CN115416646B

CN115416646B - Trailer type motor home and automatic parking method thereof

Info

Publication number: CN115416646B
Application number: CN202210957809.8A
Authority: CN
Inventors: 宋海健
Original assignee: Zhejiang Yingpai Automobile Technology Co ltd; Shanghai Yingpai Automobile Technology Co ltd
Current assignee: Zhejiang Yingpai Automobile Technology Co ltd; Shanghai Yingpai Automobile Technology Co ltd
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2023-05-16
Anticipated expiration: 2042-08-10
Also published as: CN115416646A

Abstract

The utility model relates to a trailer-type motor home and trailer-type motor home automatic parking method relates to the field of vehicle technology, and comprises a chassis, a carriage arranged on the chassis, a travelling wheel arranged on the chassis, a trailer connected with a traction vehicle and hinged with a vehicle door on the carriage, a processor for acquiring first position information of the motor home, acquiring relevant information of at least two parking areas when the first position information is in a preset scenic spot range, determining an optimal parking area from the at least two parking areas based on the relevant information of the at least two parking areas, determining a running route based on the first position information and the optimal parking position, and controlling the motor home to run according to the running route. The method has the effect of quickly finding the most suitable parking position of the caravan in the scenic spot.

Description

Trailer type motor home and automatic parking method thereof

Technical Field

The application relates to the field of vehicle technologies, in particular to a trailer type motor home and an automatic parking method of the trailer type motor home.

Background

The trailer type motor home is one under the motor home, and is different from the self-propelled motor home, the trailer type motor home has no power and needs an additional vehicle to carry out trailer driving.

Currently, a pull-type caravan is generally applied to travel, and a user moves the pull-type caravan to a designated area in a scenic spot for camping. Because the situation that the user is unfamiliar with the scenic spot, the scenic spot environment is complex and the like exists, the user can not quickly find the parking position which is most suitable for the caravan in the scenic spot, and therefore, how to quickly determine the most suitable parking position of the caravan from the scenic spot becomes a problem.

Disclosure of Invention

In order to quickly find the most suitable parking position of a caravan in a scenic spot, the application provides a trailing caravan and an automatic parking method of the trailing caravan.

In a first aspect, the present application provides a trailing type caravan, which adopts the following technical scheme:

the automatic parking method of the trailer-type motor home comprises a chassis, a carriage arranged on the chassis and travelling wheels arranged on the chassis, wherein a trailer for connecting with a traction vehicle is arranged on the chassis, and a vehicle door is hinged on the carriage;

the system also comprises a processor, a first position information acquisition unit and a second position information acquisition unit, wherein the processor is used for acquiring the first position information of the caravan;

When the first position information is in the range of the preset scenic spot, acquiring related information of at least two parking areas;

determining an optimal parking area from the at least two parking areas based on the related information of the at least two parking areas;

determining an optimal parking position from the optimal parking area;

determining a travel route based on the first location information and the optimal parking location;

and controlling the caravan to travel according to the travel route.

Through adopting above-mentioned technical scheme, the walking wheel on the chassis is used for the removal of trailer formula car as a house, and the carriage is used for personnel to live the rest, and the trailer is connected with traction vehicle to make traction vehicle drive trailer formula car as a house and remove, personnel can more convenient come in and go out the carriage through the door. The processor acquires first position information of the caravan, when the first position information is located in a preset scenic spot range, the caravan is stated to enter the scenic spot, related information of at least two parking areas in the scenic spot is acquired according to the preset scenic spot range, the related information characterizes specific conditions of the parking areas, the optimal parking area can be determined from the at least two parking areas according to the related information, and then the optimal parking position in the optimal parking area is determined. And determining a running route according to the first position information and the optimal parking position of the caravan, and controlling the caravan to run according to the running route. So that the person can quickly find and reach the optimal parking position without familiarity with the scenery.

In another possible implementation manner, a partition plate is arranged on the chassis, the partition plate is positioned in the carriage, and the partition plate is perpendicular to the chassis; the partition plate divides the carriage into a first space and a second space;

the first space is close to the trailer, a rear carriage cover is hinged to the carriage, the rear carriage cover is located in the second space, an operation table is arranged in the carriage, and the operation table is located in the second space.

Through adopting above-mentioned technical scheme, the division board falls into two spaces with the carriage to make the interior space distribution of carriage more orderly, set up the operation panel in the second space, thereby be convenient for personnel carry out camping related operation.

In another possible implementation manner, a bed board is arranged in the carriage, the bed board is positioned in the first space, and heating wires are arranged on the bed board.

By adopting the technical scheme, the bed board can be used for people to rest, and the heating wires are used for heating the bed board, so that people feel more comfortable when resting on the bed board.

In another possible implementation manner, an air conditioning device is arranged on the chassis, and the air conditioning device is communicated with the interior of the carriage;

an illuminating lamp is arranged in the carriage;

the top of the carriage and one side of the carriage close to the trailer are provided with transparent windows.

By adopting the technical scheme, the air conditioning device is used for adjusting the temperature inside the carriage, so that people feel more comfortable when being in the carriage. The illuminating lamp is used for illuminating the interior of the carriage, so that personnel can conveniently move in the carriage. The transparent window is arranged, so that people can observe the external environment in the carriage more conveniently.

In a second aspect, the present application provides a method for automatically parking a trailer, which adopts the following technical scheme:

an automatic parking method for a towed caravan, which is performed by the towed caravan of the first aspect, includes:

acquiring first position information of a caravan;

determining an optimal parking position from the optimal parking area;

and controlling the caravan to travel according to the travel route.

By adopting the technical scheme, the first position information of the caravan is acquired, when the first position information is positioned in the preset scenic spot range, the caravan is illustrated to enter the scenic spot, the related information of at least two parking areas in the scenic spot is acquired according to the preset scenic spot range, the specific condition of the parking areas is represented by the related information, the optimal parking area can be determined from the at least two parking areas according to the related information, and then the optimal parking position in the optimal parking area is determined. And determining a running route according to the first position information and the optimal parking position of the caravan, and controlling the caravan to run according to the running route. So that the person can quickly find and reach the optimal parking position without familiarity with the scenery.

In another possible implementation manner, the related information includes air temperature information, distance information, and road condition information, and the determining the optimal parking area from the at least two parking areas based on the related information of the at least two parking areas includes:

calculating the score of each parking area according to the weight corresponding to the air temperature information, the distance information and the road condition information;

the highest scoring parking area is determined as the optimal parking area.

By adopting the technical scheme, the score of each parking area is comprehensively determined according to the air temperature information, the distance information and the road condition information of each parking area and the weight corresponding to each parking area, the parking area with the highest score is determined as the optimal parking area, and the optimal parking area is comprehensively determined according to the related information, so that the determined optimal parking area is more accurate.

In another possible implementation, determining an optimal berthing position from the optimal berthing region comprises:

acquiring the current time;

determining an arrival time to the optimal parking area based on the travel route and a current time;

acquiring historical image information of the optimal parking area corresponding to the arrival time in a first preset time period;

Performing feature recognition on the historical image information to obtain the characteristics of the caravan in the historical image information;

dividing the historical image information into a plurality of first sub-regions;

determining a first subarea where the caravan characteristic is located in the historical image information;

determining the times of occurrence of the characteristics of the motor home in each first subarea according to the historical image information;

acquiring current image information of an optimal parking area;

determining that a first alternative subarea of the caravan feature does not exist in the current image information;

and determining the first alternative sub-area with the largest number of times of the feature of the motor home in the first preset time period as the optimal parking position.

By adopting the technical scheme, the arrival time reaching the optimal parking area is determined according to the current time and the driving route. And finding out historical image information corresponding to the arrival time from the image information of the optimal parking area in a preset time period according to the arrival time, identifying the caravan characteristics in the historical image information, determining the number of times of the caravan appearing in each first subarea according to the historical image information, wherein the number of the caravan appearing in a certain first subarea is the largest, indicating that the area is the hottest, and further indicating that the area in the parking area is the optimal parking position.

acquiring video information of an optimal parking area in a second preset time period;

dividing a picture of the video information into a plurality of second sub-regions;

determining the times of occurrence of the caravan feature in each second subarea and the total duration of occurrence of the caravan feature in each second subarea according to the video information;

calculating the score of each second subarea according to the times of the occurrence of the caravan features in each second subarea, the total duration of the occurrence of the caravan features in each second subarea and the respective corresponding weights;

acquiring current image information of an optimal parking area;

determining that a second alternative subarea of the caravan does not exist in the current image information;

the second alternative sub-area with the highest score is determined as the optimal mooring point position.

By adopting the technical scheme, the situation that although the number of times of the motor home in one sub-area is not large, the residence time of each motor home is relatively long can occur, and the situation that the number of times of the motor home in one sub-area is large, but the motor home is only a road or the residence time is relatively short, the feeling position is poor and the motor home leaves the area can also occur. The optimal parking point is determined comprehensively according to the number of the vehicles, the total duration of the vehicles, and the weights corresponding to the vehicles.

In another possible implementation manner, controlling the caravan to travel according to the travel route includes:

acquiring first image information of an optimal parking area in real time;

judging whether the car as a house is occupied in the optimal parking position according to the first image information;

if so, judging whether the target parking position occupies the caravan or not according to the first image information, wherein the target parking position is the next parking position in the last judging period in which the parking positions are in descending order of scores or in descending order of the number of caravans;

if not, determining the target parking position as an optimal parking position;

if so, the step of judging whether the target parking position occupies the caravan or not according to the first image information is circularly executed until a first preset condition is met;

the first preset condition includes at least one of:

no occupied caravan exists in the target parking position;

the target parking position is the last parking area in the descending score order or the descending number of the motor home.

By adopting the technical scheme, the situation that the optimal parking position is occupied possibly occurs in the process that the caravan runs to the optimal parking position, so that the first image information of the optimal parking area is acquired in real time, whether the optimal parking position occupies the caravan is judged according to the first image information, if so, the optimal parking position is redetermined from other subareas according to the descending order of scores or the descending order of the number of the caravan, and the effect of determining the optimal parking position is improved by analyzing the distribution situation of the caravan in the optimal parking area in real time.

determining a first number of caravans within the optimal parking area based on the first image information;

if the first number of caravans reaches a preset number threshold, circularly executing descending order according to the scores of the at least two parking areas, acquiring second image information, determining second number of caravans in the corresponding parking areas based on the second image information, and judging whether the second number of caravans reaches the preset number threshold or not until a second preset condition is met;

the second image information is the next parking area of the parking areas in the last judging period in descending score order;

the second preset condition includes at least one of:

the number of the second caravans does not reach a preset number threshold;

the parking area corresponding to the second image information is the last parking area in the descending score order;

and if the number of the second caravans does not reach the preset number threshold, determining the parking area corresponding to the current second image information as the optimal parking area.

By adopting the technical scheme, when the number of the caravans in the optimal parking area is larger than the preset number threshold, the situation that the number of the caravans in the optimal parking area is larger is indicated, and the caravans are not suitable for camping in the optimal parking area is indicated, so that the optimal parking area is redetermined from other parking areas according to the score descending order of the parking areas, and the caravans can always travel to the more suitable parking areas.

In a third aspect, the present application provides a trailing type caravan automatic parking device, which adopts the following technical scheme:

a pull-type caravan automatic parking apparatus, comprising:

the first acquisition module is used for acquiring first position information of the caravan;

the second acquisition module is used for acquiring the related information of at least two parking areas when the first position information is in the range of the preset scenic spot;

a region determining module for determining an optimal parking region from the at least two parking regions based on the related information of the at least two parking regions;

a position determining module for determining an optimal parking position from the optimal parking area;

a route determination module for determining a travel route based on the first location information and the optimal parking location;

and the control module is used for controlling the caravan to travel according to the travel route.

By adopting the technical scheme, the first acquisition module acquires the first position information of the caravan, when the first position information is positioned in the preset scenic spot range, the caravan is stated to enter the scenic spot, the second acquisition module acquires the related information of at least two parking areas in the scenic spot according to the preset scenic spot range, the related information characterizes the specific condition of the parking areas, the area determination module can determine the optimal parking area from the at least two parking areas according to the related information, and the position determination module determines the optimal parking position in the optimal parking area. The route determination module determines a travel route according to the first position information and the optimal parking position of the caravan, and the control module controls the caravan to travel according to the travel route. So that the person can quickly find and reach the optimal parking position without familiarity with the scenery.

In another possible implementation manner, the related information includes air temperature information, distance information and road condition information, and the area determining module is specifically configured to, when determining an optimal parking area from the at least two parking areas based on the related information of the at least two parking areas:

the highest scoring parking area is determined as the optimal parking area.

In another possible implementation, the position determination module, when determining the optimal parking position from the optimal parking area, is specifically configured to:

acquiring the current time;

acquiring current image information of an optimal parking area;

In another possible implementation, the apparatus further includes:

the image acquisition module is used for acquiring first image information of the optimal parking area in real time;

the first judging module is used for judging whether the car as a house is occupied in the optimal parking position according to the first image information;

the second judging module is used for judging whether the target parking position occupies the caravan or not according to the first image information when the target parking position exists, wherein the target parking position is the next parking position in the descending order of scores or the descending order of the number of the caravan in the last judging period;

a first determining module for determining the target berthing position as an optimal berthing position when not present;

the first circulation module is used for circularly executing the step of judging whether the target parking position occupies the caravan or not according to the first image information when the target parking position exists, until a first preset condition is met;

the first preset condition includes at least one of:

no occupied caravan exists in the target parking position;

In another possible implementation, the apparatus further includes:

a quantity determination module for determining a first number of caravans within the optimal parking area based on the first image information;

the second circulation module is used for circularly executing descending scores according to the at least two parking areas when the first number of the motor home reaches a preset number threshold value, acquiring second image information, determining the second number of the motor home in the corresponding parking area based on the second image information, and judging whether the second number of the motor home reaches the preset number threshold value or not until a second preset condition is met;

the second preset condition includes at least one of:

the number of the second caravans does not reach a preset number threshold;

and the second determining module is used for determining the parking area corresponding to the current second image information as the optimal parking area when the number of the second caravans does not reach the preset number threshold value.

In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:

A computer readable storage medium, which when executed in a computer, causes the computer to perform a method of automated parking of a tractor-trailer as defined in any one of the second aspects.

In summary, the present application includes at least one of the following beneficial technical effects:

1. acquiring first position information of the caravan, when the first position information is located in a preset scenic spot range, describing that the caravan enters the scenic spot, acquiring related information of at least two parking areas in the scenic spot according to the preset scenic spot range, characterizing specific conditions of the parking areas, determining an optimal parking area from the at least two parking areas according to the related information, and determining an optimal parking position in the optimal parking area. And determining a running route according to the first position information and the optimal parking position of the caravan, and controlling the caravan to run according to the running route. So that the person can quickly find and reach the optimal parking position under the condition of unfamiliar with the scenic spot;

2. although the number of times of the motor home in one sub-area is not large, the residence time of each motor home is relatively long, and the situation that the motor home in one sub-area is not large, but only the road is passed or the residence time is short, the position is not good, and the motor home leaves the area can be also generated. The optimal parking point is determined comprehensively according to the number of the vehicles, the total duration of the vehicles, and the weights corresponding to the vehicles.

Drawings

Fig. 1 is an isometric view of a trailing car as a house according to an embodiment of the present application.

Fig. 2 is a cross-sectional view of the trailer-type motor home shown in fig. 2.

Fig. 3 is a schematic structural diagram of a trailer-type caravan according to an embodiment of the present application.

Fig. 4 is a schematic flow chart of a method for automatically parking a trailer in an embodiment of the present application.

Fig. 5 is a schematic structural view of a trailer-type automatic parking device for a motor home according to an embodiment of the present application.

Reference numerals illustrate: 1. a chassis; 11. a processor; 2. a carriage; 21. a vehicle door; 22. a first space; 23. a second space; 24. a rear compartment cover; 25. an operation table; 26. a bed board; 261. a heating wire; 27. a transparent window; 3. a walking wheel; 4. a tractor; 5. an air conditioning device; 6. a partition plate; 7. an illuminating lamp.

Detailed Description

The present application is described in further detail below with reference to the accompanying drawings.

Modifications of the embodiments which do not creatively contribute to the invention may be made by those skilled in the art after reading the present specification, but are protected by patent laws only within the scope of claims of the present application.

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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 apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.

Embodiments of the present application are described in further detail below with reference to the drawings attached hereto.

The embodiment of the application discloses a trailing type motor home, and the following is a further detailed description of the trailing type motor home in the application with reference to the accompanying drawings.

Referring to fig. 1 and 2, a trailer-type motor home according to an embodiment of the present application further includes a chassis 1, a cabin 2, and a traveling wheel 3. The chassis 1 is of a plate-shaped structure, and the carriage 2 and the travelling wheels 3 are respectively arranged on two sides of the chassis 1. The carriage 2 is fixedly connected with the chassis 1. The chassis 1 is also provided with a trailer 4 for connection with a towing vehicle, and the position of the trailer 4 is defined as the front of the trailer caravan.

The walking wheels 3 are rotatably connected with the chassis 1, and the number of the walking wheels 3 can be three or four. When the number of the walking wheels 3 is three, one walking wheel 3 is positioned at the middle position of one side of the chassis 1 close to the trailer 4, and the other two walking wheels 3 are positioned at two sides of one end of the chassis 1 far away from the trailer 4. When the number of the walking wheels 3 is four, two of the walking wheels 3 are positioned on one side of the chassis 1 close to the trailer 4, and the other two walking wheels 3 are positioned on one side of the chassis 1 far from the trailer 4.

The cabin 2 may have a rectangular parallelepiped structure or may have another shape. The inside cavity that is of carriage 2, the articulated door 21 that has in carriage 2 side, the one side that is close to carriage 2 trailer 4, carriage 2 top and carriage 2 side all have seted up transparent window 27, are convenient for personnel observe external environment through transparent window 27.

Referring to fig. 1 and 3, the trailer-type caravan according to the embodiments of the present application further includes a processor 11, where the processor 11 may be disposed on the chassis 1, may be disposed in the cabin 2, and may be disposed at other positions of the caravan. The processor 11 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. The processor 11 may also be a combination for performing computing functions, e.g. comprising one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

The processor 11 controls to perform a trailer-type motor home automatic parking method as shown in fig. 4, which includes steps S101, S102, S103, S104, S105 and S106, wherein,

s101, acquiring first position information of a caravan.

For the embodiment of the application, the first location information of the caravan is the current location information of the caravan. The GPS positioning device can be arranged on the caravan to determine the first position information of the caravan, and then the processor acquires the position information acquired by the GPS positioning device, so that the first position information of the caravan can be obtained.

Because the motor home needs to be connected with the traction vehicle, the traction vehicle tows the motor home to move, so that the position information of the traction vehicle can be obtained, and the position information of the traction vehicle is used for representing the first position information of the motor home.

S102, when the first position information is in the range of the preset scenic spot, acquiring the related information of at least two parking areas.

For the embodiment of the application, the staff can pre-store the position range of each scenic spot in the processor of the caravan. After the processor acquires the first position information, judging whether the first position information is in a preset scenic region range. If the vehicle is in the range of the preset scenic spot, the condition that the vehicle enters the scenic spot is indicated. There may be at least two parking areas in the scenic spot where caravans park. Each preset attraction range corresponds to at least two parking areas within the attraction. After determining the range of the preset scenic spot where the caravan is located, the processor determines at least two parking areas according to the scenic spot where the caravan is located, and acquires relevant information of the at least two parking areas.

S103, determining an optimal parking area from among the at least two parking areas based on the related information of the at least two parking areas.

For the embodiment of the application, the processor acquires the related information of each parking area, and the situation of each parking area is different, so that the optimal parking area in at least two parking areas can be determined according to the related information, a user is allowed to be exposed in the optimal parking area, and the experience of the user is improved.

S104, determining an optimal parking position from the optimal parking area.

For the present embodiments, there is an optimal parking position in the optimal parking area that best suits the user's camping due to the large extent of the parking area. The optimal parking position is determined from the optimal parking area. Camping in the optimal parking position further improves the user experience.

S105, determining a travel route based on the first position information and the optimal parking position.

For the embodiment of the application, after determining the optimal parking position and the current first position information of the caravan, the processor may determine the driving route according to the optimal parking position and the first position information. Since the user is unfamiliar with the route in the unfamiliar scenic spot, the user is facilitated to quickly reach the optimal parking position by determining the travel route. The processor may plan the driving route according to road information, the first location information, and the optimal parking location in the electronic map by calling the electronic map.

S106, controlling the caravan to travel according to the travel route.

For the embodiment of the application, the motor home can be provided with low-speed power, namely a small engine or a small motor is arranged in the motor home, so that the motor home can move. Due to road or environmental restrictions in the attraction, it is inconvenient for the towing vehicle to continue to tow the caravan to move in the attraction. Thus, after entering the scenic spot, the towing vehicle can be disconnected from the caravan, moved by the drive means of the caravan itself, for example a small engine or a small motor, and driven to the optimal parking position.

Referring to fig. 1 and 2, an air conditioner 5 is further provided on the chassis 1, and the air conditioner 5 is located between the cabin 2 and the tractor 4. An air outlet of the air conditioner 5 communicates with the interior of the vehicle cabin 2, and is used for adjusting the temperature in the vehicle cabin 2. In the embodiment of the present application, the air conditioner 5 may be communicatively connected to a terminal device of a user, so that the user remotely controls the air conditioner 5 through the terminal device.

Referring to fig. 1 and 2, a partition plate 6 is fixedly connected to the upper side of the chassis 1, and the partition plate 6 is located inside the carriage 2. The partition plate 6 is perpendicular to the chassis 1 and perpendicular to the travelling direction of the trailer. The partition plate 6 partitions the vehicle cabin 2 into a first space 22 and a second space 23, the first space 22 being close to the tractor 4 and the second space 23 being distant from the tractor 4. The first space 22 may be used for personnel living and the second space 23 may be used for personnel to store items or engage in camping related activities.

Referring to fig. 1 and 2, a rear deck lid 24 is further hinged to the top of the cabin 2, and the rear deck lid 24 is located above the second space 23 for partitioning the second space 23 from the outside. An operation table 25 is fixedly connected to the partition plate 6, and the operation table 25 is horizontally arranged and positioned in the second space 23. Further, the storage box can be further arranged on one surface of the partition plate 6, which is located in the second space 23, or a storage space is formed by constructing a water plate and a vertical plate, so that the storage effect and the space utilization rate of the articles are improved. Further, a water tap and a water pool can be arranged on the operation table and used for cooking in camping and the like.

Referring to fig. 2, a bed board 26 may be further disposed in the first space 22 inside the cabin 2, the bed board 26 may be used for a rest of a person, a heating wire 261 may be disposed inside the bed board 26, and the heating wire 261 is used for heating the bed board 26, so as to improve comfort of the person at rest. A mattress can be arranged on the bed plate 26, and a heating wire 261 can be arranged inside the mattress.

The carriage 2 top fixedly connected with light 7, the light is located first space 22. The illuminating lamp 7 is used for illuminating the interior of the carriage 2, so that personnel can conveniently move in the carriage.

In this embodiment, the chassis 1 may further be provided with a storage battery, where the storage battery is electrically connected with electrical devices such as the air conditioner 5, the illumination lamp 7, and the heating wire 261, and is used for supplying power to the air conditioner 5, the illumination lamp 7, and the heating wire 261. The storage battery can be electrically connected with the power management system, and the power management system is in communication connection with the terminal equipment of the user, so that the user can monitor the service condition of the storage battery remotely through the terminal equipment. The chassis 1 can be further provided with a motor, and the motor is connected with the travelling wheels 3 and used for driving the travelling wheels 3 to rotate so as to drive the trailer-type motor home to run. The vehicle-mounted WiFi device can be arranged in the carriage 2 and used for providing a wireless network.

In the embodiment of the present application, a microphone device may be further disposed in the cabin 2, and the microphone device may collect the speaking content of the user. After the caravan acquires the speaking content of the user, the speaking content can be analyzed, and further, the electric devices such as the air conditioner 5, the illuminating lamp 7, the heating wire 261 and the like are controlled in a voice mode.

The utility model provides a trailer-type motor home can also include the characteristic that the figure 3 shows, and the trailer-type motor home that the figure 3 shows still includes: a memory 12. Wherein the processor 11 is coupled to the memory 12, such as via a bus 13. Optionally, the pull-behind caravan may also include a transceiver 14. It should be noted that, in practical application, the transceiver 14 is not limited to one, and the structure of the trailer-type caravan is not limited to the embodiment of the present application.

Bus 13 may include a path to transfer information between the aforementioned components. Bus 13 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, among others. The bus 13 may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 3, but not only one bus or type of bus.

Memory 12 may be, but is not limited to, ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, EEPROM (Electrically Erasable Programmable Read Only Memory ), CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

The memory 12 is used for storing application program codes for executing the present application and is controlled to be executed by the processor 11. The processor 11 is arranged to execute application code stored in the memory 12.

The trailer type caravan illustrated in fig. 3 is only an example, and the structure illustrated in fig. 3 may be an example of a caravan performing the trailer type caravan automatic parking method in the embodiment of the present application, and should not bring any limitation to the functions and the application ranges of the embodiment of the present application.

The embodiment of the application provides a method for automatically parking a trailer-type motor home, which is executed by the trailer-type motor home (hereinafter referred to as motor home), as shown in fig. 4, and comprises steps S101, S102, S103, S104, S105 and S106, wherein,

s101, acquiring first position information of a caravan.

S104, determining an optimal parking position from the optimal parking area.

S106, controlling the caravan to travel according to the travel route.

In one possible implementation manner of the embodiment of the present application, the relevant information includes air temperature information, distance information, and road condition information, and the step S103 determines the optimal parking area from the at least two parking areas based on the relevant information of the at least two parking areas, specifically includes a step S1031 (not shown in the figure) and a step S1032 (not shown in the figure), where,

s1031, calculating the score of each parking area according to the weight corresponding to the air temperature information, the distance information and the road condition information.

For the embodiment of the application, the air temperature information, the distance information and the road condition information of the parking area are all factors for judging whether the parking area is suitable for caravan camping. For example, the higher the air temperature is, the more unsuitable for camping, the farther the distance information from the parking area to the first position information is, the worse the road condition information reaching the parking area is, for example, the road condition information can be classified into three grades, and the higher the grade is, the worse the road condition information is, so that the weight of each relevant information can be correspondingly set according to the actual condition of each scenic spot. A score for each parking area is calculated based on the weights and related information, and the extent to which each parking area is suitable for camping is characterized by the score.

S1032, the highest scoring parking area is determined as the optimal parking area.

For the present embodiment, it is assumed that there are parking areas a and B in a certain scenic spot. The air temperature information of the parking area A is 26 ℃, the distance information is 2km, and the road condition grade is three-level. The air temperature information of the parking area B is 20 ℃, the distance information is 3km, and the grade of the road condition information is two grades. The weight of the air temperature information is-0.4, the weight of the distance information is-0.3, and the weight of the road condition information is-0.3. And calculating according to the weight to obtain a score of-11.9 of the parking area A and a score of-9.5 of the parking area B. Thus, the score of parking area B is highest, and parking area B is the optimal parking area.

One possible implementation manner of the embodiment of the present application, in which the optimal parking position is determined from the optimal parking area in step S104, specifically includes step S1041 (not shown in the figure), step S1042 (not shown in the figure), step S1043 (not shown in the figure), step S1044 (not shown in the figure), step S1045 (not shown in the figure), step S1046 (not shown in the figure), step S1047 (not shown in the figure), step S1048 (not shown in the figure), step S1049 (not shown in the figure), and step S10410 (not shown in the figure), where,

S1041, obtaining the current time.

For the embodiment of the application, the processor may acquire the current time through an internal clock chip, may acquire the current time through a server, and may also acquire the current time through the internet. Assume that the acquired current time is 17:00.

s1042, determining an arrival time to the optimal parking area based on the travel route and the current time.

For the embodiments of the present application, the processor determines the arrival time based on the current time and the travel route. The processor may calculate the arrival time based on an average speed of the caravan. The average speed may be input to the processor through an input device such as a mouse or a keyboard in advance, or may be determined from a past travel speed of the caravan, assuming that the average speed is 10km/h. The length of the travel route was 3km and the processor calculated 0.3h for reaching the optimal parking area. The arrival time is determined to be 17 based on the current time and the time to reach the optimal parking area: 20.

s1043, acquiring historical image information of the optimal parking area corresponding to the arrival time within the first preset time period.

For the embodiment of the present application, taking step S1042 as an example, assuming that the first preset time period is the last 30 days, the processor acquires 17:20 daily image information in the last 30 days. The image information may be acquired by a camera device disposed in the parking area. Historical image information corresponding to the arrival time in the past 30 days is acquired, so that the analysis and the calculation of the parking condition of the caravan in the optimal parking area corresponding to the arrival time of the current day are facilitated.

S1044, performing feature recognition on the historical image information to obtain the caravan features in the historical image information.

For the embodiment of the application, the historical image information can be input into a trained network model for identifying the characteristics of the caraway, and the network model can be a convolutional neural network, a cyclic neural network, or other network models, which are not limited herein. And inputting the historical image information into the trained network model, so as to identify the characteristics of the caravan in the historical image information.

In the embodiments of the present application, it is also possible that other kinds of vehicles are camping, such as cars, etc., in the optimal parking area. Other vehicles in the optimal parking area can thus also be identified, characterizing camping of parked vehicles in the optimal parking area.

S1045, dividing the history image information into a plurality of first sub-areas.

For the embodiment of the present application, for example, the historical image information is divided into a plurality of first sub-areas with 10×10 specifications, and each first sub-area may be further labeled for distinguishing each first sub-area.

S1046, determining a first sub-region in which the caravan characteristic in the historical image information is located.

For the embodiment of the application, after the characteristics of the caravan are identified, a first subarea where the characteristics of the caravan are located in the historical image information is further determined. For example, in yesterday's historical image information, there is a caravan feature in the first subregion of No. 50, no. 55, and No. 90.

S1047, determining the number of times of the feature of the caravan in each first subarea according to the historical image information.

For the embodiment of the application, taking step S1043 and step S1045 as examples, after acquiring the historical image information of 17:20 per day in the past 30 days, the number of the features of the caravan appearing in each sub-area in the 10×10 sub-areas is determined. Let 0 occurrences of the first subregion No. 1, 1 occurrence of the first subregion No. 2, 0 occurrences of the first subregion No. 3, and so on. The more times a caravan feature occurs in a first sub-zone, the hotter the first sub-zone, the more suitable the most optimal parking position.

S1048, current image information of the optimal parking area is acquired.

For the embodiment of the application, the current image information can be acquired through the camera device arranged in the optimal parking area, and the image information of the arrival time can be approximately represented through the current image information because the current time and the arrival time are slightly different.

S1049, determining that a first alternative subarea of the caravan feature does not exist in the current image information.

For the embodiment of the application, if other caravans exist in the current image information, determining a first subarea where the other caravans are located, and filtering the first subarea where the other caravans are located. The first subregion in which no other caravan is present is a first alternative subregion, from which the optimal parking position is determined.

S10410, determining the first alternative sub-area with the largest number of times of the characteristics of the motor home in the first preset time period as the optimal parking position.

For the embodiment of the present application, taking step S1043 as an example, the number of times of occurrence of the caraway in the 50 th first sub-area is the largest, the number of occurrences of the caraway in the 60 th first alternative sub-area is 10 times, the number of occurrences of other caraways in the 60 th first alternative sub-area is only inferior to the 50 th first sub-area, and the number of occurrences is 9 times. However, the first sub-area No. 50 is occupied by other vehicles and the first alternative sub-area No. 60 is unoccupied in the current image information, so the first alternative sub-area No. 60 is determined as the optimal parking position. The first alternative sub-area 60 is also the hotter parking location and thus can be the optimal parking location.

In one possible implementation manner of the embodiment of the present application, the step S104 determines the optimal parking position from the optimal parking area, and specifically further includes a step S10411 (not shown in the figure), a step S10412 (not shown in the figure), a step S10413 (not shown in the figure), a step S10414 (not shown in the figure), a step S10415 (not shown in the figure), a step S10416 (not shown in the figure), and a step S10417 (not shown in the figure), where,

s10411, obtaining video information of the optimal parking area for the second preset time period.

For the embodiment of the present application, the second preset time period may be the same as the first preset time period, or may be different from the first preset time period, which is not limited herein. Assume that the second preset time period is the past 30 days. Video information at the optimal parking area for the past 30 days is acquired, which can be acquired by a camera device at the optimal parking area.

S10412 dividing the picture of the video information into a plurality of second sub-regions.

For the embodiment of the present application, the specification of the second sub-area and the specification of the first sub-area may be the same or different, which is not limited herein. It is assumed that the picture of the video information is equally divided into sub-areas of 10 x 10 specification, and each of the second sub-areas can be further distinguished by a label.

And S10413, determining the number of times of appearance of the caravan feature in each second subarea and the total duration of appearance of the caravan feature in each second subarea according to the video information.

For the embodiment of the application, the video information is analyzed to obtain the number of times that the caravan feature appears in each second sub-area and the total duration that the caravan appears in each second sub-area. When the occurrence of the caravan in a certain second subarea is detected, the number of times of the occurrence of the caravan in the subarea is increased by one. And when the motor home is detected to appear in the subarea, determining the time point of the motor home and starting timing, and stopping timing when the motor home is detected to leave the subarea, so that the residence time of the motor home in the subarea is obtained. And determining the occurrence time point of each motor home, timing, and summing the residence time of all motor home to obtain the total time.

S10414, calculating the score of each second subarea according to the times of the appearance of the caravan feature in each second subarea, the total duration of the appearance of the caravan feature in each second subarea and the weight corresponding to each second subarea.

For the embodiment of the application, the excessive occurrence of the characteristics of the caravan in the subarea may include the condition that the caravan passes through the subarea. Whether a sub-area is hot may also be related to the duration of the occurrence of a caravan in the sub-area. If the number of the motor home is too small, the longer residence time of the single motor home also indicates that the area belongs to a hot area. Therefore, whether the optimal parking position is more accurate is judged according to the number of times of the limousine in the subarea and the total time length sum of the limousine.

The staff can set the weight of the number of times of the motor home and the weight of the total duration according to the requirement. Assuming that the weight corresponding to the number of occurrences of the caravan is 0.6, the weight corresponding to the total duration is 0.4, the number of occurrences of the caravan in the second subregion of No. 1 in the past 30 days is 10, and the total duration of occurrences of the caravan is 100 hours. Score corresponding to the second subregion No. 1=10×0.6+100×0.4=46 points.

S10415, current image information of the optimal parking area is acquired.

S10416, determining that a second alternative sub-area of the caravan does not exist in the current image information.

For the embodiment of the application, if other caravans exist in the current image, determining a second sub-area where the other caravans are located, and filtering the second sub-area where the other caravans are located. The second sub-area where no other caravan is present is a second alternative sub-area, from which the optimal parking position is determined.

S10417, the second alternative subregion with the highest score is determined as the optimal mooring point position.

For the present embodiment, after determining the score for each second sub-region, the higher the score, the more suitable as the optimal parking position. Assuming that the score of the No. 60 second sub-area is highest and is 60, the number of times that other caravans appear in the No. 55 second alternative sub-area is only inferior to the number 60 first sub-area and is 57. But the 60 th second sub-area is occupied by other vehicles in the current image information, and the 55 th second alternative sub-area is unoccupied, so the 55 th second alternative sub-area is determined as the optimal parking position. The second alternative sub-area No. 55 is likewise the hotter parking location and thus can be the optimal parking location. The processor may recall from the cloud server the location information of the intermediate location of the optimal parking area, i.e. the location information of the intermediate location sub-area of the optimal parking area, e.g. longitude and latitude information. After the optimal parking position is determined, the relative position and distance between the optimal parking position and the middle position sub-area are determined, and longitude and latitude information of the optimal parking position is calculated, so that a driving route is determined according to the longitude and latitude information of the optimal parking position and first position information of the caravan.

In the embodiment of the present application, the determination of the optimal parking position according to the number of occurrences of the caravan per sub-area and the determination of the optimal parking position according to the score per sub-area may be performed simultaneously.

One possible implementation manner of the embodiment of the present application, step S106 includes, after step S107 (not shown in the figure), step S108 (not shown in the figure), step S109 (not shown in the figure), step S110 (not shown in the figure), and step S111 (not shown in the figure), where,

and S107, acquiring first image information of the optimal parking area in real time.

For the embodiment of the application, after the driving route is determined, the first image information of the optimal parking area is continuously obtained in real time, and the first image information is analyzed, so that the distribution condition of the caravans in the optimal parking area can be conveniently known in the driving process of the caravans.

S108, judging whether the car as a house is occupied in the optimal parking position according to the first image information.

For the embodiment of the application, since the best parking position may be occupied during the running process of the caravan, the processor performs feature recognition on the acquired first image information, so as to identify the caravan in the best parking area, and further, whether the caravan is occupied in the best parking area can be known.

And S109, if so, judging whether the target parking position occupies the caravan or not according to the first image information.

The target parking position is the next parking position in the last judging period in descending order of scores or in descending order of number of the motor home.

For the embodiments of the present application, if the best parking position occurs where the caravan is occupied, the best parking position needs to be redetermined. It is thus determined whether or not the next parking position of the optimal parking position occurs to occupy the caravan, i.e., the target parking position, according to the descending order of the scores or the descending order of the number of times the caravan occurs. Thus, the determined optimal parking position is always accurate.

S110, if not, determining the target parking position as the optimal parking position.

For the embodiment of the application, if it is determined that the target parking position does not occupy the caravan, the target parking position is determined as the optimal parking position.

And S111, if so, the step of judging whether the target parking position occupies the caravan or not according to the first image information is circularly executed until a first preset condition is met.

Wherein the first preset condition includes at least one of:

no occupied caravan exists in the target parking position;

the target parking position is the last parking area in descending score order or descending number of motor home occurrences.

For the embodiment of the present application, if the first best parking position with the highest score is occupied, whether the second parking position is occupied is determined according to the descending score, and if the second parking position is occupied, whether the third parking area is occupied is continuously determined. Until it is determined that there is no occupied sub-area or the currently determined parking position is the last sub-area.

One possible implementation manner of the embodiment of the present application, step S106 includes step S112 (not shown in the figure), step S113 (not shown in the figure), and step S114 (not shown in the figure), where,

s112, determining the first number of caravans in the optimal parking area based on the first image information.

For the embodiment of the application, after the processor acquires the first image information, the first image information is subjected to caravan feature recognition, so that the number of caravans in the optimal parking area is obtained.

And S113, if the first number of the caravans reaches the preset number threshold, circularly executing the steps according to the descending order of scores of at least two parking areas, acquiring second image information, determining the second number of the caravans in the corresponding parking areas based on the second image information, and judging whether the second number of the caravans reaches the preset number threshold or not until a second preset condition is met.

Wherein the second image information is a next parking area of the parking areas in descending order of scores in the previous judging period;

the second preset condition includes at least one of:

the number of the second caravans does not reach a preset number threshold;

the parking area corresponding to the second image information is the last parking area in the descending score order.

For the embodiment of the application, assuming that the preset number threshold is 15, after the number of the caravans in the optimal parking area is identified, comparing the number of the caravans with the preset number threshold, if the number of the caravans is greater than 15, the number of the caravans in the optimal parking area is larger and crowded. Thus, it is no longer suitable to camp in the optimal parking area.

At this time, according to the score descending order of each parking area, second image information of the second parking area is obtained, the number of caravans in the second parking area is determined through caravans feature recognition, whether the number of caravans in the second parking area exceeds 15 is judged, if the number of caravans in the second parking area exceeds 15, the situation that the number of caravans in the second parking area is too large is indicated, second image information of the third parking area is continuously obtained, the number of caravans in the third parking area is determined through caravans feature recognition, whether the number of caravans in the third parking area exceeds 15 is judged, if the number of caravans in the third parking area exceeds 15, second image information of the fourth parking area is continuously obtained, the number of caravans in the fourth parking area is identified, until the number of caravans does not reach 15 is determined, or the second image information of the last parking area is obtained, and the number of caravans in the last parking area is judged.

And S114, if the number of the second caravans does not reach the preset number threshold, determining the parking area corresponding to the current second image information as the optimal parking area.

For the embodiment of the present application, taking step S113 as an example, assuming that the number of caravans in the fourth parking area is 8, it is sufficient to indicate that the number of caravans in the fourth parking area does not reach the preset number threshold value of 15, so the fourth parking area is determined as the optimal parking area.

In the embodiment of the present application, if the optimal parking area is newly determined from among the parking areas other than the highest scoring, the optimal parking position is newly determined from among the current optimal parking areas.

Since the area size of each parking area is different, the number of caravans that can be tolerated is also different. The preset number threshold value corresponding to each parking area can be determined according to the area of each parking area. After determining the number of the caravans in a certain parking area, the processor compares the number with a preset number threshold corresponding to the area.

Because the caravan is behind the towing vehicle, the caravan can shield the tail lights of the towing vehicle. At present, the tail lamp lighting condition of a traction vehicle is synchronized to the tail lamp of the motor home by connecting a signal wire between the motor home and the traction vehicle. However, when the vehicle is driving, the signal lines may be disconnected or unstable due to jolt and precipitation, thereby causing synchronization failure or synchronization error.

In order to keep the motor home tail lights in sync with the traction vehicle tail lights in the event of disconnection or unstable connection of the signal lines. One possible implementation manner of the embodiment of the present application, the method further includes step S115 (not shown in the figure), step S116 (not shown in the figure), step S117 (not shown in the figure), and step S118 (not shown in the figure), where,

s115, acquiring front image information of the caravan, wherein the front image information comprises the tail lamp state of the traction vehicle.

For the embodiment of the application, a camera device can be arranged in front of the motor home, and the camera device is used for collecting the tail lamp state of the traction vehicle.

And S116, performing feature recognition on the front image information to obtain the features of all tail lights of the traction vehicle.

For the embodiment of the application, the front image information can be input into a trained network model to carry out tail lamp identification, so that all parts of tail lamp characteristics of the traction vehicle are obtained.

S117, determining RGB values of each tail lamp.

For the embodiment of the application, after identifying the tail light features, the RGB value of each tail light in the front image information is determined. The determination of whether the tail lamp is lit or not is facilitated based on the RGB values.

And S118, when the RGB value of any tail lamp reaches the corresponding preset RGB value, controlling the tail lamp corresponding to any tail lamp on the caravan to be lightened.

For the embodiment of the present application, the preset RGB value of the RED tail lamp is red=200, for example. When the RGB value of the red tail lamp is detected to reach 200, a state change of the red tail lamp is indicated, and the red tail lamp is lighted. And then control the tail lamp that corresponds with red tail lamp on the car as a house and light up, can reach synchronous effect.

Due to the different vehicle types of the traction vehicles, the situation that the traction vehicles and the car as a house tail lamps are not accurately corresponding may occur. In order to facilitate the adaptation of the motor home taillight to traction vehicles of different vehicle types, a possible implementation of the embodiment of the present application, the method further includes step S119 (not shown in the figure) and step S120 (not shown in the figure), wherein,

s119, acquiring the model information of the traction vehicle.

For the embodiment of the application, the vehicle type information of the traction vehicle can be input into the trailer type motor home by a person, or the front image information can be acquired through a camera device arranged on the motor home, and the vehicle mark recognition is carried out on the front image information, so that the vehicle type information of the traction vehicle is obtained.

S120, determining the corresponding lamp type of each part of tail lamp of the traction vehicle from a preset tail lamp library based on the vehicle type information, and determining the corresponding relation between each part of tail lamp of the traction vehicle and each part of tail lamp of the caravan.

For the embodiment of the application, after the vehicle type information is determined, the vehicle lamp type corresponding to each part of the tail lamp of the traction vehicle is determined from the preset tail lamp library. For example, the tail lamp 1 corresponding to the vehicle type a is a brake type lamp, and the tail lamp 2 is a steering type lamp. After the vehicle type information of the traction vehicle is determined, the corresponding relation between the tail lights of all parts of the caravan and the tail lights of all parts of the traction vehicle can be determined according to a preset tail light library, so that the occurrence of the condition that the tail lights are in synchronization with errors is reduced.

In order to make the motor home more stable when the traction vehicle is braked, a possible implementation manner of the embodiment of the present application, the method further includes any one of step S121 (not shown in the figure) and step S122 (not shown in the figure), wherein,

and S121, when the tail lamp corresponding to the braking state on the traction vehicle is detected to be lightened, calculating the speed reduction rate of the traction vehicle, determining the braking moment of the braking device on the motor home according to the speed reduction rate, and controlling the braking device to work according to the braking moment.

For the embodiment of the application, when the tail lamp corresponding to the braking state on the traction vehicle is detected to be lightened, the traction vehicle is indicated to perform braking operation. At this time, the speed of the towing vehicle can be acquired by the speed sensor, and the speed reduction rate of the towing vehicle can be calculated. A braking torque of a braking device on the caravan is determined from the speed reduction rate. The braking torque may be determined from a predetermined rate of decrease versus braking torque curve. The control brake device works according to the braking moment, so that the braking of the motor home and the braking of the traction vehicle are kept synchronous.

S122, acquiring speed information of the traction vehicle in real time, calculating the speed reduction rate of the traction vehicle when the speed information is detected to be reduced, determining the braking moment of the braking device on the motor home according to the speed reduction rate, and controlling the braking device to work according to the braking moment.

For the embodiment of the application, whether the vehicle brakes or not can be judged without acquiring the tail lamp state of the traction vehicle, the speed information of the traction vehicle can be acquired in real time, and when the speed reduction is detected, the speed reduction rate of the traction vehicle is calculated and is determined through a preset curve of the reduction rate and the braking moment. The control brake device works according to the braking moment, so that the braking of the motor home and the braking of the traction vehicle are kept synchronous.

The above embodiments describe a method for automatically parking a trailer in terms of a method flow, and describe a trailer in terms of a virtual module or a virtual unit, and the following embodiments describe a device for automatically parking a trailer in detail as follows.

The embodiment of the application provides a trailer-type automatic caravan parking device 80, as shown in fig. 5, the trailer-type automatic caravan parking device 80 may specifically include:

A first obtaining module 801, configured to obtain first location information of a caravan;

a second obtaining module 802, configured to obtain relevant information of at least two parking areas when the first location information is within a preset scenic spot range;

a zone determination module 803 for determining an optimal parking zone from the at least two parking zones based on the relevant information of the at least two parking zones;

a position determination module 804 for determining an optimal parking position from the optimal parking area;

a route determination module 805 for determining a travel route based on the first location information and the optimal parking location;

the control module 806 is configured to control the caravan to travel according to the travel route.

For the embodiment of the application, the first obtaining module 801 obtains the first position information of the caravan, when the first position information is located in the preset scenic spot range, which indicates that the caravan enters the scenic spot, the second obtaining module 802 obtains relevant information of at least two parking areas in the scenic spot according to the preset scenic spot range, the relevant information characterizes specific situations of the parking areas, the area determining module 803 can determine the optimal parking area from the at least two parking areas according to the relevant information, and the position determining module 804 determines the optimal parking position in the optimal parking area again. The route determination module 805 determines a travel route based on the first position information of the caravan and the optimal parking position, and the control module 806 controls the caravan to travel according to the travel route. So that the person can quickly find and reach the optimal parking position without familiarity with the scenery.

In one possible implementation manner of this embodiment of the present application, the relevant information includes air temperature information, distance information, and road condition information, and the area determining module 803 is specifically configured to, when determining, based on the relevant information of at least two parking areas, an optimal parking area from among the at least two parking areas:

the highest scoring parking area is determined as the optimal parking area.

In one possible implementation of the embodiment of the present application, the location determining module 804 is specifically configured to, when determining the optimal parking location from the optimal parking area:

acquiring the current time;

determining an arrival time to the optimal parking area based on the travel route and the current time;

acquiring historical image information corresponding to the arrival time of the optimal parking area in a first preset time period;

dividing the historical image information into a plurality of first sub-areas;

determining the number of times of occurrence of the caravan feature in each first subarea according to the historical image information;

Acquiring current image information of an optimal parking area;

and determining the first alternative subarea with the largest number of occurrence times of the caravan characteristic in the first preset time period as the optimal parking position.

acquiring current image information of an optimal parking area;

In one possible implementation manner of the embodiment of the present application, the apparatus 80 further includes:

the second judging module is used for judging whether the target parking position occupies the caravan or not according to the first image information when the target parking position exists, wherein the target parking position is the next parking position in the descending order of scores or the descending order of the number of the caravan in the previous judging period;

the first circulation module is used for circularly executing the step of judging whether the target parking position occupies the caravan or not according to the first image information when the target parking position exists until a first preset condition is met;

the first preset condition includes at least one of:

no occupied caravan exists in the target parking position;

A number determination module for determining a first number of caravans within the optimal parking area based on the first image information;

the second circulation module is used for circularly executing descending scores according to at least two parking areas when the first number of the motor home reaches a preset number threshold value, acquiring second image information, determining the second number of the motor home in the corresponding parking area based on the second image information, and judging whether the second number of the motor home reaches the preset number threshold value or not until a second preset condition is met;

the second image information is the next parking area of the parking areas in the descending order of scores in the previous judging period;

the second preset condition includes at least one of:

the number of the second caravans does not reach a preset number threshold;

In this embodiment of the present application, the first acquisition module 801 and the second acquisition module 802 may be the same acquisition module or may be different acquisition modules. The first determining module and the second determining module may be the same determining module or different determining modules. The first circulation module may be the same circulation module or may be a different circulation module.

It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the automatic parking device 80 for a trailer-type caravan described above may refer to the corresponding process in the foregoing method embodiment, and will not be repeated herein.

The present application provides a computer readable storage medium having a computer program stored thereon, which when run on a computer, causes the computer to perform the corresponding method embodiments described above. Compared with the related art, in the embodiment of the application, the first position information of the caravan is acquired, when the first position information is located in the preset scenic spot range, the caravan is stated to enter the scenic spot, the related information of at least two parking areas in the scenic spot is acquired according to the preset scenic spot range, the specific condition of the parking areas is represented by the related information, the optimal parking area can be determined from the at least two parking areas according to the related information, and then the optimal parking position in the optimal parking area is determined. And determining a running route according to the first position information and the optimal parking position of the caravan, and controlling the caravan to run according to the running route. So that the person can quickly find and reach the optimal parking position without familiarity with the scenery.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.

The foregoing is only a partial embodiment of the present application and it should be noted that, for a person skilled in the art, several improvements and modifications can be made without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. The trailer type motor home is characterized by comprising a chassis (1), a carriage (2) arranged on the chassis (1) and travelling wheels (3) arranged on the chassis (1), wherein a trailer (4) used for being connected with a traction vehicle is arranged on the chassis (1), and a vehicle door (21) is hinged on the carriage (2);

The system also comprises a processor (11) for acquiring first position information of the caravan;

determining an optimal parking position from the optimal parking area;

controlling the caravan to travel according to the travel route;

wherein the related information includes air temperature information, distance information, and road condition information, and the determining an optimal parking area from among the at least two parking areas based on the related information of the at least two parking areas includes:

determining the highest scoring parking area as the optimal parking area;

wherein determining an optimal berthing position from the optimal berthing region comprises:

acquiring the current time;

acquiring current image information of an optimal parking area;

2. A pull-behind caravan as claimed in claim 1, wherein: the chassis (1) is provided with a partition plate (5), the partition plate (5) is positioned in the carriage (2), and the partition plate (5) is perpendicular to the chassis (1); the partition plate (5) divides the carriage (2) into a first space (22) and a second space (23);

the first space (22) is close to the trailer (4), a rear carriage cover (24) is hinged to the carriage (2), the rear carriage cover (24) is located in the second space (23), an operation table (25) is arranged in the carriage (2), and the operation table (25) is located in the second space (23).

3. A pull-behind caravan as claimed in claim 2, wherein: the carriage (2) is internally provided with a bed plate (26), the bed plate (26) is positioned in the first space (22), and the bed plate (26) is provided with a heating wire (261).

4. A pull-behind caravan as claimed in claim 1, wherein: an air conditioner (6) is arranged on the chassis (1), and the air conditioner (6) is communicated with the interior of the carriage (2);

an illuminating lamp (7) is arranged in the carriage (2);

transparent windows (27) are arranged on the top of the carriage (2) and on the side surfaces of the carriage (2).

5. The trailer type motor home is characterized by comprising a chassis (1), a carriage (2) arranged on the chassis (1) and travelling wheels (3) arranged on the chassis (1), wherein a trailer (4) used for being connected with a traction vehicle is arranged on the chassis (1), and a vehicle door (21) is hinged on the carriage (2);

Determining an optimal parking position from the optimal parking area;

controlling the caravan to travel according to the travel route;

determining the highest scoring parking area as the optimal parking area;

determining an optimal parking position from the optimal parking area, comprising:

Acquiring current image information of an optimal parking area;

6. A method of automatically parking a tractor-trailer caravan, performed by a tractor-trailer caravan as claimed in any one of claims 1-4, comprising:

acquiring first position information of a caravan;

determining an optimal parking position from the optimal parking area;

controlling the caravan to travel according to the travel route;

Determining the highest scoring parking area as the optimal parking area;

acquiring the current time;

acquiring current image information of an optimal parking area;

7. A method of automatically parking a tractor-trailer caravan, performed by a tractor-trailer caravan as claimed in claim 5, comprising:

Acquiring first position information of a caravan;

determining an optimal parking position from the optimal parking area;

controlling the caravan to travel according to the travel route;

determining the highest scoring parking area as the optimal parking area;

acquiring current image information of an optimal parking area;

8. The method for automatically parking a pull-type caravan according to claim 7, wherein said controlling said caravan to travel along said travel route, comprises:

acquiring first image information of an optimal parking area in real time;

If not, determining the target parking position as an optimal parking position;

the first preset condition includes at least one of:

no occupied caravan exists in the target parking position;

9. The method for automatically parking a trailer in accordance with claim 8, wherein controlling the trailer to travel along the travel route comprises:

The second preset condition includes at least one of:

the number of the second caravans does not reach a preset number threshold;