CN115520179A

CN115520179A - Passenger-replacing parking method, vehicle, server and system for vehicle

Info

Publication number: CN115520179A
Application number: CN202211292621.2A
Authority: CN
Inventors: 宣雨楼; 陈昌学; 万凯林
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2022-10-20
Filing date: 2022-10-20
Publication date: 2022-12-27

Abstract

The application relates to the technical field of automatic driving, in particular to a passenger-replacing parking method, a vehicle, a server and a system of the vehicle, wherein the method comprises the following steps: when the vehicle is detected to be in a passenger-riding parking mode, acquiring a vehicle starting point position, generating a parking path based on the vehicle starting point position, sending a parking request to a server, forwarding the parking request to a parking lot management system of a target area through the server, and activating a parking lot end gateway of the parking lot end gateway to establish communication connection with the vehicle; and controlling the vehicle to execute a parking action along the parking path, receiving the opening or closing information of the barrier sent by the parking lot end barrier, controlling the vehicle to execute a corresponding action according to the opening or closing information of the barrier, until the vehicle enters a target area, and completing parking when the vehicle reaches a parking destination position. Therefore, the problems that manual parking is still needed due to the fact that the opening and closing states of the barrier gate cannot be recognized and independent parking is achieved in the related technology, the requirements for safety and convenience of passenger-replacing parking cannot be met, and user experience is reduced are solved.

Description

Passenger-replacing parking method, vehicle, server and system for vehicle

Technical Field

The application relates to the technical field of automatic driving, in particular to a passenger-replacing parking method, a vehicle, a server and a system of the vehicle.

Background

AVP (Automated Valet Parking, autonomous Parking for a guest) is one of the popular application scenarios in the automotive industry.

In the related technology, the passenger-riding parking flow is as follows: a customer parks the vehicle in a specific area and gets off the vehicle, and confirms the damage condition of the contact way and the appearance set of the vehicle; then a special driver drives the vehicle to drive into a specific parking lot and a specific parking space to finish one-time passenger-generation parking; when the vehicle is taken, the designated driver drives the vehicle from the parking space to the vehicle-loading area of the client, and the two parties finish the connection of the vehicle and the vehicle key after confirming the correctness.

On one hand, however, the passenger car parking process needs special passengers for parking, that is, a certain amount of labor cost is needed, and in order to reduce the possibility of mistakes of the passengers as much as possible, drivers with abundant driving experiences are often employed as the passengers, so that the labor cost for passenger car parking is further increased, and meanwhile, accidents such as rubbing and scratching of the car caused by the passengers cannot be thoroughly solved; on the other hand, even if new service carriers such as APP appear along with the technological progress, the flow of passenger parking is simplified, and the autonomous parking of the vehicle can be realized, the autonomous parking of the vehicle still cannot be completely separated from manual operation, for example, when the vehicle enters a parking lot in the autonomous parking process, the opening and closing state of a barrier cannot be identified, so that the vehicle still needs to enter the parking lot in the manual operation.

Disclosure of Invention

The application provides a passenger-replacing parking method, a vehicle, a server and a system of the vehicle, and aims to solve the problems that in the related technology, the dependence of passenger-replacing parking on manpower is serious, the labor cost is high, in the autonomous parking process of the vehicle, the opening and closing state of a barrier gate cannot be identified, the autonomous parking still needs to be carried out, the requirements of a user on the safety and convenience of the passenger-replacing parking cannot be met, and the user experience is reduced.

The embodiment of the first aspect of the application provides a method for passenger-assistant parking of a vehicle, which is applied to the vehicle and comprises the following steps: detecting whether the vehicle is in a valet parking mode; when the vehicle is detected to be in the passenger-riding parking mode, acquiring a current position and a parking end position of the vehicle, generating a parking path based on the current position and the parking end position, sending a parking start request to a server, forwarding the parking start request to a parking lot management system in a target area through the server, and activating a parking lot end gateway of the parking lot management system to establish communication connection with the vehicle; the method comprises the steps of controlling a vehicle to execute a preset passenger-replacing parking action along a parking path, receiving gateway closing information sent by a parking lot end gateway when the actual distance between the vehicle and the parking lot end gateway is smaller than a distance threshold, controlling the vehicle to execute a preset stopping action according to the gateway closing information, controlling the vehicle to start to continue executing the preset passenger-replacing parking action until gateway opening information sent by the parking lot end gateway is received, entering a target area through the gateway, and completing parking when the target area reaches a parking end position.

According to the technical means, when the vehicle is detected to be in the valet parking mode, the parking path of the vehicle is obtained to generate a parking request, the request is forwarded to a parking management system in a target area through a server, a parking lot end barrier gate is activated to establish communication connection with the vehicle, current information and information of the barrier gate of the vehicle are integrated, information interaction is achieved, and starting and stopping of the valet parking action are controlled according to the opening and closing state of the barrier gate when the vehicle is close to the barrier gate; therefore, the embodiment of the application can realize automatic passenger-replacing parking of the vehicle, and saves labor cost; the information intercommunication between the vehicle and the barrier gate can be timely and efficiently realized, the accident occurrence possibility is effectively reduced, the scheme is more accurate and intelligent to execute, the parking process is safer and more reliable, the use experience of customers is improved, and the actual use requirement is met.

Further, the detecting whether the vehicle is in a valet parking mode includes: recognizing the passenger parking intention of the user; when the passenger parking intention is recognized, sending a passenger parking request to the server, wherein the server judges whether the vehicle meets a passenger parking condition or not according to state information uploaded by the vehicle after receiving the passenger parking request; and when the information that the vehicle meets the passenger parking condition and is fed back by the server is received, controlling the vehicle to enter the passenger parking mode.

According to the technical means, when the intention of the user for the valet parking is recognized, the valet parking request can be sent to the server, whether the vehicle meets the related parking conditions or not is judged, when the conditions are met, the vehicle is controlled to enter a valet parking mode, otherwise, no response is made, the safety and convenience of the valet parking are improved, and the use experience of the user is improved.

The second aspect of the present application provides a method for parking a vehicle as a passenger, which is applied to a server and includes the following steps: receiving a passenger-riding parking request of any vehicle; acquiring state information of the any vehicle according to the valet parking request, and sending a valet parking instruction to the any vehicle when the vehicle is judged to meet the valet parking condition according to the state information, so that the any vehicle enters a valet parking mode according to the valet parking instruction; after a parking start request of any vehicle entering the passenger-assistant parking mode is received, the parking start request is sent to a parking lot management system of a target area to activate a parking lot end barrier gate of the parking lot management system to establish communication connection with the vehicle, wherein after the parking lot end barrier gate establishes communication connection with the vehicle, when an actual distance between the vehicle and the parking lot end barrier gate is smaller than a distance threshold value, the vehicle receives barrier gate closing information sent by the parking lot end barrier gate, controls the vehicle to execute a preset stop action according to the barrier gate closing information, and when barrier gate opening information sent by the parking lot end barrier gate is received, the vehicle starts to continue executing the preset passenger-assistant parking action, enters the target area through the barrier gate, and completes parking when the parking end position is reached.

The embodiment of the third aspect of the application provides a passenger-replacing parking method for a vehicle, which is applied to a parking lot management system and comprises the following steps: receiving a parking starting request sent by a server; activating a parking lot end barrier gate of the parking lot management system according to the parking start request to establish communication connection with the vehicle, and sending barrier gate closing information to the vehicle when the actual distance between the vehicle and the parking lot end barrier gate is smaller than a distance threshold value, so that the vehicle executes a preset stop action according to the barrier gate closing information; the method comprises the steps of collecting license plate information and entrance time of a vehicle, controlling a barrier to be opened after collection is finished, sending barrier opening information to the vehicle when the barrier is detected to be in a preset opening state, enabling the vehicle to continue to execute preset passenger-replacing parking actions according to the barrier opening information, and controlling the barrier to be closed after the vehicle is detected to pass through the barrier and enter a target area, wherein after the vehicle enters the target area, if the vehicle reaches a parking terminal position, parking is finished.

An embodiment of a fourth aspect of the present application provides a vehicle, comprising: the detection module is used for detecting whether the vehicle is in a passenger-replacing parking mode; the processing module is used for acquiring the current position and the parking end position of the vehicle when the vehicle is detected to be in the passenger-replacing parking mode, generating a parking path based on the current position and the parking end position, sending a parking starting request to the server, forwarding the parking starting request to a parking lot management system in a target area through the server, and activating a parking lot end gateway of the parking lot management system to establish communication connection with the vehicle; the control module is used for controlling the vehicle to execute a preset passenger-replacing parking action along the parking path, receiving gateway closing information sent by the parking lot end gateway when the actual distance between the vehicle and the parking lot end gateway is smaller than a distance threshold, controlling the vehicle to execute a preset stopping action according to the gateway closing information, controlling the vehicle to start to continue executing the preset passenger-replacing parking action until gateway opening information sent by the parking lot end gateway is received, entering the target area through the gateway, and completing parking when the parking destination position is reached.

Further, the detection module is further configured to: recognizing the passenger parking intention of a user; when the passenger parking intention is recognized, sending a passenger parking request to the server, wherein the server judges whether the vehicle meets a passenger parking condition or not according to state information uploaded by the vehicle after receiving the passenger parking request; and when the information that the vehicle meets the passenger parking condition and is fed back by the server is received, controlling the vehicle to enter the passenger parking mode.

An embodiment of a fifth aspect of the present application provides a server, including: the first receiving module is used for receiving a valet parking request sent by any vehicle; the judging module is used for acquiring the state information of the any vehicle according to the valet parking request, and sending a valet parking intention to the any vehicle when judging that the vehicle meets the valet parking condition according to the state information, so that the any vehicle enters a valet parking mode according to the valet parking instruction; the first sending module is used for sending the parking starting request to a parking lot management system in a target area after receiving the parking starting request of any vehicle after entering the valet parking mode so as to activate a parking lot end gateway of the parking lot management system to establish communication connection with the vehicle, wherein after the parking lot end gateway establishes communication connection with the vehicle and when the actual distance between the vehicle and the parking lot end gateway is smaller than a distance threshold value, the vehicle receives gateway closing information sent by the parking lot end gateway, controls the vehicle to execute a preset stopping action according to the gateway closing information, and starts to continue to execute the preset valet parking action until gateway opening information sent by the parking lot end gateway is received, the vehicle enters the target area through the gateway, and the parking is completed when the destination position is reached.

An embodiment of a sixth aspect of the present application provides a parking lot management system, including: the second receiving module is used for receiving a parking starting request sent by the server; a second sending module, configured to activate a parking lot end gateway of the parking lot management system to establish a communication connection with a vehicle according to the parking start request, and send gateway closing information to the vehicle when an actual distance between the vehicle and the parking lot end gateway is smaller than a distance threshold, so that the vehicle executes a preset stop action according to the gateway closing information; the acquisition module is used for acquiring license plate information and entrance time of the vehicle; the control module is used for controlling the barrier gate to be opened after the collection is finished, controlling the second sending module to send barrier gate opening information to the vehicle when the barrier gate is detected to be in a preset opening state, enabling the vehicle to continue to execute preset passenger-replacing parking actions according to the barrier gate opening information, and controlling the barrier gate to be closed after the vehicle is detected to pass through the barrier gate and enter a target area, wherein after the vehicle enters the target area, if the vehicle reaches a parking terminal position, the parking is finished.

An embodiment of a seventh aspect of the present application provides a valet parking system for a vehicle, including: the system comprises a server, a data processing unit and a data processing unit, wherein the server is used for receiving a passenger-replacing parking request of any vehicle, acquiring state information of the any vehicle according to the passenger-replacing parking request, and sending a passenger-replacing parking instruction to the any vehicle when judging that the vehicle meets a passenger-replacing parking condition according to the state information; the system comprises one or more vehicles, wherein any vehicle is used for entering a valet parking mode according to a valet parking instruction, acquiring the current position and the parking end position of the vehicle, generating a parking path based on the current position and the parking end position, sending a parking start request to a server, and forwarding the parking start request to a parking lot management system of a target area through the server; the parking lot management system is used for activating a parking lot end gateway of the parking lot management system to establish communication connection with the vehicle according to the parking start request, and sending gateway closing information to the vehicle when the actual distance between the vehicle and the parking lot end gateway is smaller than a distance threshold value, so that the vehicle executes preset stopping action according to the gateway closing information; the method comprises the steps of collecting license plate information and entrance time of a vehicle, controlling a barrier to be opened after collection is finished, sending barrier opening information to the vehicle when the barrier is detected to be in a preset opening state, enabling the vehicle to continue to execute preset passenger-replacing parking actions according to the barrier opening information, and controlling the barrier to be closed after the vehicle is detected to pass through the barrier and enter a target area, wherein after the vehicle enters the target area, if the vehicle reaches a parking terminal position, parking is finished.

An eighth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the program is executed by a processor to implement the method for passenger parking of a vehicle as described in the foregoing embodiments.

Therefore, the application has at least the following beneficial effects:

(1) According to the method and the device, when the vehicle is detected to be in the valet parking mode, a parking path of the vehicle is obtained to generate a parking request, the request is forwarded to a parking management system in a target area through a server, a parking lot end barrier gate is activated to be in communication connection with the vehicle, current information of the vehicle and information of the barrier gate are integrated, information interaction is achieved, and starting and stopping of the valet parking action are controlled according to the opening and closing state of the barrier gate when the vehicle is controlled to be close to the barrier gate; therefore, the embodiment of the application can realize automatic passenger-replacing parking of the vehicle, and saves labor cost; the information intercommunication between the vehicle and the barrier gate can be timely and efficiently realized, the accident occurrence possibility is effectively reduced, the scheme is more accurate and intelligent to execute, the parking process is safer and more reliable, the use experience of customers is improved, and the actual use requirement is met.

(2) According to the embodiment of the application, when the intention of the passenger parking of the user is recognized, the parking request of the passenger is sent to the server, whether the vehicle meets the related parking condition or not is judged, when the condition is met, the vehicle is controlled to enter the parking mode of the passenger parking, otherwise, no response is made, the safety and the convenience of the passenger parking are improved, and the use experience of the user is improved.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a flowchart illustrating a method for valet parking of a vehicle according to an embodiment of the present application;

fig. 2 is a flowchart illustrating a method for parking a vehicle as a proxy in a server according to an embodiment of the present application;

fig. 3 is a flowchart of a method for valet parking of a vehicle applied to a parking lot management system according to an embodiment of the present application;

FIG. 4 is a flowchart of an AVP vehicle admission process provided in accordance with an embodiment of the present application;

fig. 5 is an architecture diagram of a parking lot management system provided according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a vehicle provided in accordance with an embodiment of the present application;

fig. 7 is a schematic structural diagram of a server provided according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a parking lot management system according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a valet parking system of a vehicle according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

The following describes a method, a vehicle, a server, and a system for valet parking of a vehicle according to an embodiment of the present application with reference to the drawings. In the method, when the vehicle is detected to be in a valet parking mode, a parking path of the vehicle is obtained to generate a parking request, the request is forwarded to a parking management system in a target area through a server, a parking lot end gateway is activated to establish communication connection with the vehicle, current information of the vehicle and gateway information are integrated, information interaction is realized, and the starting and stopping of the valet parking action are controlled according to the opening and closing state of the gateway when the vehicle is close to the gateway; therefore, the automatic passenger replacing and parking of the vehicle can be realized, and the labor cost is saved; the information intercommunication between the vehicle and the barrier gate can be timely and efficiently realized, the accident occurrence possibility is effectively reduced, the scheme is more accurate and intelligent to execute, the parking process is safer and more reliable, the use experience of customers is improved, and the actual use requirement is met. Therefore, the problems that in the related technology, the dependence on manpower for valet parking is serious, the labor cost is high, manual parking is still needed due to the fact that the opening and closing states of the road gate cannot be identified and the vehicle is parked autonomously in the autonomous parking process, the requirements of a user on the safety and convenience of valet parking cannot be met, the use experience of the user is reduced, and the like are solved.

Specifically, fig. 1 is a schematic flow chart illustrating a method for parking a car as a valet in a vehicle according to an embodiment of the present application.

As shown in fig. 1, the method for parking a vehicle as a valet is applied to a vehicle and comprises the following steps:

in step S101, it is detected whether the vehicle is in the valet parking mode.

The embodiment of the application may use at least one mode to detect whether the vehicle is in the Valet Parking mode, for example, an AVP (Automated Valet Parking) platform may be used to receive an autonomous Parking request from the mobile terminal and make a determination, and the like, which is not specifically limited.

It can be understood that, in the embodiment of the present application, the current mode of the vehicle may be detected in at least one manner, and whether the vehicle is in the valet parking mode at this time is determined, so as to facilitate control over the vehicle in the subsequent embodiments.

In the embodiment of the application, detecting whether the vehicle is in the valet parking mode includes: recognizing the passenger parking intention of the user; when the passenger parking intention is recognized, a passenger parking request is sent to a server, wherein the server judges whether the vehicle meets the passenger parking condition or not according to state information uploaded by the vehicle after receiving the passenger parking request; and when the information that the vehicle meets the valet parking condition fed back by the server is received, controlling the vehicle to enter a valet parking mode.

The present embodiment may identify the intention of the user in at least one manner, for example, a manner of identifying and determining through an AVP platform may be used, and the parking condition of the valet may also be set according to an actual situation, which is not limited specifically.

It can be understood that, in the embodiment of the present application, after receiving and recognizing the intention of the valet parking of the user, the parking request may be sent to the server, and the current vehicle state is judged to determine whether the vehicle meets the condition of the valet parking, and at this time, if the condition is met, the embodiment of the present application may control the vehicle and enter the valet parking mode; if the condition is not satisfied, the embodiment of the application does not respond to the valet parking request of the user.

Specifically, in the embodiment of the present application, a request sent by the mobile terminal of the user may be received, and after it is recognized that the user request is an autonomous parking request, whether an automatic parking control condition is satisfied is determined according to state information of the vehicle terminal, where the vehicle state information may include: whether the gear is a P (parking/parking gear), whether the vehicle is started or not, whether the vehicle door is closed or not and the like, and when the gear of the vehicle is the P gear, the vehicle is started and the vehicle door is closed, the current vehicle can be considered to meet the autonomous parking condition, and the vehicle can be controlled in the next step; otherwise, the current vehicle is considered not to satisfy the autonomous parking condition.

In step S102, when it is detected that the vehicle is in the valet parking mode, a current position and a parking destination position of the vehicle are obtained, a parking path is generated based on the current position and the parking destination position, a parking start request is sent to the server, the parking start request is forwarded to the parking lot management system in the target area through the server, and a parking lot end gateway of the parking lot management system is activated to establish communication connection with the vehicle.

The target area may be set according to an actual situation, for example, the target area may be a target parking lot of a current vehicle; the actual distance between the vehicle and the target area end road can be obtained in at least one mode, for example, a vehicle body sensor, a camera, a laser radar and the like of a vehicle terminal can be used, and no specific limitation is made on this.

It can be understood that, in the embodiment of the application, when the vehicle is in the valet parking mode, a parking path is generated based on the vehicle position information and the parking destination information, and the server is used for forwarding the request, activating the communication connection between the vehicle and the parking lot end barrier gate of the parking lot management system, so that the vehicle which is subsequently and autonomously parked can pass through the parking lot end barrier gate; meanwhile, the real-time actual distance between the vehicle and the target area can be obtained, so that the planning of the passenger-replacing parking scheme of the vehicle is facilitated.

In step S103, the vehicle is controlled to execute a preset passenger-replacing parking action along the parking path, and when the actual distance between the vehicle and the parking lot end barrier gate is smaller than the distance threshold, the barrier gate closing information sent by the parking lot end barrier gate is received, the vehicle is controlled to execute a preset stopping action according to the barrier gate closing information, until the barrier gate opening information sent by the parking lot end barrier gate is received, the vehicle is controlled to start to continue executing the preset passenger-replacing parking action, pass through the barrier gate, enter the target area, and when the parking destination position is reached, the parking is completed.

The preset passenger-riding parking action can be set according to actual conditions, the vehicle performs autonomous parking according to a parking path, the vehicle performs left-turning or right-turning action at a left-turning or right-turning position, and automatically controls a steering wheel to avoid when encountering an obstacle, or performs accelerator stepping action quickly before closing a barrier, and the like, and is not limited specifically herein.

The distance threshold may be set according to an actual situation, the passenger-assisted parking action may be generated according to the actual situation, for example, the target driving path may be generated according to current position information of the vehicle terminal, empty parking space position information of a parking lot in the target area, pre-stored parking lot map information, and the like, which is not specifically limited to this.

The preset stopping action may be a braking action performed by the vehicle when the closing of the barrier is detected, so that the vehicle is in a stopping state before the barrier, which is not specifically limited herein.

It can be understood that, when the vehicle runs along the parking path and the actual distance between the vehicle and the gateway end is smaller than the distance threshold, the embodiment of the application judges the opening and closing condition of the gateway at this time, namely, receives and identifies the information containing the opening and closing state of the gateway sent by the gateway system, and controls the vehicle in different states according to the current state of the gateway, so that the information intercommunication between the vehicle and the gateway is realized timely and efficiently, the automatic parking scheme is more accurate and intelligent to execute, the parking process is safer and more reliable, the use experience of customers is improved, and the actual use needs are met.

According to the method for the passenger-replacing parking of the vehicle, when the vehicle terminal detects that the vehicle is in a passenger-replacing parking mode, a parking path of the vehicle is obtained to generate a parking request, the request is forwarded to a parking management system of a target area through a server, a parking lot end barrier gate is activated to establish communication connection with the vehicle, current information of the vehicle and information of the barrier gate are integrated, information interaction is achieved, and starting and stopping of the passenger-replacing parking action are controlled according to the opening and closing state of the barrier gate when the vehicle is close to the barrier gate; therefore, the embodiment of the application can realize automatic passenger-replacing parking of the vehicle, and saves labor cost; and the information intercommunication of the vehicle and the barrier gate can be realized timely and efficiently, the accident occurrence possibility is effectively reduced, the scheme is more accurate and intelligent to execute, the parking process is safer and more reliable, the use experience of customers is improved, and the actual use requirement is met. Therefore, the problems that in the related technology, the dependence on manpower for the passenger car parking is serious, the labor cost is high, in the autonomous parking process of the vehicle, the opening and closing state of the barrier gate cannot be identified, the manual parking is still needed, the requirements of a user on the safety and convenience of the passenger car parking cannot be met, the use experience of the user is reduced, and the like are solved.

Next, a method for parking a valet of a vehicle according to an embodiment of the present application is described with reference to the drawings.

Fig. 2 is a flowchart of a method for parking a vehicle as a valet applied to a server according to an embodiment of the present application.

As shown in fig. 2, the method for parking a vehicle as a valet is applied to a server and includes the following steps:

in step S201, a valet parking request for an arbitrary vehicle is received.

It can be understood that, the server in the embodiment of the present application receives a valet parking request of any vehicle, so as to subsequently send a relevant instruction to any vehicle to perform a subsequent parking action.

In step S202, state information of any vehicle is obtained according to the valet parking request, and when it is determined that the vehicle satisfies the valet parking condition according to the state information, a valet parking instruction is sent to the any vehicle, so that the any vehicle enters a valet parking mode according to the valet parking instruction.

It can be understood that, in the embodiment of the application, after the valet parking request is received, the vehicle information is obtained, whether the vehicle meets the parking condition is identified and judged, if yes, the valet parking request is sent to the vehicle terminal, the vehicle is controlled to carry out the valet parking mode, and the subsequent vehicles can conveniently execute the related parking action according to the specific situation.

In step S203, after receiving a parking start request after any vehicle enters the valet parking mode, sending the parking start request to the parking lot management system in the target area to activate the parking lot end gateway of the parking lot management system to establish a communication connection with the vehicle, where after the parking lot end gateway establishes the communication connection with the vehicle, when an actual distance between the vehicle and the parking lot end gateway is smaller than a distance threshold, the vehicle receives gateway closing information sent by the parking lot end gateway, controls the vehicle to execute a preset stop action according to the gateway closing information, and when receiving gateway opening information sent by the parking lot end gateway, the vehicle starts to continue executing a preset valet parking action, passes through the gateway, enters the target area, and completes parking when reaching a parking destination.

It can be understood that, after receiving the parking request, the server in the embodiment of the present application forwards the parking request to the parking lot management system in the target area, so as to activate the parking lot end gateway to establish communication connection with the vehicle, and the vehicle terminal receives the gateway closing information sent from the parking lot end, and controls the vehicle to execute corresponding actions according to the information, and enters the target area to complete the parking operation, so that the automatic parking is more intelligent, the information intercommunication between the vehicle and the gateway is realized timely and efficiently, the accident occurrence probability is effectively reduced, the scheme is more accurate and intelligent in execution, the parking process is safer and more reliable, the use experience of the client is improved, and the actual use needs are met.

It should be noted that the foregoing explanation on the embodiment in which the passenger parking method for a vehicle is applied to the vehicle end also applies to the application of the passenger parking method for a vehicle in this embodiment to the server, and details are not described here.

According to the passenger-replacing parking method for the vehicle, after receiving a passenger-replacing parking request, a server forwards the request to a parking lot management system in a target area so as to activate a parking lot end gateway and establish communication connection with the vehicle, a vehicle terminal receives gateway closing information sent by a parking lot end, integrates current information and gateway information of the vehicle and realizes information interaction, and the starting and stopping of the passenger-replacing parking action are controlled according to the opening and closing states of the gateway when the vehicle approaches the gateway; therefore, the automatic passenger replacing and parking of the vehicle can be realized, and the labor cost is saved; the information intercommunication between the vehicle and the barrier gate can be timely and efficiently realized, the accident occurrence possibility is effectively reduced, the scheme is more accurate and intelligent to execute, the parking process is safer and more reliable, the use experience of customers is improved, and the actual use requirement is met. Therefore, the problems that in the related technology, the dependence on manpower for the passenger car parking is serious, the labor cost is high, in the autonomous parking process of the vehicle, the opening and closing state of the barrier gate cannot be identified, the manual parking is still needed, the requirements of a user on the safety and convenience of the passenger car parking cannot be met, the use experience of the user is reduced, and the like are solved.

Next, a description will be given of an application of the method for parking a vehicle as a valet to a parking lot management system according to an embodiment of the present application with reference to the drawings.

Fig. 3 is a flowchart of a method for parking a vehicle in a car as a substitute for a passenger in a parking lot management system according to an embodiment of the present application.

As shown in fig. 3, the method for parking a vehicle as a passenger is applied to a parking lot management system, and includes the following steps:

in step S301, a parking start request transmitted from the server is received.

It is understood that the parking lot management system of the embodiment of the present application receives the parking start request sent from the server, and prepares for the subsequent vehicle to enter the parking lot range and pass through the parking lot end barrier gate.

In step S302, a parking lot end gateway of the parking lot management system is activated according to the parking start request to establish a communication connection with the vehicle, and when an actual distance between the vehicle and the parking lot end gateway is smaller than a distance threshold, gateway closing information is sent to the vehicle, so that the vehicle executes a preset stop action according to the gateway closing information.

It can be understood that, the parking lot management system according to the embodiment of the present application activates the parking lot end barrier gate to establish communication with the vehicle according to the vehicle parking request, and when the vehicle arrives at the barrier gate, sends the barrier gate closing information to the vehicle, so that the vehicle executes the corresponding action according to the related information, so as to complete the related parking operation subsequently.

In step S303, license plate information and entry time of the vehicle are collected, the barrier is controlled to be opened after the collection is completed, and when it is detected that the barrier is in a preset open state, barrier opening information is sent to the vehicle, so that the vehicle continues to perform a preset valet parking action according to the barrier opening information, and after it is detected that the vehicle passes through the barrier and enters a target area, the barrier is controlled to be closed, wherein after the vehicle enters the target area, if a parking end position is reached, the parking is completed.

The preset opening state may be a state in which the barrier gate is opened after the barrier gate recognizes the related license plate information of the vehicle, and is not specifically limited herein.

It can be understood that, the parking lot management system of the embodiment of the application collects license plate information and the actual of the vehicle entering the field first, then control the barrier gate to open, send the barrier gate opening information to the vehicle, make the vehicle execute the action of parking, control the barrier gate to close after detecting that the vehicle passes through the barrier gate, it is more intelligent, in time realize the information intercommunication of vehicle and barrier gate high-efficiently, effectively reduce the accident and take place the possibility, the scheme is executed more accurately intelligently, the process of parking is safer and more reliable, promote the customer and use experience, satisfy the in-service use needs.

It should be noted that the above explanation of the embodiment in which the passenger car parking method is applied to the car end is also applicable to the parking lot management system, and details are not repeated here.

According to the passenger-replacing parking method for the vehicle, after receiving a passenger-replacing parking request, a parking management system activates a parking lot end barrier gate to establish communication with the vehicle, controls the opening and closing of the barrier gate, integrates the current information of the vehicle and the information of the barrier gate and realizes information interaction so as to control the starting and stopping of the passenger-replacing parking action according to the opening and closing state of the barrier gate when the vehicle approaches the barrier gate; therefore, the automatic passenger replacing and parking of the vehicle can be realized, and the labor cost is saved; the information intercommunication between the vehicle and the barrier gate can be timely and efficiently realized, the accident occurrence possibility is effectively reduced, the scheme is more accurate and intelligent to execute, the parking process is safer and more reliable, the use experience of customers is improved, and the actual use requirement is met. Therefore, the problems that in the related technology, the dependence on manpower for the passenger car parking is serious, the labor cost is high, in the autonomous parking process of the vehicle, the opening and closing state of the barrier gate cannot be identified, the manual parking is still needed, the requirements of a user on the safety and convenience of the passenger car parking cannot be met, the use experience of the user is reduced, and the like are solved.

In specific application, the embodiment of the application can comprehensively use the mobile terminal, the AVP platform, the vehicle terminal and the parking lot management system to comprehensively form an AVP vehicle entry site-side scene, as shown in fig. 4, specifically as follows:

(1) A mobile terminal: a user can download and install an APP (Application) client special for autonomous passenger car parking in advance, register the APP client on an AVP (automatic traffic protocol) platform of a car factory and bind the APP client with a car terminal;

(2) AVP platform: the AVP platform is an Internet of vehicles platform of a vehicle factory and can be respectively connected with the mobile terminal, the vehicle terminal and the AVP platform through a 4G/5G network;

(3) A vehicle terminal: the system can comprise an OBU (On board Unit) and a positioning device installed On a vehicle, such as an RTK (Real-time kinematic) terminal or a camera based On visual positioning or a laser radar, and the like, and has the capabilities of high-precision maps, path planning, deviation correction processing and the like;

(4) Parking lot management system: the management system is provided by a parking service provider and used for providing parking service, and comprises a communication module, a camera system and a barrier gate system.

To sum up, in the embodiment of the present application, after the AVP function is reserved by the mobile terminal, the vehicle is driven to the designated AVP start position, after the vehicle terminal uploads the acquired parking space position information, an autonomous parking start procedure is initiated to the AVP platform, and the AVP platform sends a request for opening the barrier gate to the parking lot management system, so that the parking lot management system opens the barrier gate after receiving the request for opening the barrier gate information; in this embodiment, the AVP platform may obtain the parking space position information input by the user through the mobile terminal, and may also receive the real-time position information sent by the vehicle-mounted terminal.

The method for valet parking of a vehicle according to the embodiment of the present application will be described with an embodiment, as shown in fig. 5, specifically as follows:

1. the user makes an appointment through the mobile terminal APP and sends an AVP request, the vehicle is driven to run to an AVP starting point appointed by the entrance of the parking lot, the vehicle is got off and the vehicle door is closed, and the AVP platform identifies whether the vehicle meets the automatic parking control requirement.

Specifically, a user can send an autonomous parking request to an AVP platform by clicking a one-key parking function on a mobile terminal APP, the AVP platform sends a vehicle state information acquisition request to a vehicle terminal after receiving the request, the vehicle terminal returns vehicle state information to the AVP platform, and the AVP platform judges whether the vehicle terminal meets an autonomous parking condition after receiving the vehicle state information; and when the AVP platform judges that the vehicle terminal meets the autonomous parking condition according to the vehicle state information, sending an autonomous parking request to the vehicle-mounted terminal. And the condition that the vehicle state information meets the autonomous parking condition is that the gear is positioned at a P gear, the vehicle is started to charge and the door of the vehicle is closed.

According to the embodiment of the application, after the autonomous parking request is received, the barrier information can be sent to the parking lot management system according to the autonomous parking request, namely, the AVP platform can send the barrier closing state request to the parking lot management system according to the autonomous parking request so as to obtain the barrier closing information.

2. The AVP platform acquires the current position information of the vehicle terminal by sending a current position information acquisition request to the vehicle terminal, and then generates a target driving path by integrating the empty parking space position information of the target parking lot and prestored parking lot map information; and sending the target running path to a vehicle terminal, and controlling the vehicle to be automatically started in a gear engagement mode so that the vehicle terminal controls the vehicle to automatically run according to the target running path.

3. When the vehicle runs to a certain distance away from the barrier gate, the speed of the vehicle is controlled to be reduced to zero, so that the information of the license plate of the vehicle and the time of the vehicle entering the parking lot are conveniently input by a barrier gate system of the parking lot and uploaded to a parking lot management system; after the vehicle information is recorded, the parking lot management system sends a brake opening signal to the barrier gate system to open the barrier gate.

4. And sending a barrier gate opening signal to the vehicle-mounted terminal by the parking lot management system, and continuously and automatically driving according to the target driving path after the vehicle confirms that the barrier gate is opened until the vehicle drives into the target parking empty space to finish the automatic parking process for the passenger.

5. And after the vehicle passes through the barrier gate, closing the barrier gate, and completing the entrance step of the AVP.

Next, a vehicle proposed according to an embodiment of the present application is described with reference to the drawings.

Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

As shown in fig. 6, the vehicle 10 includes: a detection module 110, a processing module 120, and a control module 130.

The detection module 110 is configured to detect whether the vehicle is in a valet parking mode; the processing module 120 is configured to, when it is detected that the vehicle is in the valet parking mode, obtain a current position and a parking destination position of the vehicle, generate a parking path based on the current position and the parking destination position, send a parking start request to the server, forward the parking start request to the parking lot management system in the target area through the server, and activate a parking lot end gateway of the parking lot management system to establish a communication connection with the vehicle; the control module 130 is configured to control the vehicle to perform a preset passenger-replacing parking action along a parking path, receive barrier closing information sent by a parking lot end barrier when an actual distance between the vehicle and the parking lot end barrier is smaller than a distance threshold, control the vehicle to perform a preset stopping action according to the barrier closing information, control the vehicle to start to continue to perform the preset passenger-replacing parking action until barrier opening information sent by the parking lot end barrier is received, pass through the barrier, enter a target area, and complete parking when a parking destination position is reached.

In an embodiment of the present application, the detection module is further configured to: recognizing the passenger parking intention of the user; when the passenger parking intention is recognized, a passenger parking request is sent to a server, wherein the server judges whether the vehicle meets the passenger parking condition or not according to state information uploaded by the vehicle after receiving the passenger parking request; and when the information that the vehicle meets the passenger-replacing parking condition and is fed back by the server is received, controlling the vehicle to enter a passenger-replacing parking mode.

It should be noted that the foregoing explanation of the embodiment of the vehicle as applied to the valet parking method is also applicable to the vehicle in this embodiment, and is not repeated herein.

According to the autonomous valet parking of the vehicle, when the vehicle terminal detects that the vehicle is in the valet parking mode, the vehicle terminal obtains a parking path of the vehicle to generate a parking request, forwards the request to a parking management system in a target area through a server, activates a parking lot end barrier gate to establish communication connection with the vehicle, integrates current information of the vehicle and information of the barrier gate, and realizes information interaction, so that the start and stop of the valet parking action are controlled according to the opening and closing states of the barrier gate when the vehicle approaches the barrier gate; therefore, the automatic passenger replacing and parking of the vehicle can be realized, and the labor cost is saved; the information intercommunication between the vehicle and the barrier gate can be timely and efficiently realized, the accident occurrence possibility is effectively reduced, the scheme is more accurate and intelligent to execute, the parking process is safer and more reliable, the use experience of customers is improved, and the actual use requirement is met. Therefore, the problems that the dependence on manpower for valet parking is serious, the labor cost is high, manual parking is still needed due to the fact that the opening and closing states of the barrier gate cannot be identified and the vehicle is parked autonomously in the autonomous parking process, the requirements of a user on the safety and convenience of valet parking cannot be met, the use experience of the user is reduced and the like in the related art are solved.

Next, a server proposed according to an embodiment of the present application is described with reference to the drawings.

Fig. 7 is a schematic structural diagram of a server according to an embodiment of the present application.

As shown in fig. 7, the server 20 includes: a first receiving module 210, a judging module 220 and a first transmitting module 230.

The first receiving module 210 is configured to receive a valet parking request sent by any vehicle; the judging module 220 is configured to obtain state information of any vehicle according to the valet parking request, and send a valet parking intention to any vehicle when judging that the vehicle meets the valet parking condition according to the state information, so that any vehicle enters a valet parking mode according to a valet parking instruction; the first sending module 230 is configured to send a parking start request to a parking lot management system in a target area after receiving a parking start request after any vehicle enters a valet parking mode, so as to activate a parking lot end gateway of the parking lot management system to establish a communication connection with the vehicle, where after the parking lot end gateway establishes the communication connection with the vehicle, when an actual distance between the vehicle and the parking lot end gateway is smaller than a distance threshold, the vehicle receives gateway closing information sent by the parking lot end gateway, controls the vehicle to execute a preset stop action according to the gateway closing information, and when receiving gateway opening information sent by the parking lot end gateway, the vehicle starts to continue to execute a preset valet parking action, passes through the gateway, enters the target area, and completes parking when reaching a parking destination position.

It should be noted that the explanation of the embodiment in which the aforementioned method for parking a car as a valet is applied to the server of this embodiment also applies to the server of this embodiment, and details thereof are not described here.

According to the passenger parking device for the vehicle, after receiving a passenger parking request, a server forwards the request to a parking lot management system in a target area so as to activate a parking lot end gateway and establish communication connection with the vehicle, a vehicle terminal receives gateway closing information sent by a parking lot end, integrates current information and gateway information of the vehicle and realizes information interaction, and the starting and stopping of the passenger parking action are controlled according to the opening and closing states of the gateway when the vehicle approaches the gateway; therefore, the automatic passenger replacing and parking of the vehicle can be realized, and the labor cost is saved; the information intercommunication between the vehicle and the barrier gate can be timely and efficiently realized, the accident occurrence possibility is effectively reduced, the scheme is more accurate and intelligent to execute, the parking process is safer and more reliable, the use experience of customers is improved, and the actual use requirement is met. Therefore, the problems that in the related technology, the dependence on manpower for the passenger car parking is serious, the labor cost is high, in the autonomous parking process of the vehicle, the opening and closing state of the barrier gate cannot be identified, the manual parking is still needed, the requirements of a user on the safety and convenience of the passenger car parking cannot be met, the use experience of the user is reduced, and the like are solved.

Next, a parking lot management system proposed according to an embodiment of the present application is described with reference to the drawings.

Fig. 8 is a schematic structural diagram of a parking lot management system according to an embodiment of the present application.

As shown in fig. 8, the parking lot management system 30 includes: a second receiving module 310, a second sending module 320, an acquisition module 330, and a control module 340.

The second receiving module 310 is configured to receive a parking start request sent by a server; the second sending module 320 is configured to activate a parking lot end barrier of the parking lot management system to establish a communication connection with the vehicle according to the parking start request, and send barrier closing information to the vehicle when an actual distance between the vehicle and the parking lot end barrier is smaller than a distance threshold, so that the vehicle executes a preset stop action according to the barrier closing information; the collecting module 330 collects license plate information and entrance time of the vehicle; the control module 340 is configured to control the barrier gate to be opened after the collection is completed, and control the second sending module to send the barrier gate opening information to the vehicle when the barrier gate is detected to be in the preset opening state, so that the vehicle continues to execute a preset valet parking action according to the barrier gate opening information, and control the barrier gate to be closed after the vehicle is detected to pass through the barrier gate and enter the target area, wherein after the vehicle enters the target area, if the vehicle reaches a parking destination position, the parking is completed.

It should be noted that the explanation of the embodiment of the car valet parking method applied to the parking lot management system is also applicable to the parking lot management system of the embodiment, and details are not repeated here.

According to the passenger-replacing parking device for the vehicle, after receiving a passenger-replacing parking request, the parking management system activates the communication between the parking lot end barrier gate and the vehicle, controls the opening and closing of the barrier gate, integrates the current information of the vehicle and the information of the barrier gate and realizes information interaction, so that the starting and the stopping of the passenger-replacing parking action are controlled according to the opening and closing states of the barrier gate when the vehicle approaches the barrier gate; therefore, the automatic passenger replacing and parking of the vehicle can be realized, and the labor cost is saved; the information intercommunication between the vehicle and the barrier gate can be timely and efficiently realized, the accident occurrence possibility is effectively reduced, the scheme is more accurate and intelligent to execute, the parking process is safer and more reliable, the use experience of customers is improved, and the actual use requirement is met. Therefore, the problems that in the related technology, the dependence on manpower for the passenger car parking is serious, the labor cost is high, in the autonomous parking process of the vehicle, the opening and closing state of the barrier gate cannot be identified, the manual parking is still needed, the requirements of a user on the safety and convenience of the passenger car parking cannot be met, the use experience of the user is reduced, and the like are solved.

Next, a valet parking system of a vehicle according to an embodiment of the present application will be described with reference to the drawings.

Fig. 9 is a schematic structural view of a valet parking system of a vehicle according to an embodiment of the present application.

As shown in fig. 9, the valet parking system 40 of the vehicle includes: a vehicle 10, a server 20, and a parking lot management system 30.

The system comprises a parking lot management system, a server and a plurality of vehicles 10, wherein any vehicle 10 is used for entering a valet parking mode according to a valet parking instruction, acquiring the current position and the parking end position of the vehicle, generating a parking path based on the current position and the parking end position, sending a parking start request to the server, and forwarding the parking start request to the parking lot management system in a target area through the server; the server 20 is configured to receive a valet parking request of any vehicle, obtain state information of the any vehicle according to the valet parking request, and send a valet parking instruction to the any vehicle when it is determined that the vehicle satisfies the valet parking condition according to the state information; the parking lot management system 30 is configured to activate a parking lot end barrier of the parking lot management system to establish a communication connection with the vehicle according to the parking start request, and send barrier closing information to the vehicle when an actual distance between the vehicle and the parking lot end barrier is smaller than a distance threshold, so that the vehicle executes a preset stop action according to the barrier closing information; the method comprises the steps of collecting license plate information and entrance time of a vehicle, controlling a barrier to be opened after collection is finished, sending barrier opening information to the vehicle when the barrier is detected to be in a preset opening state, enabling the vehicle to continuously execute preset passenger-replacing parking actions according to the barrier opening information, controlling the barrier to be closed after the vehicle is detected to pass through the barrier and enter a target area, wherein after the vehicle enters the target area, if the vehicle reaches a parking terminal position, parking is finished.

According to the passenger-replacing parking system for the vehicle, a server receives a passenger-replacing parking request of the vehicle, the passenger-replacing parking request is sent to a parking lot management system, whether the passenger-replacing parking condition is met or not is judged based on state information of the vehicle, a relevant instruction is sent to the vehicle, the vehicle enters a passenger-replacing parking mode and is in communication connection with a parking lot end barrier gate, a parking path is generated based on vehicle position information and parking space information, when the vehicle reaches the parking lot barrier gate, the parking lot management system identifies a license plate of the vehicle and the entering time, controls the barrier gate to be opened and sends opening information to the vehicle, the vehicle passes through the barrier gate after receiving, then the parking lot management system identifies the vehicle to enter, controls the barrier gate to be closed, and then the vehicle enters a parking space end point position to complete parking operation, so that automatic passenger-replacing parking of the vehicle can be achieved, and labor cost is saved; and the information intercommunication of the vehicle and the barrier gate can be realized timely and efficiently, the accident occurrence possibility is effectively reduced, the scheme is more accurate and intelligent to execute, the parking process is safer and more reliable, the use experience of customers is improved, and the actual use requirement is met. Therefore, the problems that in the related technology, the dependence on manpower for the passenger car parking is serious, the labor cost is high, in the autonomous parking process of the vehicle, the opening and closing state of the barrier gate cannot be identified, the manual parking is still needed, the requirements of a user on the safety and convenience of the passenger car parking cannot be met, the use experience of the user is reduced, and the like are solved.

Embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for valet parking of a vehicle as above.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array, a field programmable gate array, or the like.

It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A method for valet parking of a vehicle, the method being applied to a vehicle, wherein the method comprises the steps of:

detecting whether the vehicle is in a valet parking mode;

when the vehicle is detected to be in the passenger-riding parking mode, acquiring a current position and a parking end position of the vehicle, generating a parking path based on the current position and the parking end position, sending a parking start request to a server, forwarding the parking start request to a parking lot management system in a target area through the server, and activating a parking lot end gateway of the parking lot management system to establish communication connection with the vehicle;

the method comprises the steps of controlling a vehicle to execute a preset passenger-riding parking action along a parking path, receiving barrier closing information sent by a parking lot end barrier when the actual distance between the vehicle and the parking lot end barrier is smaller than a distance threshold, controlling the vehicle to execute a preset stopping action according to the barrier closing information, controlling the vehicle to start to continue executing the preset passenger-riding parking action until barrier opening information sent by the parking lot end barrier is received, entering a target area through the barrier, and completing parking when the target area reaches a parking end position.

2. The method of claim 1, wherein the detecting whether the vehicle is in a valet parking mode comprises:

recognizing the passenger parking intention of the user;

when the passenger parking intention is recognized, sending a passenger parking request to the server, wherein the server judges whether the vehicle meets a passenger parking condition according to state information uploaded by the vehicle after receiving the passenger parking request;

and when the information that the vehicle meets the passenger parking condition and is fed back by the server is received, controlling the vehicle to enter the passenger parking mode.

3. A method for valet parking of a vehicle, the method being applied to a server, wherein the method comprises the following steps:

receiving a passenger-assistant parking request of any vehicle;

acquiring state information of the any vehicle according to the valet parking request, and sending a valet parking instruction to the any vehicle when the vehicle is judged to meet the valet parking condition according to the state information, so that the any vehicle enters a valet parking mode according to the valet parking instruction;

after a parking start request of any vehicle entering the passenger-assistant parking mode is received, the parking start request is sent to a parking lot management system of a target area to activate a parking lot end barrier gate of the parking lot management system to establish communication connection with the vehicle, wherein after the parking lot end barrier gate establishes communication connection with the vehicle, when an actual distance between the vehicle and the parking lot end barrier gate is smaller than a distance threshold value, the vehicle receives barrier gate closing information sent by the parking lot end barrier gate, controls the vehicle to execute a preset stop action according to the barrier gate closing information, and when barrier gate opening information sent by the parking lot end barrier gate is received, the vehicle starts to continue executing the preset passenger-assistant parking action, enters the target area through the barrier gate, and completes parking when the parking end position is reached.

4. A method for valet parking of a vehicle, which is applied to a parking lot management system, wherein the method comprises the following steps:

receiving a parking starting request sent by a server;

activating a parking lot end barrier gate of the parking lot management system according to the parking start request to establish communication connection with the vehicle, and sending barrier gate closing information to the vehicle when the actual distance between the vehicle and the parking lot end barrier gate is smaller than a distance threshold value, so that the vehicle executes a preset stop action according to the barrier gate closing information;

the method comprises the steps of collecting license plate information and entrance time of a vehicle, controlling a barrier to be opened after collection is finished, sending barrier opening information to the vehicle when the barrier is detected to be in a preset opening state, enabling the vehicle to continue to execute preset passenger-replacing parking actions according to the barrier opening information, and controlling the barrier to be closed after the vehicle is detected to pass through the barrier and enter a target area, wherein after the vehicle enters the target area, if the vehicle reaches a parking terminal position, parking is finished.

5. A vehicle, characterized by comprising:

the detection module is used for detecting whether the vehicle is in a passenger-replacing parking mode;

the processing module is used for acquiring the current position and the parking end position of the vehicle when the vehicle is detected to be in the passenger-replacing parking mode, generating a parking path based on the current position and the parking end position, sending a parking starting request to the server, forwarding the parking starting request to a parking lot management system in a target area through the server, and activating a parking lot end gateway of the parking lot management system to establish communication connection with the vehicle;

the control module is used for controlling the vehicle to execute a preset passenger-riding parking action along the parking path, receiving gateway closing information sent by the parking lot gateway when the actual distance between the vehicle and the parking lot gateway is smaller than a distance threshold value, controlling the vehicle to execute a preset stopping action according to the gateway closing information, controlling the vehicle to start to continue executing the preset passenger-riding parking action until gateway opening information sent by the parking lot gateway is received, entering the target area through the gateway, and completing parking when the target area reaches the parking destination.

6. The vehicle of claim 5, characterized in that the detection module is further to:

recognizing the passenger parking intention of a user;

7. A server, comprising:

the first receiving module is used for receiving a passenger-replacing parking request sent by any vehicle;

the judging module is used for acquiring the state information of the any vehicle according to the valet parking request, and sending a valet parking intention to the any vehicle when judging that the vehicle meets the valet parking condition according to the state information, so that the any vehicle enters a valet parking mode according to the valet parking instruction;

the first sending module is used for sending the parking starting request to a parking lot management system in a target area after receiving the parking starting request of any vehicle after entering the valet parking mode so as to activate a parking lot end gateway of the parking lot management system to establish communication connection with the vehicle, wherein after the parking lot end gateway establishes communication connection with the vehicle and when the actual distance between the vehicle and the parking lot end gateway is smaller than a distance threshold value, the vehicle receives gateway closing information sent by the parking lot end gateway, controls the vehicle to execute a preset stopping action according to the gateway closing information, and starts to continue to execute the preset valet parking action until gateway opening information sent by the parking lot end gateway is received, the vehicle enters the target area through the gateway, and the parking is completed when the destination position is reached.

8. A parking lot management system, comprising:

the second receiving module is used for receiving a parking starting request sent by the server;

a second sending module, configured to activate a parking lot end gateway of the parking lot management system to establish a communication connection with a vehicle according to the parking start request, and send gateway closing information to the vehicle when an actual distance between the vehicle and the parking lot end gateway is smaller than a distance threshold, so that the vehicle executes a preset stop action according to the gateway closing information;

the acquisition module is used for acquiring license plate information and entrance time of the vehicle;

the control module is used for controlling the barrier gate to be opened after the collection is finished, controlling the second sending module to send barrier gate opening information to the vehicle when the barrier gate is detected to be in a preset opening state, enabling the vehicle to continue to execute preset passenger-replacing parking actions according to the barrier gate opening information, and controlling the barrier gate to be closed after the vehicle is detected to pass through the barrier gate and enter a target area, wherein after the vehicle enters the target area, if the vehicle reaches a parking end position, the parking is finished.

9. A valet parking system for a vehicle, comprising:

the server is used for receiving a passenger-replacing parking request of any vehicle, acquiring the state information of the any vehicle according to the passenger-replacing parking request, and sending a passenger-replacing parking instruction to the any vehicle when the vehicle is judged to meet the passenger-replacing parking condition according to the state information

The system comprises one or more vehicles, wherein any vehicle is used for entering a valet parking mode according to a valet parking instruction, acquiring the current position and the parking end position of the vehicle, generating a parking path based on the current position and the parking end position, sending a parking start request to a server, and forwarding the parking start request to a parking lot management system of a target area through the server;

the parking lot management system is used for activating a parking lot end gateway of the parking lot management system to establish communication connection with the vehicle according to the parking start request, and sending gateway closing information to the vehicle when the actual distance between the vehicle and the parking lot end gateway is smaller than a distance threshold value, so that the vehicle executes preset stopping action according to the gateway closing information; the method comprises the steps of collecting license plate information and entrance time of a vehicle, controlling a barrier to be opened after collection is finished, sending barrier opening information to the vehicle when the barrier is detected to be in a preset opening state, enabling the vehicle to continue to execute preset passenger-replacing parking actions according to the barrier opening information, and controlling the barrier to be closed after the vehicle is detected to pass through the barrier and enter a target area, wherein after the vehicle enters the target area, if the vehicle reaches a parking terminal position, parking is finished.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a method for valet parking of a vehicle according to any of claims 1-4.