs according to the speed information of the road section and the road point, the direction and the position information of the road section and the road point and the direction and the position information of the turnout road point, and parks in the parking space when the number of the target parking space is detected.
3. The method of claim 2, further comprising, after the method:
when the target parking space is not available, the first type of vehicle generates a message for prompting parking failure;
and the server re-issues the target parking space according to the message for prompting the parking failure.
4. The method of claim 1, wherein the second global path comprises a section tag, an intersection tag and a cylindrical tag, and the parking of the second type of vehicle into the vehicle according to the position of the second target slot number in the second global path and the second global path comprises:
the second type vehicle compares the currently acquired road section label, intersection label and cylindrical surface label with the road section label, intersection label and cylindrical surface label in the second global path;
when the currently acquired road section label, intersection label and cylindrical surface label are the same as those in the second global path, the second type vehicle sends the currently acquired road section label, intersection label and cylindrical surface label to the server;
the second type vehicle sends the current speed information to a server;
the server calculates the real-time position of the second type of vehicle according to the current speed information, the current road section label, the intersection label and the cylindrical surface label;
the server calculates a first distance between the real-time position of the second type of vehicle and the position of the target parking space number in the second global path;
and when the first distance is not greater than a preset first distance threshold, the server generates a first prompt message for prompting that the parking space is approached and displays the first prompt message.
5. The method of claim 4, further comprising, after the method:
the second type vehicle starts to detect the parking space label according to the first prompt message;
when the second type vehicle detects a target parking space label, generating a second prompt message for prompting parking in a position;
when the target parking space is available, parking in the space;
and when the target parking space is unavailable, the second type vehicle sends a third prompt message that the target parking space is unavailable to the server.
6. The method of claim 1, wherein the parking spot tags include a parking spot enhancement tag disposed at two corners of a parking spot and a parking spot number tag disposed at a center of a parking spot line.
7. The method of claim 1, wherein the second type of vehicle includes an input device; the input device is a vehicle-mounted touch display screen.
8. The method of claim 1, wherein the second type of vehicle is associated with a terminal; the method further comprises the following steps:
the server also receives a second request message sent by the terminal; the second request message includes a terminal ID and a zone tag, the terminal ID being associated with an ID of a second type of vehicle;
the server sends the network topology information of the parking lot and the position information of the area label to the terminal according to the second request message;
the server receives a target parking space sent by the terminal;
the server generates a third global path according to the target parking space;
and the server sends the third global path to the terminal.
9. A parking system based on a tag system, characterized in that the parking system comprises a server, a vehicle of the first type and/or a vehicle of the second type, a terminal according to any one of claims 1 to 8.
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| CN116758775A (en) * | 2023-04-13 | 2023-09-15 | 浙江小虎科技有限公司 | Parking space state judging method and system |
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