CN114333395B - Parking method and system based on label system - Google Patents
Parking method and system based on label system Download PDFInfo
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- CN114333395B CN114333395B CN202011069222.0A CN202011069222A CN114333395B CN 114333395 B CN114333395 B CN 114333395B CN 202011069222 A CN202011069222 A CN 202011069222A CN 114333395 B CN114333395 B CN 114333395B
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Abstract
The invention provides a parking method based on a tag 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 type of the vehicle according to the ID of the vehicle; when the vehicle is a first type vehicle, sending a first response message to the first type vehicle; the first type of vehicle performs path planning according to the parking space number and the network topology information of the parking lot, generates a first global path, and parks into 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 regional tag, 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 parked in the vehicle according to the parking space. Therefore, the unmanned vehicle and the manned vehicle can be simultaneously serviced, 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 amount of the vehicles in each city is continuously increased, but the number and the management level of the parking lots are not correspondingly improved, so that the problem of difficult parking is increasingly highlighted. To save parking time, various automatic parking systems (Automated Valet Parking, AVP) have been developed. The automatic parking scheme in the market needs large-scale reconstruction of a vehicle end or a field end, has high cost, is only used for serving unmanned vehicles, and is difficult to popularize in a large scale in a short period. There is therefore an urgent need for a low cost, lightweight retrofit solution.
At present, parking lot identification system schemes are roughly divided into two types:
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 identification, a parking lot number identification and the like;
the second is a parking lot identification system that serves unmanned vehicles. The parking lot is modified, a large number of laser radars, cameras or UWB equipment are arranged, unmanned vehicles are positioned, and parking lot route and parking space information are provided.
Both of the above-mentioned parking lot identification schemes do not solve the aforementioned problems well.
The first solution is the existing parking lot universal identification solution. Even if the parking lot label is conspicuous, the driver is limited in view of the driver, and only partial information of the parking lot can be obtained by the driver. The driver does not know the nearest parking spot or the least parking spot address when parking. Only blind roaming is possible to find parking spaces. Each manned vehicle is in this state, which can result in inefficiency in the overall parking lot. And unmanned vehicles park in the parking lot, high-precision maps are required to be established, and maintenance cost is high.
The second field end modification scheme has higher cost, larger mass production resistance, and more sensors are needed to be added to ensure safety when the field ends are changed or traffic flows are denser. Meanwhile, the field end is modified only to serve the unmanned vehicle, and the effective information cannot be obtained by the unmanned vehicle. The problem of low traffic efficiency in parking lots is difficult to solve in the case of a majority of people driving vehicles.
Disclosure of Invention
The embodiment of the invention aims to provide a parking method and a parking system based on a tag system, which are used for solving the problem of low traffic efficiency of a parking lot in the prior art.
To solve the above problems, in a first aspect, the present invention provides a parking method 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 label;
the server generates road network topology information of the parking lot according to the plurality of label information;
the method comprises the steps that 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 of vehicle and a second type of vehicle;
when the vehicle is of the first type, the server sends a first response message to the vehicle of the first type; the first response message comprises road network topology information of a parking lot corresponding to the target parking space number and the regional label;
the first type of vehicle performs path planning according to the parking space number and the network topology information of the parking lot, generates a first global path, and parks into 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 tag, 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 the second type of vehicle parks into the space according to the position of the second target parking space number in the second global path and the second global path.
In one possible implementation manner, the first type of vehicle performs path planning according to the parking space number and network topology information of the parking lot, generates a first global path, and parks into the parking space according to the first global path, where the parking process specifically includes:
the first type vehicle generates a first global path according to the number of the target parking space and road network topology information of the parking lot;
the first type vehicle respectively generates speed information of road section waypoints, direction and position information of the road section waypoints and direction and position information of the branch waypoints according to the first global path, the speed limit label, the trace finding label and the intersection label in sequence;
and the first type of vehicle runs according to the speed information of the road section road point, the direction and position information of the road section road point and the direction and position information of the branch road point, and parks into the parking space when the number of the target parking space is detected.
In one possible implementation, the method further comprises thereafter:
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 one possible implementation manner, the second global path includes a road section tag, an intersection tag and a cylindrical tag, and the parking space of the second type vehicle specifically includes:
the second type of vehicle compares the currently acquired road section label, the intersection label and the cylindrical label with the road section label, the intersection label and the cylindrical label in the second global path;
when the currently acquired road section label, the intersection label and the cylindrical label are the same as the road section label, the intersection label and the cylindrical label in the second global path, the second type vehicle sends the currently acquired road section label, the intersection label and the cylindrical label to the server;
the second type vehicle sends current speed information to a server;
the server calculates the real-time position of the second type vehicle according to the current vehicle speed information, the current road section label, the intersection label and the cylindrical 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 value, the server generates a first prompt message for prompting the approach of the parking space and displays the first prompt message.
In one possible implementation, the method further comprises thereafter:
the second type of vehicle starts to detect the parking stall label according to the first prompt message;
when the second type of vehicle detects the target parking space label, generating a second prompting message for prompting parking into a space;
when the target parking space is available, parking into the space;
and when the target parking space is not available, the second type vehicle sends a third prompting message for the unavailability of the target parking space to the server.
In one possible implementation, the parking space tag includes a parking space enhancement tag disposed at two corners of a parking space and a parking space number tag disposed at a center of a parking space 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 steps of:
the server also receives a second request message sent by the terminal; the second request message includes a terminal ID and an area tag, the terminal ID being associated with an ID of a second type of vehicle;
the server sends network topology information of the parking lot and position information of the area tag 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 present invention provides a parking system based on a tag system, the parking system comprising a server according to any one of the first aspect, a first type of vehicle and/or a second type of vehicle, a terminal.
By applying the parking method based on the tag system, which is provided by the invention, the parking method is perfectly integrated with the existing identification system, is not abrupt, can simultaneously serve unmanned vehicles and manned vehicles, adopts the tag system for positioning, avoids high-cost field-end reconstruction 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 a first embodiment of the present invention;
FIG. 2 is a schematic diagram of 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 illustrating a first global path according to an embodiment of the present invention.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
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 an application scenario of the method is a manned and unmanned vehicle. As shown in fig. 1, the present application includes the steps of:
step 101, a 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 label.
Specifically, the tag system includes the following types of tags: regional label, tracking label, highway section label, crossing label, speed limit label, parking stall label, cylinder label.
The labels function as follows:
(1) And the regional label is used for indicating the number of the current parking lot. First, the zone tag is placed at the starting ground and at the hangtag where the unmanned vehicle starts the AVP function, as S1 in fig. 2. In another example, the area tag has another expression form, namely, a two-dimensional code, that is, not only has S1, but also has a two-dimensional code, both of which have.
(2) The tracking tag is disposed at a central position along the non-intersection road section, see the triangle-like symbol 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 driver driving the vehicle can know the traveling direction of the road section through the tag to avoid reverse running.
(3) Road section labels, which are provided at the head and tail parts of each road section, see S101, S102 in fig. 2. The unmanned vehicle recognizes the tag 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 driver driving the vehicle can learn the road section name through the tag.
(4) The tracking tag is arranged at the central position along the non-intersection road.
(5) The intersection tag is used for guiding the unmanned vehicle to select a steering direction and is arranged on each road branch of the intersection. See B, C, D, E in fig. 2.
(5) And the speed limit labels are arranged near the head and tail parts of each road section and the road section labels. And the unmanned vehicle acquires the speed limit information of the road section after detecting the tag through the camera. The driver of the driver driving the vehicle can also read the number to determine the speed limit information of the road section. See 10 in the circle in fig. 2, indicating a highest speed of 10km/h.
(6) The parking stall label contains two parts. One part is a parking space enhancement tag which is arranged at two corners of a parking space line close to a driving road, see capital letter A in fig. 2, is convenient for the detection of the parking space of an unmanned vehicle camera, and determines the relative position information of the parking space so as to be used for planning the parking path of the unmanned vehicle. The other part is a parking space number label which is arranged in 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 an unmanned vehicle and a driver of a manned vehicle.
(7) Cylindrical labels are arranged on four surfaces of the parking lot support column. Configuring a parking lot partition label on the surface of a vertical traffic lane; road section labels are arranged on a surface parallel to a traffic lane. Different two-dimensional codes are arranged at the left lower corners of different cylindrical labels, so that a mobile phone can be conveniently scanned and accessed to a cloud server to obtain global information of a parking lot and position information of the cylindrical surface in the parking lot.
The server can be a cloud server, the tag has fluorescence, and the fluorescence of the tag reduces the dependence on ambient light when the tag is visually identified.
It will be appreciated that all label types may also be simple patterns, alphanumeric combinations, etc.; the tag may also be laid in places other than the ground, the cylinder, such as a wall or ceiling, for example.
Step 102, the server generates road network topology information of the parking lot 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 has various tags, which corresponds to a tag map of the parking lot.
Step 103, the server receives a first request message sent by the vehicle, where the first request message includes an area tag and a vehicle ID.
Step 104, the server determines the type of the vehicle according to the vehicle ID; the vehicle types include a first type of vehicle and a second type of vehicle.
Wherein 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, an AVP function is started, an area tag is detected by a camera, and then a first request message including the area tag and a vehicle ID is generated.
The execution subject of the first type vehicle is a processor of the first type vehicle, which corresponds to the unmanned brain, and performs operations such as path planning.
The manned vehicle includes two types: the first system comprises a looking-around system, a vehicle networking system, processing equipment and a central control screen, wherein the looking-around system is used for detecting tag information, the vehicle networking system is used for communicating with a server or a terminal and the like, and the processing equipment can perform subsequent tag comparison peer-to-peer work. The central control screen is an input device, which can be a vehicle-mounted touch screen, and is used for performing man-machine interaction.
When a manually driven vehicle parks in a designated parking area near a parking lot, a second type of vehicle activates the look-around system to detect an area tag, as shown in fig. 2. After detecting the area tag, the vehicle's Internet of vehicles system sends a first request message to the server that includes the area tag and the vehicle ID.
The second type, unlike the first type, without the look-around system, the internet of vehicles system and the center control screen, may have a terminal associated with the second type of vehicle, for example, an Application (APP) associated with the second type of vehicle is installed on a mobile phone, i.e., a terminal ID may be associated with a vehicle ID, and then a two-dimensional code type area tag is scanned through a camera of the mobile phone, thereby transmitting a first request message including the area tag and the vehicle ID to a server.
Wherein for different types of vehicles, the first and second types of vehicles can be distinguished by a sign or license plate number. After the server analyzes the zone bit or license plate number, the first type vehicle or the second type vehicle is determined according to a preset zone bit table or license plate type table.
Step 105, when the vehicle is of the first type, the server sends a first response message to the vehicle of the first type; the first response message comprises road network topology information of the parking lot corresponding to the target parking space number and the regional label.
Specifically, when the server judges that the vehicle type is an unmanned vehicle, the server sends the target parking space number and road network topology information of the parking lot to the unmanned vehicle.
And 106, carrying out path planning on the first type of vehicle according to the parking space number and the network topology information of the parking lot, generating a first global path, and parking the vehicle into the parking space according to the first global path.
Specifically, first, a first type vehicle generates a first global path according to the number of a target parking space and road network topology information of a parking lot.
The road network topology information is provided with a plurality of parking spaces, the position of the target parking space in the road network topology information is determined according to the number of the target parking space, then the unmanned vehicle automatically performs path planning, the generated first path is shown in fig. 3 as S101- > S201- > B- > E- > S105- > S106- > D- > C- > S107, and the global path is expressed in the form of an intersection label section label.
And then, according to the first global path, the speed limit label, the trace searching label and the intersection label, sequentially generating speed information of the road section road point, direction and position information of the road section road point and direction and position information of the branch road point.
And generating speed information of the road points of the road section by combining the speed limit label and generating direction and position information of the road points of the road section by combining the track finding label. And generating direction and position information of the road points at the intersections according to the intersection labels. Referring to fig. 4, the unmanned vehicle travels along a reference route connected by waypoints.
And finally, the first type of vehicle runs according to the speed information of the road points of the road segments, the direction and position information of the road points of the road segments and the direction and position information of the road points of the road branches, and parks into the parking space when the number of the target parking space is detected.
Referring to fig. 3 and fig. 4, when the vehicle travels to the last road section, S107, the unmanned vehicle starts to detect the parking space tag through the camera, analyzes the detected parking space tag, and when the number of the detected parking space tag contains the number of the target parking space, invokes a local path planning algorithm to perform local path planning, so as to generate a parking path. After confirming that the vehicle parking path is free of obstacles, parking operation is performed.
After the parking is successful, the vehicle end sends the information of the parking success to the cloud server. If the parking fails, the unmanned vehicle sends a message for prompting the parking failure to the cloud server, and after receiving the message for prompting the parking failure, the cloud server redistributes a new target parking space to the unmanned vehicle, and the unmanned vehicle continues to execute the operation of the step 106 until the unmanned vehicle parks into the parking space.
And 107, when the vehicle is a second type vehicle, the server generates a second global path according to the regional tag, 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 the second type vehicle, the server performs path planning, generates a second global path, and sends the position of the target parking space in the second global path, such as S107-P123, and the second global path to the second type vehicle.
The second type vehicle displays a second global path and a target parking space on the central control screen so as to prompt the driver, and the driver can conveniently drive the vehicle to drive 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 into the space according to the position of the second target parking space number in the second global path and the second global path.
Step 107 will be described with reference to a first type of manned vehicle.
First, the second type of vehicle compares the currently acquired road segment labels, intersection labels, and cylinder labels with the road segment labels, intersection labels, and cylinder labels in the second global path. Then, when the currently acquired road section label, the intersection label and the cylindrical label are the same as the road section label, the intersection label and the cylindrical label in the second global path, the second type vehicle transmits the currently acquired road section label, the intersection label and the cylindrical label to the server.
When the second type of vehicle runs according to the second global path, the looking-around system can detect the tag, the processing equipment compares the tag, and if the currently detected tag is in the second global path, the detected tag is sent to the server through the Internet of vehicles system.
Next, the second type vehicle transmits current vehicle speed information to the server.
The second type of vehicle is also provided with a sensor, acquires vehicle speed information, and generates the acquired vehicle speed information to the server through the Internet of vehicles system.
Then, the server calculates the real-time position of the second type vehicle according to the current vehicle speed information, the current road section label, the intersection label and the cylindrical label.
Then, the server calculates a first distance between the real-time location of the second type of vehicle and the location of the target space number in the second global path.
Then, when the first distance is not greater than a preset first distance threshold, the server generates a first prompt message for prompting approaching the parking space and displays the first prompt message.
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.
Then, the second type vehicle starts to detect the parking space label according to the first prompt message.
Then, when the second type of vehicle detects the target parking space tag, a second prompting message for prompting parking into the space is generated.
Then, when the target parking space is available, parking into the space.
And finally, when the target parking space is not available, the second type vehicle sends a third prompting message for the unavailability of the target parking space to the server.
When the vehicle runs to the section S107, the central control screen or the HUB prompts that the vehicle is approaching the parking space. The looking-around system of the second type vehicle starts to detect the parking space label and the parking space number, and when the target parking space is detected, the central control screen or the HUB prompts that the parking space is nearby. The central control screen or HUB ends the navigation. The driver is prompted to park. If the driver finds the target parking space S107-P123 unavailable. And uploading information that the target parking space is unavailable to the cloud server through the central control screen or the mobile phone APP. The cloud server reallocates the available parking space and re-executes step 108.
Further, a second type of vehicle is associated with the terminal; the method further comprises the steps of:
the server also receives a second request message sent by the terminal; the second request message includes a terminal ID and an area tag, the terminal ID being associated with an ID of the second type of vehicle; according to the second request message, network topology information of the parking lot and position information of the area tag are sent 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 the driver does not have hardware such as a look-around system, the driver can scan the two-dimensional code of the area tag or the two-dimensional code of the cylindrical tag through the terminal, such as a mobile phone. After the mobile phone scans the two-dimension code, a global map of the whole parking lot and the position of the two-dimension code in the global map of the parking lot are obtained. And displaying the unavailable parking spaces in red in the global map of the parking lot, and displaying the available parking spaces in green. And the driver selects a green available parking space through a mobile phone interface. The cloud server returns the recommended driving route and prompts the cylindrical label, the intersection label and the road section label of the recommended driving route. Meanwhile, the cloud server can feed back traffic jam conditions on the traffic lanes of the parking lot by using different colors. The darker the color the more congested the traffic of the road segment.
By applying the parking method based on the tag system provided by the embodiment of the invention, the parking method is perfectly integrated with the existing identification system, is unobtrusive, can simultaneously serve unmanned vehicles and manned vehicles, adopts the tag system for positioning, avoids high-cost field-end transformation 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.
Those of skill would further appreciate that the various illustrative elements 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 elements and steps are described above generally in terms of function in order to clearly illustrate the 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 solution. 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, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed 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 foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the invention is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the invention.
Claims (7)
1. A method of parking 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 label; the parking space label comprises a parking space reinforcing label arranged at two corners of a parking space and a parking space numbering label arranged in the center of a parking space line;
the server generates road network topology information of the parking lot according to the plurality of label information;
the method comprises the steps that 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 of vehicle and a second type of vehicle; the method comprises the steps that a first type of vehicle detects an area tag through a camera, and then a first request message comprising the area tag and a vehicle ID is generated; the second type vehicle starts a looking-around system to detect the regional tag, and after the regional tag is detected, the Internet of vehicles system of the second type vehicle sends a first request message comprising the regional tag and the vehicle ID to a server; or, a terminal associated with the second type vehicle scans the area tag of the two-dimensional code type, so as to send a first request message comprising the area tag and the vehicle ID to the server;
when the vehicle is of the first type, the server sends a first response message to the vehicle of the first type; the first response message comprises road network topology information of a parking lot corresponding to the target parking space number and the regional label;
the first type of vehicle performs path planning according to the parking space number and the network topology information of the parking lot, generates a first global path, and parks into 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 tag, 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;
the second type of vehicle parks into the space according to the position of the second target parking space number in the second global path and the second global path;
the first type of vehicle performs path planning according to the parking space number and the network topology information of the parking lot, generates a first global path, and parks into the parking space according to the first global path, wherein the parking step specifically comprises:
the first type vehicle generates a first global path according to the number of the target parking space and road network topology information of the parking lot;
the first type vehicle respectively generates speed information of road section waypoints, direction and position information of the road section waypoints and direction and position information of the road diversion waypoints according to the first global path, the speed limit label, the tracking label and the intersection label in sequence;
and the first type of vehicle runs according to the speed information of the road section road point, the direction and position information of the road section road point and the direction and position information of the branch road point, and parks into the parking space when the number of the target parking space is detected.
2. The method according to claim 1, characterized in that the method further comprises after that:
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.
3. The method of claim 1, wherein the second global path includes a road segment tag, an intersection tag, and a cylinder tag, and the parking of the second type vehicle into the vehicle space specifically includes:
the second type of vehicle compares the currently acquired road section label, the intersection label and the cylindrical label with the road section label, the intersection label and the cylindrical label in the second global path;
when the currently acquired road section label, the intersection label and the cylindrical label are the same as the road section label, the intersection label and the cylindrical label in the second global path, the second type vehicle sends the currently acquired road section label, the intersection label and the cylindrical label to the server;
the second type vehicle sends current speed information to a server;
the server calculates the real-time position of the second type vehicle according to the current vehicle speed information, the current road section label, the intersection label and the cylindrical 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 value, the server generates a first prompt message for prompting the approach of the parking space and displays the first prompt message.
4. A method according to claim 3, characterized in that the method further comprises thereafter:
the second type of vehicle starts to detect the parking stall label according to the first prompt message;
when the second type of vehicle detects the target parking space label, generating a second prompting message for prompting parking into a space;
when the target parking space is available, parking into the space;
and when the target parking space is not available, the second type vehicle sends a third prompting message for the unavailability of the target parking space to the server.
5. The method of claim 1, wherein the second type of vehicle comprises an input device; the input device is a vehicle-mounted touch display screen.
6. The method of claim 1, wherein the second type of vehicle is associated with a terminal; the method further comprises the steps of:
the server also receives a second request message sent by the terminal; the second request message includes a terminal ID and an area tag, the terminal ID being associated with an ID of a second type of vehicle;
the server sends network topology information of the parking lot and position information of the area tag 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.
7. Parking system based on a tag system, characterized in that the parking system comprises a server, a first type of vehicle and/or a second type of vehicle, a terminal according to any of claims 1-6.
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