CN114627668A

CN114627668A - Parking scheduling method and device and parking lot end server

Info

Publication number: CN114627668A
Application number: CN202210181834.1A
Authority: CN
Inventors: 谢兆夫; 周泽斌
Original assignee: Evergrande New Energy Automobile Investment Holding Group Co Ltd
Current assignee: Evergrande New Energy Automobile Investment Holding Group Co Ltd
Priority date: 2022-02-25
Filing date: 2022-02-25
Publication date: 2022-06-14

Abstract

The application discloses a parking scheduling method and device and a parking lot end server, relates to the field of automobiles, and aims to solve the problem that the parking scheduling cannot be effectively carried out under the condition that a plurality of automobiles enter a parking lot in a short time, so that the parking efficiency is low. The parking scheduling method comprises the following steps: receiving a plurality of passenger parking requests within a preset time period; obtaining a plurality of agent parking tasks corresponding to the plurality of agent parking requests, wherein one agent parking request corresponds to one agent parking task, and one agent parking task corresponds to one or more vehicles; and according to a preset scheduling strategy, performing parking scheduling on the vehicle corresponding to each passenger parking task in the plurality of passenger parking tasks, wherein the preset scheduling strategy is used for ensuring that the vehicle corresponding to each passenger parking task can be parked in order. The parking system is used for passenger car parking.

Description

Parking scheduling method and device and parking lot end server

Technical Field

The application relates to the field of automobiles, in particular to a parking scheduling method and device and a parking lot end server.

Background

With the development of science and technology, the function of passenger car parking is more and more widely applied.

In the process of applying the passenger car parking, the parking lot end usually can only carry out parking scheduling on one car entering the parking lot. In the case where a plurality of vehicles enter the parking lot in a short time, the parking scheduling cannot be performed effectively, resulting in low parking efficiency.

Disclosure of Invention

The embodiment of the application provides a parking scheduling method and device and a parking lot end server, and solves the problem that parking scheduling cannot be effectively performed under the condition that a plurality of vehicles enter a parking lot in a short time, so that parking efficiency is low.

In a first aspect, a parking scheduling method is provided, including:

receiving a plurality of passenger parking requests within a preset time period;

obtaining a plurality of passenger parking tasks corresponding to the plurality of passenger parking requests, wherein one passenger parking request corresponds to one passenger parking task, and one passenger parking task corresponds to one or more vehicles;

and according to a preset scheduling strategy, performing parking scheduling on the vehicle corresponding to each passenger parking task in the plurality of passenger parking tasks, wherein the preset scheduling strategy is used for ensuring that the vehicle corresponding to each passenger parking task can be parked in order.

Optionally, in an embodiment, the parking scheduling method further includes: acquiring task application time corresponding to each passenger parking task in the plurality of passenger parking tasks; the preset scheduling policy comprises: a first-come first-serve (FCFS) policy; the parking scheduling of the vehicle corresponding to each passenger parking task in the plurality of passenger parking tasks according to the preset scheduling strategy comprises the following steps: and based on the FCFS strategy, performing parking scheduling on the vehicles corresponding to each passenger parking task in the plurality of passenger parking tasks according to the sequence of the task application time.

Optionally, in an embodiment, the performing parking scheduling on the vehicle corresponding to each of the multiple valet parking tasks according to the sequence of the task application times includes: under the condition that at least two specific passenger parking tasks exist in the plurality of passenger parking tasks, the interval of the task application time of any two of the at least two specific passenger parking tasks is smaller than a preset value, and a planned parking path of each specific parking vehicle in the at least two specific parking vehicles corresponding to the at least two specific passenger parking tasks is determined; determining the predicted driving time of the planned parking path of each specific parking vehicle; and based on a Shortest Job priority (SJF) strategy, carrying out parking resource allocation on the specific vehicle corresponding to each specific valet parking task in the at least two specific valet parking tasks according to the sequence of the expected running time.

Optionally, in an embodiment, the parking scheduling method further includes: receiving a priority adjustment instruction for a target valet parking task of the plurality of valet parking tasks, wherein the priority adjustment instruction comprises: a priority up instruction or a priority down instruction; the parking scheduling of the vehicle corresponding to each passenger parking task in the plurality of passenger parking tasks according to the preset scheduling strategy comprises the following steps: responding to a priority level increasing instruction, and preferentially performing parking scheduling on the vehicle corresponding to the target passenger-replacing parking task; and responding to the priority level lowering instruction, and scheduling the parking after the vehicle corresponding to the target passenger-replacing parking task is arranged.

Optionally, in an embodiment, the priority adjustment instruction is an instruction indicating a highest priority, and the parking scheduling method further includes: planning a target driving path for the target vehicle corresponding to the target passenger-replacing parking task; determining a designated vehicle with a driving path crossed with the target driving path from the vehicles in driving in the parking lot; and sending a running interruption instruction to the specified vehicle.

Optionally, in an embodiment, the planning a target driving path for the target vehicle corresponding to the target valet parking task includes: acquiring the position of the target vehicle and the parking space of the target vehicle; and planning the target driving path of the target vehicle based on the principle that the driving path between the position of the target vehicle and the parking space of the target vehicle is shortest.

Optionally, in an embodiment, the parking scheduling method further includes: and after the target vehicle finishes parking, sending a continuous running instruction to the specified vehicle.

Optionally, in an embodiment, after performing parking scheduling on a vehicle corresponding to each of the plurality of valet parking tasks, the parking scheduling method further includes: sending a path planning progress to a client corresponding to each agent parking task in the plurality of agent parking tasks, wherein the path planning progress comprises: the path planning is completed, the path planning is in progress, and the path planning is not started.

Optionally, in an embodiment, the scheduling parking of the vehicle corresponding to each of the plurality of valet parking tasks includes: aiming at a vehicle corresponding to any one generation of passenger parking tasks, at least one of the following operations is executed: planning a parking path for the vehicle; distributing an operation instruction corresponding to the parking path for the vehicle; transmitting map data to the vehicle.

In a second aspect, a parking scheduling method is provided, including:

receiving an operation instruction and map data which are sent by a parking lot end server and correspond to a planned parking path;

executing a parking task corresponding to the planned parking path based on the operation instruction and the map data;

the planned parking path is determined based on a preset scheduling strategy, and the preset scheduling strategy is used for ensuring that vehicles corresponding to each valet parking task can be parked in order.

In a third aspect, a parking scheduling apparatus is provided, including:

the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving a plurality of passenger-assistant parking requests in a preset time period;

the acquisition module is used for acquiring a plurality of passenger parking tasks corresponding to the plurality of passenger parking requests, wherein one passenger parking request corresponds to one passenger parking task, and one passenger parking task corresponds to one or more vehicles;

and the parking scheduling module is used for performing parking scheduling on the vehicle corresponding to each agent parking task in the plurality of agent parking tasks according to a preset scheduling strategy, wherein the preset scheduling strategy is used for ensuring that the vehicle corresponding to each agent parking task can be parked in order.

In a fourth aspect, a parking scheduling apparatus is provided, including:

the parking lot end server is used for receiving operation instructions and map data which are sent by the parking lot end server and correspond to the planned parking path;

the processing module is used for executing a parking task corresponding to the planned parking path based on the operation instruction and the map data;

the planned parking path is determined based on a preset scheduling strategy, and the preset scheduling strategy is used for ensuring that vehicles corresponding to each passenger parking task can be parked in order.

In a fifth aspect, there is provided a parking lot end server comprising a processor and a memory, the memory having stored thereon a computer program which, when executed by the processor, implements the method according to the first aspect.

The parking scheduling method, the parking scheduling device and the parking lot end server receive a plurality of passenger-agent parking requests within a preset time period; obtaining a plurality of passenger parking tasks corresponding to the plurality of passenger parking requests, wherein one passenger parking request corresponds to one passenger parking task, and one passenger parking task corresponds to one or more vehicles; and according to a preset scheduling strategy, performing parking scheduling on the vehicle corresponding to each passenger parking task in the plurality of passenger parking tasks, wherein the preset scheduling strategy is used for ensuring that the vehicle corresponding to each passenger parking task can be parked in order. Therefore, under the condition that a plurality of vehicles enter the parking lot in a short time, the vehicles corresponding to each passenger parking task in the plurality of passenger parking tasks are subjected to parking scheduling through the scheduling strategy for ensuring that the vehicles corresponding to each passenger parking task can be parked in order, the ordered parking of the plurality of vehicles can be realized, and the problem that the parking scheduling cannot be effectively performed under the condition that the plurality of vehicles enter the parking lot in a short time, so that the parking efficiency is low is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic diagram of an implementation environment of a parking scheduling system according to an embodiment of the present application;

FIG. 2 is a flowchart illustrating a parking scheduling method according to an embodiment of the present disclosure;

FIG. 3 is a flowchart illustrating a parking scheduling method according to an embodiment of the present disclosure;

FIG. 4 is a flowchart illustrating a parking scheduling method according to an embodiment of the present disclosure;

5-6 are schematic diagrams of a parking scheduling method provided by an embodiment of the present application;

FIG. 7 is a flowchart illustrating another method for scheduling parking according to an embodiment of the present application;

FIG. 8 is a flowchart illustrating another method for scheduling parking according to an embodiment of the present application;

FIG. 9 is a flowchart illustrating another method for scheduling parking according to an embodiment of the present application;

fig. 10 is a block diagram illustrating a parking scheduling apparatus according to an embodiment of the present application;

fig. 11 is a block diagram of a parking lot end server according to an embodiment of the present disclosure;

fig. 12 is a block diagram of a client according to an embodiment of the present disclosure;

fig. 13 is a block diagram of another parking scheduling device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The features of the terms first and second in the description and in the claims of the present application may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more unless otherwise specified. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

Aiming at the problem that in the process of applying passenger-substitute parking in the related technology, the parking lot end can only carry out parking scheduling on one vehicle entering the parking lot. The parking scheduling method has the advantages that under the condition that a plurality of vehicles enter a parking lot in a short time, parking scheduling cannot be effectively carried out, and accordingly parking efficiency is low.

The parking scheduling method provided by the embodiment of the application can be applied to the field of automatic driving. The vehicle may be an automobile, truck, motorcycle, or the like.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of an implementation environment of a parking scheduling system according to an embodiment of the present invention. As shown in fig. 1, the parking maneuver system may include a parking lot end server 110, a client 120, and a vehicle 130. The client 120 may be a terminal that issues a parking request for a valet, and the vehicle 130 may be a terminal that receives a parking schedule. Both the client 120 and the vehicle 130 may communicate with the parking lot end server 110 over a network (e.g., a cellular network or a WiFi network, etc.). The parking lot end server 110 may perform parking scheduling on the received valet parking request sent by the client 120 according to a preset scheduling policy, and send the planned parking path to the vehicle 130. Herein, "valet parking" may be to help a driver to automatically park; the "valet parking request" may be an instruction operation to park the vehicle in or out, for example, the client 120 may transmit an instruction to park the vehicle 130 in the parking lot to the parking lot end server 110. In another example, the vehicle 130 may also be a terminal that issues a valet parking request, that is, a parking request is issued directly by the vehicle without a client.

The parking lot end server 110 may be a device with greater storage and/or processing capabilities, such as a desktop computer or the like. The client 120 may be a Mobile terminal, and the Mobile terminal may be any Device having a storage medium, such as a Mobile phone, a Tablet Personal Computer (Tablet Personal Computer), a Personal Digital Assistant (PDA), a Mobile Internet Device (MID), a Wearable Device (Wearable Device), and the like. The vehicle 130 may be a vehicle having an automatic driving function.

Fig. 2 is a flowchart of a parking scheduling method according to an embodiment of the present application. As shown in fig. 2, a parking scheduling method provided by the embodiment of the present application may be executed by a parking lot end server, and may include:

step 210, receiving a plurality of passenger parking requests within a preset time period;

the multiple valet parking requests can be requests for valet parking sent by clients corresponding to multiple vehicles. For example, the following scenarios may be specifically applied: when a user drives to a place such as a shopping mall, the user can enter the shopping mall firstly, then a passenger-replacing parking request is sent through an application program of the client, and after the parking lot site server receives the request sent by the client, subsequent parking scheduling work is carried out.

Step 220, obtaining a plurality of passenger parking tasks corresponding to the plurality of passenger parking requests, wherein one passenger parking request corresponds to one passenger parking task, and one passenger parking task corresponds to one or more vehicles;

it is understood that the valet parking task may be a valet parking task established by the parking lot server in response to the received valet parking request, the valet parking task corresponding to the valet parking request. For example, after receiving the parking request of the vehicle a, the parking lot end server may establish a vehicle parking task corresponding to the parking request according to the parking request, so as to perform subsequent parking scheduling on the vehicle a parked in the parking lot.

And step 230, performing parking scheduling on the vehicle corresponding to each agent parking task in the plurality of agent parking tasks according to a preset scheduling strategy, wherein the preset scheduling strategy is used for ensuring that the vehicle corresponding to each agent parking task can be parked in order.

The parking scheduling method provided by the embodiment of the application receives a plurality of passenger-agent parking requests in a preset time period; obtaining a plurality of passenger parking tasks corresponding to the plurality of passenger parking requests, wherein one passenger parking request corresponds to one passenger parking task, and one passenger parking task corresponds to one or more vehicles; and according to a preset scheduling strategy, performing parking scheduling on the vehicle corresponding to each passenger parking task in the plurality of passenger parking tasks, wherein the preset scheduling strategy is used for ensuring that the vehicle corresponding to each passenger parking task can be parked in order. Therefore, under the condition that a plurality of vehicles enter the parking lot in a short time, the vehicles corresponding to each passenger parking task in the plurality of passenger parking tasks are subjected to parking scheduling through the scheduling strategy for ensuring that the vehicles corresponding to each passenger parking task can be parked in order, the ordered parking of the plurality of vehicles can be realized, and the problem that the parking scheduling cannot be effectively performed under the condition that the plurality of vehicles enter the parking lot in a short time, so that the parking efficiency is low is solved.

In order to better distribute the computing resources of the parking lot end server, the server needs to reasonably perform parking scheduling on a plurality of vehicles performing the passenger parking tasks.

In the present embodiment, step 230 can be implemented in various different ways. A specific implementation example is given below, for example, the preset scheduling policy may include: FCFS policy is serviced first. It is to be understood that the following are merely examples, and are not intended to be limiting.

Referring to fig. 3, according to a preset scheduling policy, the specific process of performing parking scheduling on the vehicle corresponding to each of the multiple valet parking tasks in step 230 may include: step 310 and step 320 are performed. These two steps are explained below.

Step 310, acquiring a task application time corresponding to each passenger parking task in the plurality of passenger parking tasks;

the task application time can be the time when the parking lot server receives the valet parking request sent by the client. For example, the client corresponding to vehicle a is 10: 00 sends a valet parking request of the vehicle a to the parking lot end server, at this time 10 a.m.: 00 is the task application time corresponding to the passenger parking task of the vehicle A; similarly, the client corresponding to vehicle B is 10: 10, sending a valet parking request of the vehicle B to a parking lot end server, wherein in the morning, 10: and 10 is the task application time corresponding to the passenger parking task of the vehicle B.

And step 320, based on the FCFS strategy, performing parking scheduling on the vehicles corresponding to each passenger parking task in the plurality of passenger parking tasks according to the sequence of the task application time.

The FCFS strategy is used for carrying out parking scheduling on the vehicles applying the valet parking task in priority before the time for applying the valet parking task is scheduled according to the task application time of the vehicles needing the valet parking task.

For ease of understanding, the following are exemplified here:

for example, at 9 a.m.: 00 to 9: within the half hour period of 30, the parking lot server receives the valet parking requests sent by the clients corresponding to the five vehicles in sequence, wherein the task application time corresponding to the vehicle A, B, C, D, E is respectively 9: 05. 9: 14. 9: 17. 9: 09. 9: 26, the parking lot end server may schedule parking based on the sequence of the application time of the task, that is, schedule parking of the vehicles A, D, B, C, E in turn.

According to the parking scheduling method provided by the embodiment of the application, the parking lot end server can perform parking scheduling on the vehicles based on the FCFS strategy according to the actual situation of the vehicles for passenger parking, the scheduling strategy that the vehicles corresponding to the various tasks for passenger parking can be parked orderly is ensured, the vehicles corresponding to the various tasks for passenger parking in the multiple tasks for passenger parking are scheduled for parking, the multiple vehicles can be parked orderly, the problem that the parking scheduling cannot be performed effectively under the situation that the multiple vehicles enter the parking lot in a short time, and the parking efficiency is low is solved, and therefore the fluency of the traffic in the parking lot is improved.

In the embodiment of the present application, referring to fig. 4, step 320 may include step 410, step 420, and step 430, which are explained below.

Step 410, under the condition that at least two specific passenger parking tasks exist in the plurality of passenger parking tasks, the interval of the task application time of any two of the at least two specific passenger parking tasks is smaller than a preset value, and a planned parking path of each specific parking vehicle in the at least two specific parking vehicles corresponding to the at least two specific passenger parking tasks is determined;

the fact that the interval between the task application times of any two passenger parking tasks is smaller than the preset value can be understood that at least two vehicles carry out the passenger parking task application in the time period of the preset value. For example, at 9 a.m.: 00 to 9: within the ten-minute time period of 10, the parking lot end server receives the valet parking request sent by the client corresponding to the three vehicles in sequence, wherein the task application time corresponding to the vehicle A, B, C is respectively 9: 00. 9: 02. 9: 04, i.e., the interval between the task application times of any two of the vehicles A, B, C may be less than the preset value (ten minutes), the parking lot end server may determine the planned parking path of the vehicle A, B, C.

It is to be understood that the above-mentioned exemplary preset value of ten minutes is only an example, and the preset value may also be 10 seconds, 30 seconds, one minute, five minutes, fifteen minutes, etc., and is not intended to be limiting.

Step 420, determining the estimated driving time of the planned parking path of each specific parking vehicle;

and 430, based on the SJF strategy, performing parking resource allocation on the specific vehicles corresponding to each specific passenger parking task in the at least two specific passenger parking tasks according to the sequence of the expected running time.

The SJF strategy is an algorithm for preferentially scheduling short jobs or short processes by taking the time of a central processing unit required by jobs entering a system as a standard, and each process is associated with the estimated running time of the process to select the job with the shortest estimated calculation time to be put into operation.

For ease of understanding, this is illustrated here:

for example, since the time points at which the vehicle needs to perform the valet parking task are random, there may be a request for a plurality of vehicles to perform the valet parking task within a certain period of time. At this time, the parking lot terminal server analyzes the identifier of each vehicle and the time (i.e. the time length for executing the task) of planning the parking path by the expected driving, and adopts a task time shortest strategy to allocate parking resources, that is, the vehicle corresponding to the task with the shortest time is preferentially allocated with the parking resources.

In the embodiment of the present application, parking resource allocation may include at least one of the following: planning a parking path for the vehicle; distributing an operation instruction corresponding to the parking path for the vehicle; transmitting map data to the vehicle, etc.

According to the parking scheduling method provided by the embodiment of the application, the parking lot end server can distribute parking resources for the vehicles based on an SJF strategy according to the actual situation of the vehicle for the passenger parking task, so that ordered parking can be realized for a plurality of vehicles entering the parking lot in a short time, and the fluency of vehicle flow in the parking lot is improved; and other parking resources of the parking lot end server are reasonably distributed while the parking path is planned, so that the vehicle is familiar with various conditions in the parking lot, and the parking task corresponding to the planned parking path is more conveniently executed.

Optionally, in an embodiment of the present application, when the server plans the parking path, the server may determine the planned parking path of the vehicle according to a global path planning algorithm; the global path planning algorithm may include dijkstra algorithm, hybrid a-star algorithm, breadth-first search algorithm, depth-first search algorithm, and the like.

Among them, the Dijkstra algorithm (Dijkstra) was proposed by the netherlands computer scientist dikstra in 1959, and is thus called a dikstra algorithm. The method is essentially a shortest path optimizing algorithm from one vertex to other vertexes, and solves the shortest path problem in the weighted graph. The Dijkstra algorithm is mainly characterized in that the Dijkstra algorithm is expanded layer by layer from a starting point as a center to an outer layer, and adjacent nodes of vertexes which are closest to the starting point and have not been visited are traversed each time until the nodes are expanded to an end point.

The Hybrid A star algorithm (Hybrid A) can obtain a smooth high-quality path only by searching, has certain advantages in computational efficiency (particularly in a wide position), and can ensure that the generated path is actually traveled by the vehicle. The a Star algorithm (a-Star, a) is a direct search method most effective for solving the shortest path in a static road network, and is also an effective algorithm for solving many search problems. The closer the distance estimate is to the actual value in the algorithm, the faster the final search speed.

The Breadth-First Search algorithm (BFS), also called a Breadth-First Search algorithm, is one of the simplest graph Search algorithms, and is also a prototype of many important graph algorithms. The Dijkstra single-source shortest path algorithm adopts a similar idea with breadth-first search. BFS belongs to a blind search method, which aims to systematically expand and check all nodes in the graph for a result. In other words, it does not take into account the possible locations of the results and searches through the entire graph until a result is found.

The Depth-First-Search (DFS) is a method that is used more in the early stages of crawler development. Its purpose is to reach the leaf nodes of the searched structure, i.e. those Hyper Text Markup Language (HTML) documents that do not contain any hyperlinks. In an HTML file, when a hyperlink is selected, the linked HTML file will perform a depth first search, i.e., the individual chains must be searched in their entirety before searching for the remaining hyperlink results. The depth-first search goes along hyperlinks on the HTML file until no more depth is possible, then returns to an HTML file, and continues to select other hyperlinks in the HTML file. When no more hyperlinks are available for selection, the search is said to have ended.

It can be understood that the parking lot site server can also comprehensively consider the space utilization rate of the vehicle when performing the global path planning. Generally, a counterclockwise parking space allocation strategy can be adopted, and in some driving paths of vehicles to be parked, the global path planning can be performed by default that the opposite lane is not available, so that the parking path is planned not to encroach on the opposite lane.

For ease of understanding, the following are exemplified here:

for example, as shown in fig. 5, since the vehicle 2 waits for the valet parking task after the vehicle 1, the target parking space, which is the planned destination of the vehicle 1 in fig. 5, is a [1], so that the vehicle can be maximally given up space for a subsequent valet parking task. If the vehicle in the parking space A2 needs to carry out the parking task, at the moment, the server at the parking lot field end defaults that the opposite lane in front of the parking space A2 cannot be occupied, so that the server cannot occupy the area when planning the parking path.

Therefore, orderly parking of a plurality of vehicles can be achieved, the problem that parking scheduling cannot be effectively carried out under the condition that the plurality of vehicles enter the parking lot in a short time, and parking efficiency is low is solved, and accordingly fluency of vehicle flow in the parking lot is improved.

Further, in order to better solve the problem that the field server cannot handle the parking scheduling of the plurality of vehicles, in an embodiment of the present application, optionally, the parking scheduling method may further include: receiving a priority adjustment instruction for a target valet parking task of the plurality of valet parking tasks, wherein the priority adjustment instruction may include: a priority up instruction or a priority down instruction; the scheduling, according to the preset scheduling policy, of parking for the vehicle corresponding to each of the multiple valet parking tasks in step 230 may include: responding to a priority level increasing instruction, and preferentially performing parking scheduling on the vehicle corresponding to the target passenger-replacing parking task; and responding to the priority level lowering instruction, and scheduling the parking after the vehicle corresponding to the target passenger-replacing parking task is arranged.

Optionally, in an embodiment of the present application, the priority adjustment instruction may be an instruction indicating a highest priority, and the parking scheduling method may further include: planning a target driving path for the target vehicle corresponding to the target passenger-replacing parking task; determining a designated vehicle with a driving path crossed with the target driving path from the vehicles in driving in the parking lot; and sending a running interruption instruction to the specified vehicle.

The planning of the target driving path of the target vehicle corresponding to the target valet parking task may include: acquiring the position of the target vehicle and the parking space of the target vehicle; and planning the target driving path of the target vehicle based on the principle that the driving path between the position of the target vehicle and the parking space of the target vehicle is shortest.

For ease of understanding, the following are exemplified here:

for example, as shown in fig. 6, if the vehicle 1 in parking space a [6] needs to increase the priority, the parking lot site server performs priority calculation resource allocation, i.e., priority parking scheduling, on the vehicle 1 with the higher priority, and considers that the opposite lane can be borrowed. Meanwhile, the task interruption instruction is issued to the

vehicles

2 and 3 that are about to enter the target path travel area of the vehicle 1. Therefore, the driving route of the vehicle 1 with high priority can be smooth, and the driving space range is wider, so that the priority completion requirement of the task can be met.

Optionally, in an embodiment of the present application, the parking scheduling method may further include: and after the target vehicle finishes parking, sending a continuous running instruction to the specified vehicle.

It is to be understood that, in an embodiment of the present application, after performing parking scheduling on a vehicle corresponding to each of the plurality of valet parking missions, the parking scheduling method may further include: sending a path planning progress to a client corresponding to each passenger parking task in the plurality of passenger parking tasks, where the path planning progress may include: the path planning is completed, the path planning is in progress, and the path planning is not started.

The scheduling of parking for the vehicle corresponding to each of the multiple agent parking tasks may include: aiming at a vehicle corresponding to any one generation of passenger parking tasks, at least one of the following operations is executed: planning a parking path for the vehicle; distributing an operation instruction corresponding to the parking path for the vehicle; transmitting map data to the vehicle.

Therefore, after receiving the priority adjustment instruction of the client for the target passenger parking task, the parking lot site server can perform parking scheduling on the vehicles corresponding to the target passenger parking task preferentially or after the vehicles are arranged according to the preset scheduling strategy, and sends an interruption instruction to the specified vehicle which is crossed with the target driving path, so that the target vehicle can reach the hands of the user in the shortest time, the overall experience of the passenger parking function is improved, and the problem of vehicle parking scheduling in the parking lot is effectively solved.

Fig. 7 is a flowchart of a parking scheduling method according to an embodiment of the present application. As shown in fig. 7, the parking scheduling method provided by the embodiment of the present application may be executed by a client, and may include:

step 510, sending a passenger-agent parking request to a server;

in this embodiment, specifically, an application software with a valet parking function may be installed in the client, after the user starts the application software, a request sending interface may be displayed on the client, the user may send a valet parking request of the vehicle to the server through the request sending interface, and once the specific vehicle information is confirmed to be correct, the user clicks to send, and then the subsequent step 520 may be executed.

Of course, in the embodiment of the present application, a valet parking function may be built in some existing application software (e.g., a payment treasure, etc.). After the application software is opened, a user can select the passenger parking function built in the application software. After the valet parking function is selected, a request sending interface can be displayed on the client, a user can send a valet parking request of the vehicle to the server through the request sending interface, and once the specific vehicle information is confirmed to be correct, the user clicks to send the request, and then the subsequent step 520 can be executed.

And step 520, receiving a path planning progress corresponding to the valet parking task sent by the server.

Wherein the path planning progress may include: the path planning is completed, the path planning is in progress, and the path planning is not started.

Optionally, in an embodiment of the present application, after step 520, the method may further include: sending a priority adjustment instruction of the target valet parking task to the server, where the priority adjustment instruction may include: a priority up instruction or a priority down instruction; and receiving a target vehicle planning target driving path corresponding to the target passenger-substitute parking task sent by the server.

It can be understood that, in some special situations, such as an emergency vehicle, a user may increase the parking priority of the vehicle through the client, further change the planned target driving path, and interrupt the task of the designated vehicle that intersects with the target driving path, so as to enable the vehicle with the high priority to perform the parking scheduling preferentially.

According to the parking scheduling method provided by the embodiment of the application, a user sends a valet parking request to a server through a client, a path planning progress corresponding to a valet parking task of a vehicle is obtained, the parking priority of the vehicle can be improved through the client under special conditions, a planned target driving path is further changed, and a task of a designated vehicle crossed with the target driving path is interrupted, so that the vehicle with high priority can be preferentially subjected to parking scheduling, and the overall experience of the valet parking function is improved.

Fig. 8 is a flowchart of a parking scheduling method according to an embodiment of the present application. As shown in fig. 8, the parking scheduling method provided by the embodiment of the present application may be executed by a target vehicle, and may include:

and step 610, receiving an operation instruction and map data which are sent by the parking lot end server and correspond to the planned parking path.

The planned parking path may be determined based on a preset scheduling policy, and the preset scheduling policy may be used to ensure that vehicles corresponding to each valet parking task can be parked in order.

In an embodiment of the present application, before step 610, the parking scheduling method may further include: and sending the current position information to a parking lot end server. Therefore, the parking lot end server can better plan the corresponding parking path according to the current position information of the target vehicle.

And step 620, executing a parking task corresponding to the planned parking path based on the operation instruction and the map data.

In an embodiment of the present application, after step 620, the parking scheduling method may further include: and feeding back the execution progress to the parking lot end server based on the execution progress of the parking task.

Wherein the execution progress may include: the parking task is completed, the parking task is in progress, and the parking task is not started.

Optionally, in an embodiment of the present application, in the case that the target vehicle is a designated vehicle, after step 620, the method may further include: the appointed vehicle receives a driving interruption instruction sent by the parking lot end server; and according to the running interruption instruction, the specified vehicle interrupts the parking task.

It is understood that, in one embodiment of the present application, after the interrupting the parking task, the method may further include: the appointed vehicle receives a continuous driving instruction sent by the parking lot end server; and according to the continuous driving instruction, the specified vehicle continues the parking task.

According to the parking scheduling method provided by the embodiment of the application, the target vehicle executes a parking task according to the received operation instruction and the map data which are sent by the parking lot end server and correspond to the planned parking path, and the execution progress of the target vehicle is fed back to the parking lot end server in the process of executing the parking task. Therefore, orderly parking of a plurality of vehicles can be achieved, the problem that the parking efficiency is low due to the fact that the parking dispatching cannot be effectively conducted under the condition that the plurality of vehicles enter the parking lot in a short time is solved, the fluency of vehicle flow in the parking lot is improved, and the fact that a user can know the progress of a vehicle parking task in real time is guaranteed.

Fig. 9 is a flowchart of a parking scheduling method according to an embodiment of the present application. As shown in fig. 9, the parking scheduling method provided in the embodiment of the present application is only an example and is not limited, so as to facilitate those skilled in the art to better understand the technical solution of the present application. Referring to fig. 9, a parking scheduling method provided in an embodiment of the present application may include:

step 701, the client sends a parking assistant parking request to a parking lot server.

In step 702, the parking lot server sends an operation instruction for obtaining the current position information of the vehicle to the target vehicle based on the valet parking request.

In the embodiment of the application, the identification information of the target vehicle can be carried in the valet parking request sent by the client. The parking lot terminal server can send an operation instruction for acquiring the current position information of the vehicle to the target vehicle according to the identification information of the target vehicle.

It is to be understood that step 702 is an optional step. In another example, an operation instruction for acquiring the current position information of the vehicle may be sent to the target vehicle by the client. That is, the client may notify the target vehicle to transmit the current position information of the vehicle to the parking lot end server after transmitting the valet parking request to the parking lot end server.

Step 703, the target vehicle sends the current position information to the parking lot end server.

It is to be understood that step 703 is an optional step. In the embodiment of the application, the client side can have a binding relationship with the target vehicle. The target vehicle can send the current position information of the target vehicle to the client in time. After obtaining the current position information of the target vehicle, the client can send the current position information of the target vehicle to the parking lot end server while sending the valet parking request to the parking lot end server.

Step 704, the parking lot server obtains a plurality of passenger parking tasks corresponding to the plurality of passenger parking requests.

In the embodiment of the application, after receiving the multiple passenger parking requests, the parking lot end server can determine multiple passenger parking tasks corresponding to the multiple passenger parking requests.

Step 705, the parking lot end server obtains task application time corresponding to each passenger parking task in a plurality of passenger parking tasks; and based on the FCFS strategy, carrying out parking scheduling on the vehicles corresponding to each passenger parking task in the plurality of passenger parking tasks according to the sequence of the task application time.

Step 706, under the condition that at least two specific agent parking tasks exist in the plurality of agent parking tasks, the parking lot end server determines a planned parking path of each specific parking vehicle in the at least two specific parking vehicles corresponding to the at least two specific agent parking tasks, wherein the interval of the task application time of any two of the at least two specific agent parking tasks is smaller than a preset value; determining the predicted driving time of the planned parking path of each specific parking vehicle; and based on a shortest operation priority SJF strategy, carrying out parking resource allocation on the specific vehicles corresponding to each specific passenger parking task in the at least two specific passenger parking tasks according to the sequence of the expected running time.

In step 707, the parking lot end server sends an operation instruction and map data corresponding to the planned parking path to the target vehicle.

And step 708, the parking lot end server sends the path planning progress corresponding to the agent parking task to the client.

It should be understood that the order of step 707 and step 708 may be chosen according to practical situations, and is not limited herein. For example, step 707 may be performed first, and then step 708 may be performed; step 708 may be performed first, and then step 707 may be performed; step 707 and step 708 may also be performed simultaneously.

And step 709, the target vehicle executes a parking task corresponding to the planned parking path.

And step 710, the target vehicle feeds back the execution progress of the parking task to the parking lot end server.

Step 711, the client sends a priority adjustment instruction of the target passenger parking task to the parking lot server, where the priority adjustment instruction is an instruction indicating the highest priority.

Step 712, the parking lot end server responds to the highest priority adjustment instruction, and performs parking scheduling on the vehicle corresponding to the target valet parking task preferentially; planning a target driving path for a target vehicle corresponding to the target passenger-substituting parking task; a designated vehicle having a travel route intersecting the target travel route is determined from the vehicles traveling in the parking lot.

In step 713, the parking lot end server sends an instruction to interrupt the driving to the designated vehicle.

And 714, the parking lot end server sends the path planning progress corresponding to the passenger parking task to the client.

It should be understood that the order of step 713 and step 714 can be chosen according to practical situations, and is not limited herein. For example, step 713 may be performed first, and then step 714 may be performed; step 714 may be performed first, and then step 713 may be performed; step 713 and step 714 may also be performed simultaneously.

Step 715, the designated vehicle suspends the parking task.

In step 716, the parking lot end server sends a continuous driving instruction to the specified vehicle after the target vehicle finishes parking.

In step 717, the vehicle is designated to continue the parking task.

In addition, it should be understood that the steps 701-717 are only an example and are not limiting. For example, in another example, when the user does not need the emergency car, the steps may include only steps 701 and 710.

According to the parking scheduling method provided by the embodiment of the application, the server at the parking lot site can perform parking scheduling on the vehicle corresponding to each agent parking task in the plurality of agent parking tasks through the scheduling strategy for ensuring that the vehicle corresponding to each agent parking task can be parked in order under the condition that a plurality of vehicles enter the parking lot in a short time, so that ordered parking of the plurality of vehicles can be realized, the problem that the parking scheduling cannot be effectively performed under the condition that the plurality of vehicles enter the parking lot in a short time, and the parking efficiency is low is solved, and the fluency of vehicle flow in the parking lot is improved; and under special conditions, the task of the designated vehicle crossed with the target driving path can be interrupted by improving the priority of the vehicle and changing the strategy for planning the target driving path, and the vehicle with high priority can be ensured to reach the hands of the user in the shortest time, so that the overall experience of the passenger-replacing parking function is improved, and the problem of parking scheduling of the vehicles in the parking lot is effectively solved.

Fig. 10 is a block diagram of a parking scheduling apparatus according to an embodiment of the present application. Referring to fig. 10, a parking scheduling apparatus 800 according to an embodiment of the present application may include: the parking scheduling system comprises a receiving module 810, an obtaining module 820 and a parking scheduling module 830.

The receiving module 810 is configured to receive a plurality of valet parking requests within a preset time period;

the obtaining module 820 is configured to obtain a plurality of passenger parking tasks corresponding to the plurality of passenger parking requests, where one passenger parking request corresponds to one passenger parking task, and one passenger parking task corresponds to one or more vehicles;

the parking scheduling module 830 is configured to perform parking scheduling on the vehicle corresponding to each of the multiple agent parking tasks according to a preset scheduling policy, where the preset scheduling policy is used to ensure that the vehicle corresponding to each agent parking task can be parked in order.

The parking scheduling device provided by the embodiment of the application receives a plurality of passenger-assistant parking requests in a preset time period; obtaining a plurality of passenger parking tasks corresponding to the plurality of passenger parking requests, wherein one passenger parking request corresponds to one passenger parking task, and one passenger parking task corresponds to one or more vehicles; and performing parking scheduling on the vehicle corresponding to each passenger parking task in the plurality of passenger parking tasks according to a preset scheduling strategy, wherein the preset scheduling strategy is used for ensuring that the vehicle corresponding to each passenger parking task can be parked in order. Therefore, when a plurality of vehicles enter the parking lot in a short time, the vehicles corresponding to each passenger parking task in the plurality of passenger parking tasks are subjected to parking scheduling through a scheduling strategy for ensuring that the vehicles corresponding to each passenger parking task can be parked in order, so that the plurality of vehicles can be parked in order, and the problem that the parking scheduling cannot be effectively carried out when the plurality of vehicles enter the parking lot in a short time, and the parking efficiency is low is solved.

Optionally, in an embodiment, the obtaining module 820 may be further specifically configured to: acquiring task application time corresponding to each passenger parking task in the plurality of passenger parking tasks; the preset scheduling policy may include: first come first serve FCFS policy; in the process of performing parking scheduling on a vehicle corresponding to each of the multiple valet parking tasks according to a preset scheduling policy, the parking scheduling module 830 may be further configured to: and based on the FCFS strategy, performing parking scheduling on the vehicles corresponding to each passenger parking task in the plurality of passenger parking tasks according to the sequence of the task application time.

Optionally, in an embodiment, in the process of performing parking scheduling on the vehicle corresponding to each of the multiple valet parking tasks according to the sequence of the task application times, the parking scheduling module 830 may be specifically configured to: under the condition that at least two specific passenger parking tasks exist in the plurality of passenger parking tasks, the interval of the task application time of any two of the at least two specific passenger parking tasks is smaller than a preset value, and a planned parking path of each specific parking vehicle in the at least two specific parking vehicles corresponding to the at least two specific passenger parking tasks is determined; determining the predicted driving time of the planned parking path of each specific parking vehicle; and based on a shortest operation priority SJF strategy, carrying out parking resource allocation on the specific vehicles corresponding to each specific passenger parking task in the at least two specific passenger parking tasks according to the sequence of the expected running time.

Optionally, in an embodiment, the receiving module 810 may be further specifically configured to: receiving a priority adjustment instruction for a target valet parking task of the plurality of valet parking tasks, wherein the priority adjustment instruction may include: a priority up instruction or a priority down instruction; in the process of performing parking scheduling on a vehicle corresponding to each of the multiple valet parking tasks according to a preset scheduling policy, the parking scheduling module 830 may be specifically configured to: responding to a priority level increasing instruction, and preferentially performing parking scheduling on the vehicle corresponding to the target passenger-replacing parking task; and responding to the priority level lowering instruction, and scheduling the parking after the vehicle corresponding to the target passenger-replacing parking task is arranged.

Optionally, in an embodiment, the priority adjustment instruction may be an instruction indicating a highest priority, and the parking scheduling device 800 may further include: the planning module is used for planning a target driving path for the target vehicle corresponding to the target passenger-replacing parking task; the determining module is used for determining a specified vehicle with a crossed running path and the target running path from the vehicles in running in the parking lot; and the sending module is used for sending a running interruption instruction to the specified vehicle.

Optionally, in an embodiment, in the process of planning the target driving path for the target vehicle corresponding to the target valet parking task, the planning module may be further specifically configured to: acquiring the position of the target vehicle and the parking space of the target vehicle; and planning the target driving path of the target vehicle based on the principle that the driving path between the position of the target vehicle and the parking space of the target vehicle is shortest.

Optionally, in an implementation manner, the sending module may be further specifically configured to: and after the target vehicle finishes parking, sending a continuous running instruction to the specified vehicle.

Optionally, in an embodiment, after performing parking scheduling on a vehicle corresponding to each of the multiple valet parking tasks, the parking scheduling module 830 may be specifically configured to: sending a path planning progress to a client corresponding to each passenger parking task in the plurality of passenger parking tasks, where the path planning progress may include: the path planning is completed, the path planning is in progress, and the path planning is not started.

Optionally, in an embodiment, in the process of performing parking scheduling on a vehicle corresponding to each of the multiple valet parking tasks, the parking scheduling module 830 may be specifically configured to: aiming at a vehicle corresponding to any one generation of passenger parking tasks, at least one of the following operations is executed: planning a parking path for the vehicle; distributing an operation instruction corresponding to the parking path for the vehicle; transmitting map data to the vehicle.

In addition, as shown in fig. 11, an embodiment of the present application further provides a parking lot end server, where the parking lot end server 900 may include: a memory 910, a processor 920, and a parking scheduling program stored on the memory 910 and executable on the processor 920, wherein the parking scheduling program, when executed by the processor 920, implements any of the steps of the parking scheduling method mentioned above. For example, when executed by the processor 920, the parking scheduler implements the following processes: receiving a plurality of passenger parking requests within a preset time period; obtaining a plurality of passenger parking tasks corresponding to the plurality of passenger parking requests, wherein one passenger parking request corresponds to one passenger parking task, and one passenger parking task corresponds to one or more vehicles; and according to a preset scheduling strategy, performing parking scheduling on the vehicle corresponding to each passenger parking task in the plurality of passenger parking tasks, wherein the preset scheduling strategy is used for ensuring that the vehicle corresponding to each passenger parking task can be parked in order. Therefore, under the condition that a plurality of vehicles enter the parking lot in a short time, the vehicles corresponding to each passenger parking task in the plurality of passenger parking tasks are subjected to parking scheduling through the scheduling strategy for ensuring that the vehicles corresponding to each passenger parking task can be parked in order, the ordered parking of the plurality of vehicles can be realized, and the problem that the parking scheduling cannot be effectively performed under the condition that the plurality of vehicles enter the parking lot in a short time, so that the parking efficiency is low is solved.

As shown in fig. 12, an embodiment of the present application may further provide a client, where the client 1000 may include: a memory 1010, a processor 1020, and a parking maneuver stored on the memory 1010 and operable on the processor 1020, wherein the parking maneuver is executed by the processor 1020 to implement any of the steps of the parking maneuver method mentioned above. For example, sending a valet parking request to a server; and receiving a path planning progress corresponding to the valet parking task sent by the server. Therefore, the user sends the valet parking request to the server through the client to obtain the path planning progress corresponding to the valet parking task of the vehicle, the parking priority of the vehicle can be improved through the client under special conditions, the planned target driving path is changed, and the task of the designated vehicle crossed with the target driving path is interrupted, so that the vehicle with high priority can be used for carrying out parking scheduling preferentially, and the overall experience of the valet parking function is improved.

Fig. 13 is a block diagram of another parking scheduling device according to an embodiment of the present application. Referring to fig. 13, a parking scheduling apparatus 1100 according to an embodiment of the present application may include: a receiving module 1110 and a processing module 1120.

The receiving module 1110 is configured to receive an operation instruction and map data, which are sent by a parking lot end server and correspond to a planned parking path;

the processing module 1120 is configured to execute a parking task corresponding to the planned parking path based on the operation instruction and the map data;

According to the parking scheduling device provided by the embodiment of the application, the target vehicle can execute the parking task by receiving the operation instruction and the map data which are sent by the parking lot end server and correspond to the planned parking path, and the execution progress of the target vehicle is fed back to the parking lot end server in the process of executing the parking task. Therefore, orderly parking of a plurality of vehicles can be achieved, the problem that the parking efficiency is low due to the fact that the parking dispatching cannot be effectively conducted under the condition that the plurality of vehicles enter the parking lot in a short time is solved, the fluency of vehicle flow in the parking lot is improved, and the fact that a user can know the progress of a vehicle parking task in real time is guaranteed.

With the above description of embodiments, it should be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A parking scheduling method, comprising:

2. The vehicle parking scheduling method according to claim 1, further comprising: acquiring task application time corresponding to each passenger parking task in the plurality of passenger parking tasks;

the preset scheduling policy comprises: first come, first serve FCFS policy;

the parking scheduling of the vehicle corresponding to each passenger parking task in the plurality of passenger parking tasks according to the preset scheduling strategy comprises the following steps:

and based on the FCFS strategy, performing parking scheduling on the vehicles corresponding to each passenger parking task in the plurality of passenger parking tasks according to the sequence of the task application time.

3. The vehicle parking scheduling method according to claim 2,

the parking scheduling of the vehicles corresponding to each agent parking task in the plurality of agent parking tasks according to the sequence of the task application time comprises the following steps:

under the condition that at least two specific passenger parking tasks exist in the plurality of passenger parking tasks, the interval of the task application time of any two of the at least two specific passenger parking tasks is smaller than a preset value, and a planned parking path of each specific parking vehicle in the at least two specific parking vehicles corresponding to the at least two specific passenger parking tasks is determined;

determining the predicted driving time of the planned parking path of each specific parking vehicle;

and based on a shortest operation priority SJF strategy, carrying out parking resource allocation on the specific vehicles corresponding to each specific passenger parking task in the at least two specific passenger parking tasks according to the sequence of the expected running time.

4. The vehicle parking scheduling method according to claim 1, further comprising:

receiving a priority adjustment instruction for a target valet parking task in the plurality of valet parking tasks, wherein the priority adjustment instruction comprises the following steps: a priority up instruction or a priority down instruction;

responding to a priority level increasing instruction, and preferentially performing parking scheduling on the vehicle corresponding to the target passenger-replacing parking task;

and responding to the priority level lowering instruction, and scheduling the parking after the vehicle corresponding to the target passenger-replacing parking task is arranged.

5. The vehicle parking scheduling method according to claim 4, wherein the priority adjustment instruction is an instruction indicating a highest priority, the vehicle parking scheduling method further comprising:

planning a target driving path for the target vehicle corresponding to the target passenger-replacing parking task;

determining a designated vehicle with a driving path crossed with the target driving path from the vehicles in driving in the parking lot;

and sending a running interruption instruction to the specified vehicle.

6. The method for scheduling parking according to claim 5, wherein the planning a target driving path for the target vehicle corresponding to the target valet parking task comprises:

acquiring the position of the target vehicle and the parking space of the target vehicle;

and planning the target driving path of the target vehicle based on the principle that the driving path between the position of the target vehicle and the parking space of the target vehicle is shortest.

7. The vehicle parking scheduling method according to claim 5, further comprising:

and after the target vehicle finishes parking, sending a continuous running instruction to the specified vehicle.

8. The vehicle parking scheduling method according to claim 1, wherein after the vehicle parking scheduling is performed for the vehicle corresponding to each of the plurality of valet parking missions, the vehicle parking scheduling method further comprises:

sending a path planning progress to a client corresponding to each passenger parking task in the plurality of passenger parking tasks, wherein the path planning progress comprises: the path planning is completed, the path planning is in progress, and the path planning is not started.

9. The parking scheduling method according to claim 1, wherein the scheduling of parking for the vehicle corresponding to each of the plurality of valet parking missions comprises:

aiming at a vehicle corresponding to any one generation of passenger parking tasks, at least one of the following operations is executed:

planning a parking path for the vehicle;

allocating an operation instruction corresponding to the parking path for the vehicle;

transmitting map data to the vehicle.

10. A method for scheduling parking, comprising:

11. A parking maneuver device, the parking maneuver device comprising:

the system comprises a receiving module, a parking management module and a parking management module, wherein the receiving module is used for receiving a plurality of passenger parking requests in a preset time period;

12. A parking maneuver device, the parking maneuver device comprising:

13. A parking lot end server, characterized in comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, implements a method according to any of claims 1-9.