CN114627676A - Intelligent vehicle parking method, system, server and storage medium - Google Patents
Intelligent vehicle parking method, system, server and storage medium Download PDFInfo
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- CN114627676A CN114627676A CN202210170727.9A CN202210170727A CN114627676A CN 114627676 A CN114627676 A CN 114627676A CN 202210170727 A CN202210170727 A CN 202210170727A CN 114627676 A CN114627676 A CN 114627676A
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- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
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Abstract
The application provides an intelligent vehicle parking method, which is applied to an intelligent vehicle parking system, wherein the intelligent vehicle parking system comprises: a server, the method comprising: the server receives the environmental data of the intelligent vehicle collected by the vehicle-mounted terminal, wherein the environmental data comprises: one or more of the image data of the intelligent vehicle body, the marked lines of the parking space and the obstacles around the intelligent vehicle; the server judges whether the intelligent vehicle is in a parking standard or not according to the environment data; if the intelligent vehicle stops according to the standard, the server controls the AGV to carry the intelligent vehicle to the designated parking space. The working efficiency of AGV dolly is improved to multiple sensor through intelligent vehicle self acquires data, can reduce the construction cost in parking area, and reduce the hardware demand in parking area, make AGV parking mode promote more easily.
Description
Technical Field
The present application relates to the field of parking technologies, and in particular, to an intelligent vehicle parking method, system, server, and storage medium.
Background
At present, with the rapid increase of the number of motor vehicles kept in China, the problem of difficult parking is increasingly highlighted. The AGV parking system can effectively relieve the problem of difficult parking, however, the parking states of the interaction area of the system are various, and when the automatic parking robot does not reach the vicinity of the vehicle, the specific position of the vehicle in the interaction area and the oblique angle of the vehicle body are difficult to quickly judge only by a sensor arranged on the automatic parking robot, so that the working efficiency of the system is influenced. Because the interaction area of the parking system is influenced by environmental conditions, the normal working space of the parking robot is limited, and the parking robot cannot drill into the bottom of the vehicle anyway, which means that certain parking states of the vehicle, such as the vehicle body with an excessively large oblique angle, the vehicle body exceeding the working boundary line of the interaction area, and the like, influence the normal operation of the system.
Disclosure of Invention
The invention aims to provide an intelligent vehicle parking method, an intelligent vehicle parking system, a server and a storage medium.
In order to achieve the above object, the present invention provides the following technical solutions:
in a first aspect, an intelligent vehicle parking method is provided, which is applied to an intelligent vehicle parking system, and the intelligent vehicle parking system includes: a server, the method comprising:
the server receives the environmental data of the intelligent vehicle collected by the vehicle-mounted terminal, wherein the environmental data comprises: one or more of the image data of the intelligent vehicle body, the marked lines of the parking space and the obstacles around the intelligent vehicle;
the server judges whether the intelligent vehicle is in a parking standard or not according to the environment data;
if the intelligent vehicle stops according to the standard, the server controls the AGV to carry the intelligent vehicle to the designated parking space.
Further, the server judges whether the intelligent vehicle is in a parking standard according to the environment data, and the judging comprises the following steps:
calculating the distance from the intelligent vehicle to surrounding obstacles according to the environment data;
if the distance is larger than a preset threshold value, judging the intelligent vehicle parking standard;
and if the distance is smaller than a preset threshold value, judging that the intelligent vehicle is not normally parked.
Further, the server judges whether the intelligent vehicle is in a parking standard according to the environment data, and the method further comprises the following steps:
acquiring the vehicle profile according to the environment data;
acquiring a minimum circumscribed rectangle of the intelligent vehicle according to the vehicle outline;
judging whether the minimum external rectangle exceeds a preset rectangle or not;
if the minimum external rectangle does not exceed a preset rectangle, judging the intelligent vehicle parking standard;
and if the minimum external rectangle exceeds a preset rectangle, judging that the intelligent vehicle is not normally parked.
Further, the intelligent vehicle parking method further comprises the following steps:
and if the intelligent vehicle is not normally parked, the server generates feedback information and sends the feedback information to the vehicle-mounted terminal.
Further, the controlling and generating the feedback information by the server includes:
and the server generates feedback information according to the environment data, wherein the feedback information comprises parking non-standard types, and the parking non-standard types comprise left vehicle body and right vehicle body.
In a second aspect, there is provided an intelligent vehicle parking system, the system comprising:
the vehicle-mounted terminal is used for collecting environmental data, and the environmental data comprises: one or more of the image data of the intelligent vehicle body, the marked lines of the parking space and the obstacles around the intelligent vehicle;
the server is used for receiving environmental data collected by the vehicle-mounted terminal;
the server is further used for judging whether the intelligent vehicle is in a standard parking state according to the environment data, and if the intelligent vehicle is in the standard parking state, the AGV trolley is controlled to carry the intelligent vehicle to the designated parking space.
Further, the server is further configured to:
calculating the distance from the intelligent vehicle to surrounding obstacles according to the environment data;
if the distance is larger than a preset threshold value, judging the intelligent vehicle parking standard;
and if the distance is smaller than a preset threshold value, judging that the intelligent vehicle is not normally parked.
Further, the server is further configured to:
acquiring the vehicle profile according to the environment data;
acquiring a minimum circumscribed rectangle of the intelligent vehicle according to the vehicle outline;
judging whether the minimum external rectangle exceeds a preset rectangle or not;
if the minimum external rectangle does not exceed a preset rectangle, judging the intelligent vehicle parking standard;
and if the minimum external rectangle exceeds a preset rectangle, judging that the intelligent vehicle is not normally parked.
In a third aspect, there is also provided a server, including: a memory for storing a computer executable program; and a processor for executing the executable program to implement the intelligent vehicle parking method as described above.
In a fourth aspect, there is also provided a computer-readable storage medium, wherein the storage medium is used for storing a computer-executable program, which is executed by a processor to implement the intelligent vehicle parking method as described above.
According to the intelligent vehicle parking method, the intelligent vehicle parking system, the server and the storage medium, the server receives the environmental data collected by the vehicle-mounted terminal, judges whether the intelligent vehicle is in a parking standard or not according to the environmental data, and guides the intelligent vehicle to be in the parking standard. And then improve the work efficiency of AGV dolly. And acquire data through the multiple sensor of intelligent vehicle self, can reduce the construction cost in parking area to and reduce the hardware demand in parking area, make AGV parking mode promote more easily.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a schematic view of an operating environment of an intelligent vehicle parking system according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of an intelligent vehicle parking method provided in an embodiment of the present application;
FIG. 3 is a flow chart illustrating a sub-step of step S102 of the intelligent vehicle parking method according to an embodiment of the present application;
fig. 4 is a flowchart illustrating another sub-step of step S102 of the intelligent vehicle parking method according to the embodiment of the present application;
fig. 5 is a schematic view of a transfer parking space provided in the embodiment of the present application;
FIG. 6 is a schematic view of a parking irregularity provided by an embodiment of the present application;
fig. 7 is a schematic diagram of an internal structure of a server according to an embodiment of the present application.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part 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.
It is noted that the terms "comprises," "comprising," and "having" and any variations thereof in the description and claims of this application and the drawings described above are intended to cover non-exclusive inclusions. For example, a process, method, terminal, product, or apparatus that comprises a list of steps or elements is not limited to the listed steps or elements but may alternatively include other steps or elements not listed or inherent to such process, method, product, or apparatus. In the claims, the description and the drawings of the specification of the present application, relational terms such as "first" and "second", and the like, may be used solely to distinguish one entity/action/object from another entity/action/object without necessarily requiring or implying any actual such relationship or order between such entities/actions/objects.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Present AGV parking area needs set up a plurality of cameras and a plurality of laser radar sensor in the parking stall department of mutual district, and the information that obtains the vehicle and the information of surrounding environment through the camera of parking stall website and laser radar sensor cooperate the AGV dolly to carry wherein through these information, and mutual district generally sets up in parking area entrance. The vehicle owner parks the vehicle in the interaction zone. The AGV transports the vehicle to a parking area. Based on present car more and more intelligent, the camera and the sensor of vehicle self-carrying are more and more, and the camera that disposes on intelligent automobile mainly includes interior camera, back vision camera, leading camera, looks sideways at the camera, look around the camera etc.. At present, cameras are mainly applied to reverse images (rear view) and 360-degree panorama (round view), and 8 cameras are equipped for various auxiliary devices of high-end automobiles and used for assisting drivers to park or trigger emergency brakes. When the camera succeeds in replacing the side view mirror, the number of the cameras on the automobile can reach 12, and with the development of the unmanned technology, the requirement of the intelligent driving automobile model above L3 on the camera can be increased. With the continuous development of new energy automobiles and intelligent automobiles, cameras and radars carried on automobiles are more and more, and the precision is higher and higher, so that the feasibility of replacing cameras or radars arranged by merchants with the cameras or radars carried by the intelligent automobiles is higher and higher in some scenes.
Please refer to fig. 1 in combination, which is a schematic diagram of an operating environment of an intelligent vehicle parking system according to an embodiment of the present application. Specifically, the intelligent vehicle parking system comprises a server 10, a vehicle-mounted terminal 20 and an AGV trolley 30, wherein the server 10 is in communication connection with the vehicle-mounted terminal 20 and the AGV trolley 30 respectively. In some embodiments, the server 10 may be a computer, a tablet computer, a local server, a cloud server, and the like. The in-vehicle terminal 20 is a computer on a smart vehicle, such as an in-vehicle computer, an in-vehicle mobile phone, or the like. The AGV cart 30 is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path can be established by using an electromagnetic rail, which is adhered to the floor, and the automated guided vehicle moves and operates according to the information brought by the electromagnetic rail. The AGV 30 is used for transporting the intelligent automobile to a specified parking space for parking.
Please refer to fig. 2 in combination, which is a flowchart illustrating an intelligent vehicle parking method according to an embodiment of the present application.
S101, a server receives environment data of the intelligent vehicle collected by a vehicle-mounted terminal, wherein the environment data comprises: the intelligent vehicle comprises one or more of an intelligent vehicle body, a parking space mark line and image data of obstacles around the intelligent vehicle. Specifically, after the intelligent vehicle enters the AGV parking lot, the vehicle-mounted terminal 20 communicates with the server 10 through wifi connected to the AGV parking lot. When the vehicle-mounted terminal 20 detects that the speed of the smart vehicle is 0, it sends an instruction to a sensor such as a vehicle-mounted camera or a laser radar of the smart vehicle to acquire environmental data around the vehicle, and sends the environmental data around the vehicle and vehicle information to the server 10. The vehicle information includes license plate number, vehicle picture, etc.
And S102, judging whether the intelligent vehicle is in a parking regulation or not by the server according to the environment data. The server 10 determines the parking specification of the smart vehicle based on the environment data, which is described in detail below.
And S103, if the intelligent vehicle is in a standard parking state, the server controls the AGV to carry the intelligent vehicle to an appointed parking space. Specifically, the server 10 determines the parking specification of the intelligent vehicle according to the environmental data, and the server 10 issues the vehicle information and the transport instruction to the AGV 30. The AGV trolley 30 transports the target vehicle to the designated parking space according to the vehicle information and the transport instruction.
Please refer to fig. 3, which is a flowchart illustrating a sub-step of step S102 of the intelligent vehicle parking method according to an embodiment of the present application.
And S1021, calculating the distance between the intelligent vehicle and the surrounding obstacles according to the environment data. Specifically, the server 10 calculates the distance of the obstacle around the smart vehicle in the environment data and converts the calculated distance into the actual distance.
And S1023, if the distance is larger than a preset threshold value, judging the intelligent vehicle parking specification. Specifically, a preset threshold is stored in the server 10 in advance, and the preset threshold is set according to actual conditions, for example, 50 cm. And if the distance from the obstacle to the intelligent vehicle is larger than 50cm, judging the parking standard of the intelligent vehicle.
And S1025, if the distance is smaller than a preset threshold value, judging that the intelligent vehicle is not normally parked. Specifically, a preset threshold is stored in the server 10 in advance, and the preset threshold is set according to actual conditions, for example, 50 cm. And if the distance from the obstacle to the intelligent vehicle is less than 50cm, judging that the intelligent vehicle is not in standard parking.
Further, if the intelligent vehicle is not parked according to the standard, the server 10 generates feedback information and transmits the feedback information to the vehicle-mounted terminal 20. The server 10 generating the feedback information includes: the server 10 generates feedback information according to the environment data, wherein the feedback information includes parking non-standard types, and the parking non-standard types include left vehicle body and right vehicle body. And the vehicle owner adjusts the parking position according to the feedback information.
Please refer to fig. 4, which is a schematic flowchart of another sub-step of step S102 of the intelligent vehicle parking method according to an embodiment of the present disclosure.
And step S1020, acquiring the vehicle profile according to the environment data. Specifically, referring to fig. 5, the transfer car slot 24 is generally disposed in an interactive area at an entrance of the parking lot, and when the car owner parks the car, the car owner only needs to stop the intelligent vehicle at the transfer car slot 24, and the AGV 20 transports the intelligent vehicle to a designated car slot. When the car owner gets the car, only a mobile phone app or a small program is needed to input a car getting instruction and a transfer parking space number, and the AGV trolley 20 is waited to transfer the intelligent car to the transfer parking space designated by the car owner in the transfer parking space 24 of the interaction area. The server 10 obtains the intelligent vehicle profile 21 from the environmental data. Wherein the environmental data is one or more of the vehicle body of the intelligent vehicle, the marked lines of the parking space and the image data of the obstacles around the intelligent vehicle.
And step S1022, acquiring the minimum circumscribed rectangle of the intelligent vehicle according to the vehicle contour. Specifically, the server 10 calculates a minimum bounding rectangle 22 of the smart vehicle according to the vehicle outline 21.
And step S1024, judging whether the minimum circumscribed rectangle exceeds a preset rectangle. Specifically, the preset rectangle 23 is a dotted rectangle as shown in fig. 5.
And S1026, if the minimum external rectangle does not exceed a preset rectangle, judging the intelligent vehicle parking standard. Specifically, as shown in fig. 5, the minimum bounding rectangle 22 of the intelligent vehicle does not exceed the preset rectangle 23, and the intelligent vehicle parking regulation is determined.
Step S1028, if the minimum external rectangle exceeds a preset rectangle, determining that the intelligent vehicle is not parked normally. Specifically, as shown in fig. 6, if the minimum bounding rectangle 22 of the intelligent vehicle exceeds the preset rectangle 23, it is determined that the intelligent vehicle is not in a standard parking state.
The invention also provides an intelligent vehicle parking system, which comprises:
the vehicle-mounted terminal 20 is configured to collect environment data, where the environment data includes: the environmental data includes: one or more of the image data of the intelligent vehicle body, the marked lines of the parking space and the obstacles around the intelligent vehicle;
the server 10 is used for receiving environmental data collected by the vehicle-mounted terminal;
the server 10 is further configured to determine whether the intelligent vehicle is in a standard parking space according to the environmental data, and if the intelligent vehicle is in the standard parking space, control the AGV 30 to transport the intelligent vehicle to an assigned parking space.
In one embodiment, the distance of the intelligent vehicle to surrounding obstacles is calculated according to the environment data; if the distance is larger than a preset threshold value, judging the intelligent vehicle parking standard; and if the distance is smaller than a preset threshold value, judging that the intelligent vehicle is not normally parked.
In one embodiment, the vehicle profile is obtained from the environmental data; acquiring a minimum circumscribed rectangle of the intelligent vehicle according to the vehicle outline; judging whether the minimum external rectangle exceeds a preset rectangle or not; if the minimum external rectangle does not exceed a preset rectangle, judging the intelligent vehicle parking standard; and if the minimum external rectangle exceeds a preset rectangle, judging that the intelligent vehicle is not normally parked.
Please refer to fig. 7, which is a schematic diagram of an internal structure of a server according to an embodiment of the present application. The server 10 includes a memory 1002, and a processor 1001. The memory 1002 is used for storing computer executable programs, and the processor 1001 is used for executing the executable programs to implement the intelligent vehicle parking method provided by the above embodiments.
The processor 1001 may be, in some embodiments, a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor or other data Processing chip for executing computer executable programs stored in the memory 1002. Specifically, the processor 1001 executes an executable program to implement the intelligent vehicle parking method described above.
The memory 1002 includes at least one type of readable storage medium including flash memory, hard disks, multi-media cards, card-type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disks, optical disks, and the like. The memory 1002 may in some embodiments be an internal storage unit of the terminal 100, such as a hard disk of the terminal 100. The memory 1002 may be an external terminal 100 storage device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the terminal 100. Further, the memory 1002 may also include both internal and external storage units of the terminal 100. The memory 1002 may be used not only to store application software and various types of data installed in the server 10, but also to temporarily store data that has been output or will be output.
The server 10 also includes a bus 1003. The bus 1003 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 7, but this is not intended to represent only one bus or type of bus.
Further, the server 10 may also include a display component 1004. The display component 1004 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, and the like. The display component 1004 may also be referred to as a display device or display unit, as appropriate, information processed in the server 10, and a user interface for displaying visualizations, among other things.
Further, server 10 may also include a communications component 1005. The communications component 1005 may optionally include a wired communications component and/or a wireless communications component (e.g., WI-FI communications component, bluetooth communications component, etc.), typically to establish a communications connection between the server 10 and other computer devices.
Fig. 7 is shown with only some of the components and implementing server 10, and those skilled in the art will appreciate that the configuration shown in fig. 7 does not constitute a limitation of server 10, and may include fewer or more components than shown, or some components may be combined, or a different arrangement of components.
The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are wholly or partially generated when the computer program instructions are loaded and executed on a computer. The emulated computer device may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the unit is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing an emulated computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. The intelligent vehicle parking method is applied to an intelligent vehicle parking system, and the intelligent vehicle parking system comprises the following steps: a server, characterized in that the method comprises:
the server receives the environmental data of the intelligent vehicle collected by the vehicle-mounted terminal, wherein the environmental data comprises: one or more of the image data of the intelligent vehicle body, the marked lines of the parking space and the obstacles around the intelligent vehicle;
the server judges whether the intelligent vehicle is in a parking standard or not according to the environment data;
if the intelligent vehicle stops according to the standard, the server controls the AGV to carry the intelligent vehicle to the designated parking space.
2. The intelligent vehicle parking method of claim 1, wherein the server determining whether the intelligent vehicle is in a parking specification based on the environmental data comprises:
calculating the distance from the intelligent vehicle to surrounding obstacles according to the environment data;
if the distance is larger than a preset threshold value, judging the intelligent vehicle parking standard;
and if the distance is smaller than a preset threshold value, judging that the intelligent vehicle is not normally parked.
3. The intelligent vehicle parking method of claim 1, wherein the server determines whether the intelligent vehicle is in a parking norm based on the environmental data, further comprising:
acquiring the vehicle profile according to the environment data;
acquiring a minimum circumscribed rectangle of the intelligent vehicle according to the vehicle outline;
judging whether the minimum external rectangle exceeds a preset rectangle or not;
if the minimum external rectangle does not exceed a preset rectangle, judging the intelligent vehicle parking standard;
and if the minimum external rectangle exceeds a preset rectangle, judging that the intelligent vehicle is not normally parked.
4. The intelligent vehicle parking method of claim 1 further comprising:
and if the intelligent vehicle is not normally parked, the server generates feedback information and sends the feedback information to the vehicle-mounted terminal.
5. The intelligent vehicle parking method of claim 4 wherein the server generating feedback information comprises:
and the server generates feedback information according to the environment data, wherein the feedback information comprises parking non-standard types, and the parking non-standard types comprise left vehicle body and right vehicle body.
6. An intelligent vehicle parking system, the system comprising:
the vehicle-mounted terminal is used for collecting environmental data, and the environmental data comprises: one or more of the image data of the intelligent vehicle body, the marked lines of the parking space and the obstacles around the intelligent vehicle;
the server is used for receiving environmental data collected by the vehicle-mounted terminal;
the server is further used for judging whether the intelligent vehicle is in a standard parking state according to the environment data, and if the intelligent vehicle is in the standard parking state, the AGV trolley is controlled to carry the intelligent vehicle to the designated parking space.
7. The intelligent vehicle parking system of claim 6 wherein the server is further configured to:
calculating the distance from the intelligent vehicle to surrounding obstacles according to the environment data;
if the distance is larger than a preset threshold value, judging the intelligent vehicle parking standard;
and if the distance is smaller than a preset threshold value, judging that the intelligent vehicle is not normally parked.
8. The intelligent vehicle parking system of claim 6 wherein the server is further configured to:
acquiring the vehicle profile according to the environment data;
acquiring a minimum circumscribed rectangle of the intelligent vehicle according to the vehicle outline;
judging whether the minimum external rectangle exceeds a preset rectangle or not;
if the minimum external rectangle does not exceed a preset rectangle, judging the intelligent vehicle parking standard;
and if the minimum external rectangle exceeds a preset rectangle, judging that the intelligent vehicle is not normally parked.
9. A server, characterized in that the server comprises: a memory for storing a computer executable program; and a processor for executing the executable program to implement the intelligent vehicle parking method according to any one of claims 1 to 5.
10. A computer-readable storage medium for storing a computer-executable program executed by a processor to implement the intelligent vehicle parking method as recited in any one of claims 1 to 5.
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