CN116030655A

CN116030655A - Vehicle control method, device and system

Info

Publication number: CN116030655A
Application number: CN202111249567.9A
Authority: CN
Inventors: 张竞
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-10-26
Filing date: 2021-10-26
Publication date: 2023-04-28
Also published as: WO2023072101A1

Abstract

A vehicle control method, device and system relate to the technical field of automatic driving. The method comprises the following steps: acquiring state information of a target vehicle; determining a first area according to the state information, wherein the first area comprises an alternative parking area of the target vehicle, the difference value between the moment when the target vehicle reaches the first area and the first moment is a first duration, and the first duration is smaller than or equal to a first threshold value; acquiring first vehicle position information, wherein the first vehicle position information is used for indicating the use state of a vehicle position in the first area; determining first parking information according to the state information of the target vehicle and the first vehicle position information, wherein the first parking information is used for indicating an idle vehicle position in the first area; and sending the first parking information to the target vehicle. The method can flexibly schedule the parking space resources of the vehicle, is beneficial to reducing the fatigue driving probability of the vehicle driver and improves the traffic safety.

Description

Vehicle control method, device and system

Technical Field

The present disclosure relates to the field of automatic driving technologies, and in particular, to a vehicle control method, device, and system.

Background

At present, vehicles have become indispensable vehicles for people to travel, work and the like. To ensure traffic safety, regulations in the related art state that the vehicle is in a manual driving mode, the upper limit of the duration of continuous driving of the vehicle (for example, 4 hours) or the lower limit of the duration of stopping and resting (for example, 20 minutes) of the vehicle by the driver, the driver is penalized if the driver violates the regulations. Likewise, when the vehicle is in the automatic driving mode, it is also necessary to stop the vehicle when the vehicle is continuously running for a predetermined period of time to avoid malfunction caused by overheating of the vehicle components.

However, in some scenarios, such as highway scenarios, vehicles cannot be parked at random due to scene limitations. If the vehicle can not run to the parking space when the continuous running reaches the upper limit of the specified running time, the vehicle can not be stopped, the fatigue running condition of the vehicle driver inevitably occurs, and the traffic safety hidden trouble exists. Therefore, how to perform parking planning for a vehicle is still an important problem to be solved.

Disclosure of Invention

The embodiment of the application provides a vehicle control method, device and system, which are beneficial to reducing the fatigue driving probability of a vehicle driver and improving the traffic safety by flexibly scheduling parking space resources for a vehicle.

In a first aspect, an embodiment of the present application provides a vehicle control method, where the method may be applied to a vehicle control device, and the vehicle control device may be an independent device, or may be a chip or a component in the device, or may be software, and may be deployed on a cloud, or a road side device, or a remote server, or a local server, etc., where a product form and a deployment manner of the vehicle control device are not limited.

The method may include: acquiring state information of a target vehicle; determining a first area according to the state information, wherein the first area comprises an alternative parking area of the target vehicle, the difference value between the moment when the target vehicle reaches the first area and the first moment is a first duration, and the first duration is smaller than or equal to a first threshold value; acquiring first vehicle position information, wherein the first vehicle position information is used for indicating the use state of a vehicle position in the first area; determining first parking information according to the state information of the target vehicle and the first vehicle position information, wherein the first parking information is used for indicating an idle vehicle position in the first area; and sending the first parking information to the target vehicle.

By the method, the vehicle control device can plan and schedule the parking space resources for the target vehicle according to the state information of the target vehicle, so that the target vehicle can drive to the idle parking space in the first area for parking and resting before driving reaches the specified threshold value. The method can flexibly plan and schedule the parking space resources for the target vehicle, is beneficial to reducing the fatigue driving probability of the driver of the target vehicle and improves the traffic safety. The first area may not be limited to one area, and the empty parking space in the first area is not limited to one parking space, and the purpose of scheduling the parking space resource in the first area for the target vehicle is not limited to parking and resting for the driver of the vehicle, and may be, for example, for vehicle maintenance, energy replenishment (for example, scheduling a charging pile, a gas station, or a store, etc.).

For example, the scheme may be applied to an expressway scene, and the first area may be a high-speed service area where the target vehicle can travel. In general, in a highway scene, a vehicle needs to travel at a high speed within a predetermined speed interval, and the vehicle cannot stop at random and can only travel to a certain service area to stop and rest when passing through the service area. However, the setting of the expressway service area is generally deployed according to the actual line partition of the expressway, so that the situation that the vehicle can stay in the service area when the continuous running reaches the upper limit of the specified running duration cannot be guaranteed, and the fatigue running condition of the driver of the vehicle inevitably occurs. According to the vehicle control scheme, parking planning is performed on the target vehicle, so that the target vehicle can travel in advance to reach a first area for rest before reaching a threshold value, the probability of fatigue driving of a vehicle driver is reduced, and traffic safety is improved.

The scheme can be applied to production scenes such as ports, mines and closed industrial parks, vehicles in a fleet to be operated can be uniformly managed and scheduled in corresponding sites by using the vehicle control device as a center console, for example, a parking space for troubleshooting, a parking space for supplementing energy, a parking space for parking and waiting and the like are arranged for the operation vehicles, so that the influence of various interference factors affecting the ordered operation of the operation vehicles is eliminated in time, the ordered operation of the fleet is facilitated, the overall operation efficiency of the fleet is improved, and the manual operation cost is greatly reduced.

By way of example, the scheme can also be applied to parking space management in an automatic driving scene, and the parking space resource is flexibly scheduled for the automatic driving vehicle, so that the automatic driving vehicle is assisted to safely run, and the traffic safety is improved. For an autonomous vehicle, the upper limit of the running duration of the vehicle may be different from the upper limit of the running duration of the vehicle driven by the driver, and the upper limit of the running duration of the autonomous vehicle may not be a fixed threshold, which is not limited in the embodiment of the present application.

It may be appreciated that, in the embodiment of the present application, for a vehicle supporting both the manual driving mode and the automatic driving mode, the running duration of the vehicle may be accumulated at the time when the vehicle starts to run, if the running duration includes the running duration of the vehicle in the manual driving mode and the running duration of the vehicle in the automatic driving mode, when the parking space resource is planned and scheduled for the vehicle according to the running duration of the vehicle, the running duration of the vehicle in the automatic driving mode may be subtracted from the running duration of the vehicle, and the parking space resource may be re-planned and scheduled for the vehicle based on the calculated running duration of the manual driving. In an alternative implementation manner, for a vehicle supporting both the manual driving mode and the automatic driving mode, the vehicle control device may further formulate an automatic driving strategy for the vehicle, so that the driver may control the vehicle to automatically drive on the allowed road section based on the automatic driving strategy, so that the vehicle may travel to reach the first area before or after the manual driving reaches the upper limit of the specified operation duration, and achieve the purpose of dispatching the vehicle.

It should be understood that the above exemplary scenario is merely an example of an application scenario of the embodiment of the present application, and is not limited in any way, and the embodiment of the present application is equally applicable to other scenarios where it is inconvenient for a vehicle to stop and rest at any time, such as a vehicle marathon race, or a fleet operation. In specific implementation, the vehicle control method of the embodiment of the present application may also be applied to other scenarios involving scheduling of vehicle resources, where resources to be scheduled may also be replaced by other resources except for idle parking spaces, which is not described herein.

With reference to the first aspect, in one possible implementation manner, the first area may be a parking area associated with a planned path of the target vehicle; alternatively, the first area may be a parking area through which the target vehicle travels based on the current driving route in the second period.

According to the method, the vehicle control device can select the alternative parking area in the parking area related to the planned path of the target vehicle or the parking area where the target vehicle runs in the second time based on the current driving route, so that the target vehicle can conduct parking planning for the target vehicle, whether to park for rest in advance or not and where to park for rest can be determined according to the parking planning advice of the vehicle control device, the probability of fatigue driving of a driver of the target vehicle is reduced, and traffic safety is improved.

For example, if the first area includes area 1, area 2, and area 3, and the area 1, area 2, and area 3 may each satisfy a condition that the target vehicle stops and rests before the upper limit of the specified fatigue driving duration, the vehicle control device may use the area 1, area 2, and area 3 as the candidate parking areas of the target vehicle, the first parking information may indicate the free parking spaces of the area 1, area 2, and area 3, and the target vehicle may select one area from the area 1, area 2, and area 3 as the target parking area, and drive to the target parking area to stop and rest, so as to avoid fatigue driving of the driver of the target vehicle.

With reference to the first aspect, in one possible implementation manner, the first duration is an estimated duration obtained according to state information of the target vehicle, and the first parking information is further used for indicating the first duration.

According to the method, the vehicle control device can estimate the first time length required by the target vehicle to reach the first area according to the state information of the target vehicle, and when the parking opinion planning is carried out for the target vehicle, the first time length is used as a referenceable item, and the first parking information can indicate the first time length so that the target vehicle side can combine the first time length to decide whether to stop for rest in advance and where to stop for rest, so that the fatigue driving probability of a target vehicle driver is reduced, and the traffic safety is improved.

For example, the first area includes an area 1, an area 2, and an area 3, where the area 1, the area 2, and the area 3 may each satisfy a condition that the target vehicle stops and rests before the upper limit of the specified fatigue driving duration, if the estimated first time required for the target vehicle to reach the area 1 is 2 hours (hours, abbreviated as h), the estimated first time required for the target vehicle to reach the area 2 is 1.5 hours, the estimated first time required for the target vehicle to reach the area 3 is 3 hours, the first parking information may indicate that the first time required for the area 1, the area 2, and the area 3 are 2 hours, 1.5 hours, and 3 hours, respectively, and when the first time required for the target vehicle to combine with each area makes a decision, for example, when the current running time is shorter (for example, 0.5 hours), the area 3 with a larger first time required (for example, 3 hours) is selected as a target parking area, or when the current running time (for example, 2 hours) is longer, the estimated first time required for the target vehicle to reach the area 3 hours is selected as a target parking area, and the target vehicle stops and stops at the area 1 or 2 hours.

With reference to the first aspect, in a possible implementation manner, the state information includes position information and speed information of the target vehicle, and the method further includes: acquiring road condition information associated with a driving route of the target vehicle; and estimating a first probability that the target vehicle travels to reach the first area at a second moment according to the road condition information, the position information and the speed information, wherein the second moment is a moment when the target vehicle is expected to reach the first area, and the first parking information is also used for indicating the first probability.

By the method, the vehicle control device can comprehensively consider the road condition information related to the driving route of the target vehicle, the position information and the speed information of the target vehicle to estimate the first probability that the target vehicle reaches the first area on time (for example, at the second moment), and indicate the first probability in the first parking information, so that the target vehicle can decide whether to stop and rest in advance and go to and stop and rest at any place according to the first probability, the fatigue driving probability of a driver of the target vehicle is reduced, and the traffic safety is improved. In general, a larger value of the first probability indicates a greater likelihood that the target vehicle reaches the first region on time, and a smaller value of the first probability indicates a smaller likelihood that the target vehicle reaches the first region on time.

It will be appreciated that the "first probability" is merely one parameter representation that indicates whether the target vehicle is able to travel on time to the first area in the embodiments of the present application, and is not limited in any way, and in other embodiments, for example, a "first risk value" may be used instead of the "first probability", and the "first risk value" may be used to indicate the likelihood that the target vehicle is able to travel on time to the first area. In general, a larger first risk value indicates a smaller likelihood that the target vehicle reaches the first region on time, and a smaller first risk value indicates a larger likelihood that the target vehicle reaches the first region on time. It is to be understood that the "probability" in the embodiments of the present application (including the first probability, the second probability, the third probability, or the fourth probability, etc. mentioned herein) may be replaced by the "risk value", and will not be distinguished and described in detail below.

With reference to the first aspect, in a possible implementation manner, the first area includes an alternative parking area of the first vehicle, or includes a parking area where the second vehicle stays, and the method further includes: and updating the use state of the parking spaces in the first area according to the state information of the first vehicle and/or the state information of the second vehicle, wherein the first parking information is also used for indicating the number of the idle parking spaces in the first area.

By the method, when the vehicle control device performs parking planning for the target vehicle, the occupation condition of other vehicles (such as the first vehicle or the second vehicle) on the idle parking spaces in the first area needs to be comprehensively considered, and the use state of the parking spaces in the first area is updated timely, so that the possibility that the target vehicle does not have available idle parking spaces when the target vehicle arrives at the first area is reduced, or the possibility that the target vehicle does not consider to drive into the first area for parking and rest due to the fact that the number of the idle parking spaces in the first area is not updated timely.

With reference to the first aspect, in one possible implementation manner, updating a usage state of the parking space in the first area includes: estimating a second probability that the first vehicle reaches an idle parking space of the first area before the target vehicle runs according to the state information of the target vehicle and the state information of the first vehicle; estimating a third probability that the second vehicle is driven away from the first area before the target vehicle reaches the first area according to the state information of the target vehicle and the state information of the second vehicle; and updating the use state of the idle parking spaces in the first area according to the second probability and/or the third probability.

By the method, as an optional implementation manner, the vehicle control device can update the use state of the idle parking spaces in the first area by estimating the probability of changing the occupation of the idle parking spaces in the first area by other vehicles.

With reference to the first aspect, in a possible implementation manner, the method further includes: and estimating a fourth probability of no idle parking space when the target vehicle runs to reach the first area according to the second probability and/or the third probability, wherein the first parking information is also used for indicating the fourth probability.

By means of the method, as an optional implementation manner, the vehicle control device can estimate the fourth probability of no idle parking space when the target vehicle runs to the first area by estimating the probability of changing the occupation of the idle parking space of the first area by other vehicles, and indicate the fourth probability in the first parking information, so that the target vehicle can determine whether to stop and rest in advance and go to and stop and rest according to the fourth probability, the fatigue running probability of a driver of the target vehicle is reduced, and traffic safety is improved. Generally, a larger value of the fourth probability indicates a greater likelihood that the target vehicle is traveling without an empty space when it reaches the first area, and a smaller value of the fourth probability indicates a smaller likelihood that the target vehicle is traveling without an empty space when it reaches the first area.

It should be understood that, similar to the first probability, the "fourth probability" is merely a parameter expression form for indicating whether the target vehicle runs to reach the first area without a free parking space in the embodiment of the present application, and is not limited in any way. In other embodiments, for example, a "fourth risk value" may be used instead of the "fourth probability", which may be used to indicate the likelihood that the target vehicle is traveling without a free space when it reaches the first area. In general, a larger fourth risk value indicates a greater likelihood that the target vehicle will travel to the first area without a free space, and a smaller fourth risk value indicates a lesser likelihood that the target will arrive in the first area on time.

With reference to the first aspect, in a possible implementation manner, the method further includes: receiving a parking space allocation request from the target vehicle; responding to the parking space allocation request, and allocating a first parking space for the target vehicle according to the first parking space information and the type of the target vehicle, wherein the first parking space is an idle parking space in the first area; sending first indication information to a management node of the first area, wherein the first indication information is used for indicating that the target vehicle occupies the first parking space; and sending parking space allocation response information to the target vehicle, wherein the parking space allocation response information is used for indicating the first parking space.

By the method, the vehicle control device can respond to the parking space allocation request of the target vehicle to schedule the parking space resource for the target vehicle and instruct the target vehicle to drive to reach the first parking space allocated by the target vehicle. In this way, the vehicle control device can reserve (or reserve, lock, etc.) an idle parking space for the target vehicle, so as to ensure that the target vehicle can travel to reach the first parking space for a rest before the upper limit of the specified operation duration, and reduce the possibility that the target vehicle cannot find the parking space and thus is tired to travel.

It may be understood that, in the embodiment of the present application, a target vehicle may specify a parking space, and the parking space allocation request may carry information about the parking space specified by the target vehicle, for example, an identifier of a parking area to which the target vehicle belongs, a parking space identifier, etc., and the server may subscribe the specified parking space for the target vehicle as the first parking space in response to the parking space allocation request. Or, the parking space allocation request may not specify a parking space, and the server may perform uniform parking space resource scheduling to allocate the first parking space for the target vehicle.

With reference to the first aspect, in a possible implementation manner, the method further includes: receiving a parking space update request from the target vehicle; responding to the parking space update request, negotiating and exchanging the allocated parking spaces of the third vehicle and the target vehicle with the third vehicle, and obtaining parking space update information; and sending the parking space update information to the target vehicle.

By the method, the vehicle control device can realize the function of instant communication between the target vehicle and other vehicles (such as a third vehicle), provide an exchange path for the target vehicle and the other vehicles, realize the change of the allocated parking spaces between the target vehicle and the other vehicles, and promote the flexibility of the allocation of the parking spaces. According to the scheme, a new parking space resource scheduling path can be provided for vehicle users (such as vehicle formation users) with urgent demands, meanwhile, the operation efficiency of a vehicle team can be improved, and the operation cost is reduced.

With reference to the first aspect, in a possible implementation manner, the method further includes: according to a parking space update request from a fourth vehicle, a parking space exchange request is sent to the target vehicle, wherein the parking space exchange request is used for indicating to exchange the allocated parking spaces of the target vehicle and the fourth vehicle; and receiving parking space exchange response information from the target vehicle, wherein the parking space exchange response information is used for confirming exchange of the allocated parking spaces of the target vehicle and the fourth vehicle.

By the method, the target vehicle can also be used as a dispatched party, the vehicle control device can realize the function of instant communication between the target vehicle and other vehicles (such as a fourth vehicle), an communication path is provided between the fourth vehicle and the target vehicle, the change of the allocated parking space between the other vehicles and the target vehicle is realized, and the flexibility of the allocation of the parking space is improved.

In a second aspect, an embodiment of the present application provides a vehicle control method, where the method may be implemented by a vehicle control device associated with a target vehicle, and the vehicle control device may be, for example, an on-board terminal (or referred to as a vehicle, a center console, an in-vehicle audio/video entertainment device, etc.) of the target vehicle.

The method may include: transmitting state information of the target vehicle to a server; receiving first parking information from the server, wherein the first parking information is obtained according to state information and first vehicle position information of the target vehicle, the first vehicle position information is used for indicating the use state of a parking space in a first area, the first area comprises an alternative parking area of the target vehicle, the difference between the time when the target vehicle arrives at the first area and the first time is a first duration, the first duration is less than or equal to a first threshold, and the first parking information is used for indicating an idle parking space in the first area; and outputting the first parking information.

By the method, the vehicle control device at the vehicle side can report the state information of the target vehicle to the server, so that the server can plan and schedule parking space resources for the target vehicle according to the state information of the target vehicle, and the target vehicle can drive to an idle parking space in a first area for parking and resting before driving reaches a specified threshold. The method can flexibly plan and schedule the parking space resources for the target vehicle, is beneficial to reducing the fatigue driving probability of the driver of the target vehicle and improves the traffic safety. It should be noted that the first area may not be limited to one area, and the empty parking spaces in the first area are not limited to one parking space.

With reference to the second aspect, in a possible implementation manner, the first area is a parking area associated with a planned path of the target vehicle; or the first area is a parking area through which the target vehicle runs based on the current driving route in the second time period.

By the method, the first area indicated by the first parking information can comprise a parking area associated with the planned path of the target vehicle, or the target vehicle can travel in a second time based on the parking area traversed by the current driving route, and the vehicle control device on the target vehicle side can decide whether to stop for rest in advance and where to stop for rest according to each alternative parking area indicated by the first parking information, so that the fatigue driving probability of a target vehicle driver is reduced, and the traffic safety is improved.

With reference to the second aspect, in one possible implementation manner, the first duration is an estimated duration obtained according to state information of the target vehicle, and the first parking information is further used for indicating the first duration.

By the method, as an optional implementation manner, the first parking information can indicate a first duration associated with the first area, and the vehicle control device on the target vehicle side can combine the first duration to decide whether to park the target vehicle in advance for rest and where to park for rest, so that the probability of fatigue driving of a driver of the target vehicle is reduced, and the traffic safety is improved.

With reference to the second aspect, in one possible implementation manner, the state information includes position information and speed information of the target vehicle, and the first parking information is further used for indicating a first probability, where the first probability is a probability that the target vehicle arrives at the first area when traveling at a second moment, and the first probability is estimated according to road condition information associated with a driving route of the target vehicle, the position information and the speed information, and the second moment is a moment when the target vehicle is expected to arrive at the first area.

By the method, as an optional implementation manner, the first parking information can indicate a first probability, and the vehicle control device at the target vehicle side can decide whether to park for rest in advance and where to park for rest according to the first probability, so that the probability of fatigue driving of a driver of the target vehicle is reduced, and the traffic safety is improved. In general, a larger value of the first probability indicates a greater likelihood that the target vehicle reaches the first region on time at the second time, and a smaller value of the first probability indicates a smaller likelihood that the target vehicle reaches the first region on time at the second time.

With reference to the second aspect, in one possible implementation manner, the first parking information is further used for indicating the number of idle parking spaces in the first area, where the usage state of the parking spaces in the first area is updated according to the state information of the first vehicle and/or the state information of the second vehicle, and the first area includes an alternative parking area of the first vehicle or includes a parking area where the second vehicle stays.

By the method, as an optional implementation manner, the first parking information can indicate the number of the idle parking spaces in the first area, and the vehicle control device on the target vehicle side can combine with the change of the number of the idle parking spaces in the first area to determine whether the target vehicle stops for rest in advance and goes to the rest where, so that the fatigue driving probability of the driver of the target vehicle is reduced, and the traffic safety is improved.

With reference to the second aspect, in one possible implementation manner, the updating of the usage state of the parking space in the first area according to the state information of the first vehicle and/or the state information of the second vehicle includes: the use state of the idle parking space in the first area is updated according to a first probability and/or a second probability, wherein the first probability is a probability estimated according to the state information of the target vehicle and the state information of the first vehicle that the first vehicle reaches the idle parking space in the first area before the target vehicle runs, and the third probability is a probability estimated according to the state information of the target vehicle and the state information of the second vehicle that the second vehicle runs away from the first area before the target vehicle runs to reach the first area.

By the method, as an optional implementation manner, the use state of the idle parking spaces in the first area indicated by the first parking information is estimated in combination with the occupation condition of other vehicles (for example, the first vehicle or the second vehicle) on the parking spaces in the first area.

With reference to the second aspect, in one possible implementation manner, the first parking information is further used for indicating a fourth probability, where the fourth probability is a probability that no idle parking space exists when the target vehicle travels to reach the first area, and the probability is estimated according to the second probability and/or the third probability.

By the method, as an optional implementation manner, the first parking information can also indicate the probability of no idle parking space when the target vehicle arrives at the first area, so that the vehicle control device at the target vehicle side can decide whether to park for rest and where to park for rest in advance according to the probability, thereby reducing the probability of fatigue driving of the driver of the target vehicle and improving traffic safety.

With reference to the second aspect, in a possible implementation manner, the method further includes: sending a parking space allocation request to the server; and receiving parking space allocation response information from the server, wherein the parking space allocation response information is used for indicating a first parking space, the first parking space is an idle parking space in the first area, and the first parking space is allocated by the server according to the first parking space information and the type of the target vehicle.

By the method, as an optional implementation manner, the vehicle control device at the target vehicle side can request the server to reserve (or reserve or lock) an idle parking space for the target vehicle so as to ensure that the target vehicle can travel to reach the first parking space for stopping and resting before the upper limit of the specified operation duration, and reduce the possibility that the target vehicle cannot find the parking space and thus tired travel.

With reference to the second aspect, in a possible implementation manner, the method further includes: sending a parking space update request to the server; and receiving the parking space update information from the server, wherein the parking space update information is obtained by negotiating and exchanging the allocated parking spaces of the third vehicle and the target vehicle with the third vehicle according to the parking space update request.

By the method, as an optional implementation manner, the vehicle control device at the target vehicle side can request the server to replace the allocated parking space for the target vehicle, so that the flexibility of parking space allocation is improved. According to the scheme, a new parking space resource scheduling path can be provided for vehicle users (such as vehicle formation users) with urgent demands, meanwhile, the operation efficiency of a vehicle team can be improved, and the operation cost is reduced.

With reference to the second aspect, in a possible implementation manner, the method further includes: receiving a parking space exchange request from the server, wherein the parking space exchange request is used for indicating to exchange the allocated parking spaces of the target vehicle and the fourth vehicle; and sending parking space exchange response information to the server, wherein the parking space exchange response information is used for confirming and exchanging the allocated parking spaces of the target vehicle and the fourth vehicle.

By the method, as an optional implementation manner, the vehicle control device at the target vehicle side can exchange the allocated parking space with other vehicles (such as a fourth vehicle) according to the parking space exchange request from the server, so that the flexibility of parking space allocation is improved.

In a third aspect, an embodiment of the present application provides a vehicle control apparatus, including: the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring state information of a target vehicle, and the state information comprises operation time; the processing unit is used for determining a first area according to the state information, wherein the first area comprises an alternative parking area of the target vehicle, the difference value between the moment when the target vehicle reaches the first area and the first moment is a first duration, and the first duration is smaller than or equal to a first threshold value; the acquisition unit is further used for acquiring first vehicle position information, wherein the first vehicle position information is used for indicating the use state of the vehicle position of the first area; the processing unit is further used for determining first parking information according to the state information of the target vehicle and the first parking information, wherein the first parking information is used for indicating an idle parking place in the first area; and the communication unit is used for sending the first parking information to the target vehicle.

With reference to the third aspect, in one possible implementation manner, the first area is a parking area associated with a planned path of the target vehicle; or the first area is a parking area through which the target vehicle runs based on the current driving route in the second time period.

With reference to the third aspect, in one possible implementation manner, the first duration is an estimated duration obtained according to state information of the target vehicle, and the first parking information is further used for indicating the first duration.

With reference to the third aspect, in one possible implementation manner, the state information includes position information and speed information of the target vehicle, and the acquiring unit is configured to: acquiring road condition information associated with a driving route of the target vehicle; the processing unit is used for: and estimating a first probability that the target vehicle arrives at the first area in time at a second moment according to the road condition information, the position information and the speed information, wherein the second moment is the moment that the target vehicle is expected to arrive at the first area, and the first parking information is also used for indicating the first probability.

With reference to the third aspect, in a possible implementation manner, the first area includes an alternative parking area of the first vehicle, or includes a parking area where the second vehicle stays, and the processing unit is configured to: and updating the use state of the parking spaces in the first area according to the state information of the first vehicle and/or the state information of the second vehicle, wherein the first parking information is also used for indicating the number of the idle parking spaces in the first area.

With reference to the third aspect, in one possible implementation manner, the processing unit is configured to: estimating a second probability that the first vehicle reaches an idle parking space of the first area before the target vehicle runs according to the state information of the target vehicle and the state information of the first vehicle; estimating a third probability that the second vehicle is driven away from the first area before the target vehicle reaches the first area according to the state information of the target vehicle and the state information of the second vehicle; and updating the use state of the idle parking spaces in the first area according to the second probability and/or the third probability.

With reference to the third aspect, in one possible implementation manner, the processing unit is configured to: and estimating a fourth probability of no idle parking space when the target vehicle runs to reach the first area according to the second probability and/or the third probability, wherein the first parking information is also used for indicating the fourth probability.

With reference to the third aspect, in one possible implementation manner, the communication unit is configured to: receiving a parking space allocation request from the target vehicle; the second processing unit is used for: the processing unit is used for responding to the parking space allocation request, allocating a first parking space for the target vehicle according to the first parking space information and the type of the target vehicle, wherein the first parking space is an idle parking space in the first area; the communication unit is used for: sending first indication information to a management node of the first area, wherein the first indication information is used for indicating that the target vehicle occupies the first parking space; and sending parking space allocation response information to the target vehicle, wherein the parking space allocation response information is used for indicating the first parking space.

With reference to the third aspect, in one possible implementation manner, the communication unit is configured to: receiving a parking space update request from the target vehicle; the processing unit is used for negotiating and exchanging the allocated parking spaces of the third vehicle and the target vehicle with the third vehicle in response to the parking space update request to obtain parking space update information; the communication unit is used for sending the parking space update information to the target vehicle.

With reference to the third aspect, in one possible implementation manner, the communication unit is configured to send a parking space exchange request to the target vehicle according to a parking space update request from a fourth vehicle, where the parking space exchange request is used to indicate exchange of allocated parking spaces of the target vehicle and the fourth vehicle; and receiving parking space exchange response information from the target vehicle, wherein the parking space exchange response information is used for confirming exchange of the allocated parking spaces of the target vehicle and the fourth vehicle.

In a fourth aspect, an embodiment of the present application provides a vehicle control apparatus, including: a communication unit configured to transmit status information of a target vehicle to a server; receiving first parking information from the server, wherein the first parking information is obtained according to state information and first vehicle position information of the target vehicle, the first vehicle position information is used for indicating the use state of a parking space in a first area, the first area comprises an alternative parking area of the target vehicle, the difference between the moment when the target vehicle reaches the first area and the first moment is a first duration, the first duration is smaller than or equal to a first threshold, and the first parking information is used for indicating an idle parking space in the first area; and the output unit is used for outputting the first parking information.

With reference to the fourth aspect, in a possible implementation manner, the first area is a parking area associated with a planned path of the target vehicle; or the first area is a parking area through which the target vehicle runs based on the current driving route in the second time period.

With reference to the fourth aspect, in one possible implementation manner, the first duration is an estimated duration obtained according to state information of the target vehicle, and the first parking information is further used for indicating the first duration.

With reference to the fourth aspect, in one possible implementation manner, the state information includes position information and speed information of the target vehicle, and the first parking information is further used for indicating a first probability, where the first probability is a probability that the target vehicle arrives at the first area when traveling at a second moment, and the first probability is estimated according to road condition information associated with a driving route of the target vehicle, the position information and the speed information, and the second moment is a moment when the target vehicle is expected to arrive at the first area.

With reference to the fourth aspect, in one possible implementation manner, the first parking information is further used for indicating the number of idle parking spaces in the first area, where the usage state of the parking spaces in the first area is updated according to the state information of the first vehicle and/or the state information of the second vehicle, and the first area includes an alternative parking area of the first vehicle or includes a parking area where the second vehicle stays.

With reference to the fourth aspect, in one possible implementation manner, the updating of the usage status of the parking space in the first area according to the status information of the first vehicle and/or the status information of the second vehicle includes: the use state of the idle parking space in the first area is updated according to a first probability and/or a second probability, wherein the first probability is a probability estimated according to the state information of the target vehicle and the state information of the first vehicle that the first vehicle reaches the idle parking space in the first area before the target vehicle runs, and the third probability is a probability estimated according to the state information of the target vehicle and the state information of the second vehicle that the second vehicle runs away from the first area before the target vehicle runs to reach the first area.

With reference to the fourth aspect, in one possible implementation manner, the first parking information is further used to indicate a fourth probability, where the fourth probability is a probability estimated according to the second probability and/or the third probability that there is no free parking space when the target vehicle travels to reach the first area.

With reference to the fourth aspect, in a possible implementation manner, the communication unit is further configured to: sending a parking space allocation request to the server; and receiving parking space allocation response information from the server, wherein the parking space allocation response information is used for indicating a first parking space, the first parking space is an idle parking space in the first area, and the first parking space is allocated by the server according to the first parking space information and the type of the target vehicle.

With reference to the fourth aspect, in a possible implementation manner, the communication unit is further configured to: sending a parking space update request to the server; and receiving the parking space update information from the server, wherein the parking space update information is obtained by negotiating and exchanging the allocated parking spaces of the third vehicle and the target vehicle with the third vehicle according to the parking space update request.

With reference to the fourth aspect, in a possible implementation manner, the communication unit is further configured to: receiving a parking space exchange request from the server, wherein the parking space exchange request is used for indicating to exchange the allocated parking spaces of the target vehicle and the fourth vehicle; and sending parking space exchange response information to the server, wherein the parking space exchange response information is used for confirming and exchanging the allocated parking spaces of the target vehicle and the fourth vehicle.

In a fifth aspect, an embodiment of the present application provides a vehicle control apparatus, including: a processor and a memory; the memory stores a program; the processor is configured to execute the program stored in the memory, so that the apparatus implements the method described in the first aspect and any possible implementation manner of the first aspect.

In a sixth aspect, an embodiment of the present application provides a vehicle control apparatus, including: a processor and a memory; the memory stores a program; the processor is configured to execute the program stored in the memory, so that the apparatus implements the method according to the second aspect and any possible implementation manner of the second aspect.

In a seventh aspect, embodiments of the present application provide a vehicle control system, including: the vehicle control apparatus according to the third aspect and any possible implementation manner of the third aspect, and the vehicle control apparatus according to the fourth aspect and any possible implementation manner of the fourth aspect.

With reference to the seventh aspect, in a possible implementation manner, the vehicle control system may further include: a smart device associated with a vehicle and/or a vehicle-mounted application running on the vehicle.

In an eighth aspect, embodiments of the present application provide a computer readable storage medium storing program code which, when run on a computer, causes the computer to perform the method of the first aspect and any one of the possible implementations of the first aspect; alternatively, the program code, when run on a computer, causes the computer to perform the method of the second aspect and any possible implementation manner of the second aspect.

In a ninth aspect, embodiments of the present application provide a computer program product, which when run on a computer, causes the computer to perform the method according to the first aspect and any possible implementation manner of the first aspect, or to perform the method according to the second aspect and any possible implementation manner of the second aspect.

In a tenth aspect, embodiments of the present application provide a chip system, where the chip system includes a processor, and the processor is configured to invoke a computer program or a computer instruction stored in a memory, so that the processor performs the method according to any of the possible implementations of the first aspect and the second aspect, or performs the method according to any of the possible implementations of the second aspect and the second aspect.

With reference to the tenth aspect, in one possible implementation manner, the processor is coupled to the memory through an interface.

With reference to the tenth aspect, in one possible implementation manner, the chip system further includes a memory, where a computer program or computer instructions are stored.

In an eleventh aspect, embodiments of the present application provide a processor, where the processor is configured to invoke a computer program or a computer instruction stored in a memory, to cause the processor to perform the method according to any of the possible implementations of the first aspect and the second aspect or perform the method according to any of the possible implementations of the second aspect and the second aspect.

Further combinations of embodiments of the present application may be made to provide further implementations based on the implementations provided in the above aspects. The technical effects that may be achieved by any one of the possible designs of the second aspect to the eleventh aspect may be correspondingly described with reference to the technical effects that may be achieved by any one of the possible designs of the first aspect or the second aspect, and the description thereof will not be repeated.

Drawings

Fig. 1a shows a schematic diagram of an application scenario applicable to an embodiment of the present application;

FIG. 1b illustrates a system architecture diagram suitable for use with embodiments of the present application;

FIG. 2 illustrates a flow chart of a vehicle control method of an embodiment of the present application;

FIG. 3 illustrates a flow chart of a vehicle control method of an embodiment of the present application;

FIG. 4 shows a schematic diagram of outputting first parking information at a user interface;

FIG. 5 shows a flow chart of a vehicle control method of an embodiment of the present application;

FIG. 6 shows a flow chart of a vehicle control method of an embodiment of the present application;

fig. 7 shows a schematic view of a vehicle control apparatus of an embodiment of the present application;

fig. 8 shows a schematic view of a vehicle control apparatus of an embodiment of the present application;

fig. 9 shows a schematic diagram of a vehicle control apparatus of an embodiment of the present application.

Detailed Description

Parking spaces generally refer to parking spaces that may be used for long-term or temporary parking of a vehicle. Common parking spaces are classified into two types, one being a parking space located in a specific parking area (e.g., a parking lot, or an expressway service area, etc.), and one being a parking space located at a roadside. The parking space on the side of the part of the parking space has timeliness, part of the time period of the parking space can be used for parking, and part of the time period can be used for passing.

To ensure traffic safety, regulations in the related art state that the vehicle is in a manual driving mode, the upper limit of the duration of continuous driving of the vehicle (for example, 4 hours) or the lower limit of the duration of stopping and resting (for example, 20 minutes) of the vehicle by the driver, the driver is penalized if the driver violates the regulations. Likewise, when the vehicle is in the automatic driving mode, it is also necessary to stop the vehicle when the vehicle is continuously running for a predetermined period of time to avoid malfunction caused by overheating of the vehicle components. Therefore, in order to ensure traffic safety, it is necessary to stop the vehicle in an idle parking space before the continuous running time of the vehicle reaches the upper limit of the time period specified in the relevant laws and regulations.

However, in some scenarios, such as highway scenarios, vehicles cannot be parked at random due to scene limitations. If the vehicle still cannot travel to the idle parking space in the parking area when the continuous running reaches the upper limit of the specified running time, the driver cannot stop for rest, and the fatigue running condition of the vehicle driver inevitably occurs, so that the traffic safety hidden danger exists. For another example, in production scenarios such as ports, mines, closed industrial parks, etc., or in automatic driving scenarios, there may be situations where parking space resources are scheduled for work vehicles or automatic driving vehicles in a fleet, such as vehicle maintenance, energy replenishment, etc., which may affect work efficiency or trip efficiency. Therefore, how to perform parking planning for a vehicle is still an important problem to be solved.

The embodiment of the application provides a vehicle control method, device and system, which are used for planning and scheduling parking space resources for a target vehicle according to state information of the target vehicle, so that the target vehicle can drive to an idle parking space in a first area for parking and resting before driving reaches a specified threshold. The method can help to reduce the fatigue driving probability of the driver of the target vehicle and improve the traffic safety by flexibly scheduling the parking space resource for the target vehicle. Or, the method can arrange a parking space for fault maintenance, a parking space for supplementing energy, a parking space for parking waiting and the like for the operation vehicles in the motorcade so as to timely eliminate the influence of various interference factors influencing the orderly operation of the operation vehicles, help the motorcade to orderly operate, help the whole operation efficiency of the motorcade to greatly reduce the manual operation cost. Or, the method can realize parking space management in an automatic driving scene, and is helpful for assisting the automatic driving vehicle to safely run and improving traffic safety by flexibly scheduling parking space resources for the automatic driving vehicle. The first area may not be limited to one area, and the empty parking space in the first area is not limited to one parking space, and the purpose of scheduling the parking space resource in the first area for the target vehicle is not limited to parking and resting for the driver of the vehicle, and may be, for example, for vehicle maintenance, energy replenishment (for example, scheduling a charging pile, a gas station, or a store, etc.).

The method and the device are based on the same technical conception, and because the principle of solving the problems by the method and the device is similar, the implementation of the device and the method can be mutually referred to, and the repeated parts are not repeated. Hereinafter, the vehicle control scheme of the embodiment of the present application will be described in detail with reference to the expressway scenario and the traffic safety purpose as an example, and it should be understood that the vehicle control scheme is equally applicable to the aforementioned production scenario or autopilot scenario of ports, mines, closed industrial parks, etc.

It should be noted that the vehicle control scheme in the embodiment of the present application may be applied to the internet of vehicles, such as vehicle-to-everything (vehicle to everything, V2X), long term evolution technology for workshop communication (long term evolution-vehicle, LTE-V), vehicle-to-vehicle (vehicle to vehicle, V2V), and the like. For example, the present invention can be applied to a vehicle having a driving movement function, or other devices having a driving movement function in a vehicle. Such other devices include, but are not limited to: other sensors such as a vehicle-mounted terminal, a vehicle-mounted controller, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, a vehicle-mounted unit, a vehicle-mounted radar or a vehicle-mounted camera, and the vehicle can pass through the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the vehicle-mounted camera. Of course, the control scheme in the embodiment of the application may also be used in or provided in other intelligent terminals having a movement control function than a vehicle. The intelligent terminal can be intelligent transportation equipment, intelligent household equipment, robots and the like. Such as, but not limited to, a smart terminal or other sensor such as a controller, chip, radar or camera within a smart terminal, and other components, etc.

In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a and b, a and c, b and c, or a and b and c, wherein a, b, c may be single or plural.

And, unless otherwise specified, references to "first," "second," etc. ordinal words of the embodiments are used for distinguishing between multiple objects and are not used for limiting the priority or importance of the multiple objects. For example, the first, second, and third spaces are merely for distinguishing between the different spaces, and are not indicative of the difference in priority or importance of the three spaces.

For ease of understanding, the following description is provided in connection with the accompanying drawings and examples.

Fig. 1a shows a schematic diagram of an application scenario applicable to an embodiment of the present application. In this application scenario, a vehicle 100 and a server 200 may be included, and the vehicle 100 and the server 200 may communicate through a network.

Some or all of the functions of the vehicle 100 are controlled by the computing platform 150. Computing platform 150 may include at least one processor 151, and processor 151 may execute instructions 153 stored in a computer-readable medium, such as a memory 152. In some embodiments, computing platform 150 may also be a plurality of computing devices that control individual components or subsystems of vehicle 100 in a distributed manner. The processor 151 may be any conventional processor, such as a central processing unit (central processing unit, CPU). Alternatively, the processor 151 may also include a processor such as an image processor (graphic process unit, GPU), a field programmable gate array (field programmable gate array, FPGA), a System On Chip (SOC), an application specific integrated chip (application specific integrated circuit, ASIC), or a combination thereof.

In addition to instructions 153, the memory 152 may also store data such as road maps, route information, vehicle position, direction, speed, and other such vehicle data, as well as other information. Such information may be used by the vehicle 100 and the computing platform 150 during operation of the vehicle 100 in autonomous, semi-autonomous, and/or manual modes.

It should be understood that the configuration of the vehicle in fig. 1a should not be construed as limiting the embodiments of the present application.

Alternatively, the vehicle 100 may be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a mower, a recreational vehicle, a casino vehicle, construction equipment, an electric car, a golf car, a train, or the like, and the embodiment of the present application is not particularly limited.

In addition, the application scenario shown in fig. 1a may further include a server 200. In this embodiment of the present application, the server 200 may issue first parking information for the vehicle 100, where the first parking information may indicate a parking planning suggestion provided for the vehicle 100, and the vehicle 100 may decide whether to park for rest in advance and where to park for rest according to the first parking information, so as to reduce the probability of fatigue driving of the driver of the target vehicle, and improve traffic safety.

In one embodiment, the server 200 may also be implemented by a virtual machine.

Fig. 1b shows a system architecture diagram to which embodiments of the present application are applicable. Referring to fig. 1b, the system may include: at least one vehicle 100, a server 200, and a management node 300 of a parking area. It should be understood that this is merely an example of the means that may be included in the system and is not intended to be limiting, and that an upper layer application 130 (e.g., an application running on an on-board terminal of the vehicle 100), a Road Side Unit (RSU), etc. may alternatively be included in the system. Also, the number of various devices that can be included in the system is not limited to one.

Any vehicle 100 of the at least one vehicle 100 may interact with the server 200, and send its own status information and/or a parking space resource scheduling request (e.g., a parking space allocation request, a parking space update request, etc.) to the server 200, so that the server 200 performs parking space resource planning and scheduling for the vehicle 100 based on the status information and/or the parking space resource scheduling request. By way of example, the status information may include, but is not limited to, at least one of location information, speed, heading angle, continuous run time (e.g., including vehicle start time, vehicle continuous run duration, etc.), and planned path, etc. of the vehicle.

The management node 300 of the parking area is a node that manages the parking space resources of the parking area. The management node 300 may be an independent device, a chip or a component in the device, or software, and may be deployed on a cloud, or a road side device, or a remote server, or a local server, etc., which are not limited in the product form and the deployment manner of the management node in the embodiment of the present application. In one possible implementation, the management node 300 may be part of the server 200, for implementing a management function for parking space resources of the parking area. Wherein the management node 300 is shown in dashed lines in fig. 1b only to indicate that the management node 300 is an optional node.

It will be appreciated that in embodiments of the present application, the parking area may include one or more, and the corresponding management node 300 may be one or more. That is, the management of the parking space resources of one or more parking areas may be implemented by one management node 300, or the management of the parking space resources of different parking areas may be implemented by different management nodes 300. The management nodes 300 corresponding to different parking areas can communicate with the server 200 to interact the use state information of the parking spaces of the parking areas managed by the management nodes.

The server 200 may be used as a cloud-based vehicle control device, and may be used to provide services/functions for scheduling parking space resources for any one of the vehicles 100. The server 200 may obtain status information of any vehicle 100, and obtain usage status information of a parking space of an alternative parking area from a management node 300 of the alternative parking area associated with the vehicle 100, so as to plan a parking space resource for the vehicle 100, to provide a parking rest planning suggestion scheme for the vehicle 100, or reserve an idle parking space for the vehicle 100 according to a requirement of the vehicle 100, so as to schedule a parking space resource for the vehicle 100. The server 200 may also provide instant messaging connections between different vehicles and may be used to provide services/functions for exchanging parking space resources between different vehicles.

In one possible implementation, the parking space resource scheduling service may be implemented by a corresponding unit/module in the server 200, for example, the server 200 may include an acquisition module 201, a processing module 202, and a communication module 203, and the acquisition module 201 may be used to acquire status information of the target vehicle. The processing module 202 may be configured to schedule parking space resources for a target vehicle according to status information of the target vehicle. For example, an alternative parking area where the target vehicle can travel within a prescribed time is determined according to the state information of the target vehicle, and a parking plan is performed for the target vehicle according to the use state of the parking space of the alternative parking area, and first parking information is formulated, which can be used to instruct the server 200 to plan a parking suggestion for the target vehicle. The communication module 203 may send the first parking information to the target vehicle. For another example, the communication module 203 may receive a parking space resource scheduling request (e.g., a parking space allocation request, a parking space update request, etc.) from a target vehicle, and the processing module 202 may perform a parking space resource scheduling process in response to the parking space resource scheduling request, such as allocating a first empty parking space for the target vehicle in response to the parking space allocation request, or exchanging allocated parking space with other vehicles (e.g., a third vehicle) in response to the parking space update request. The communication module 203 may also return a parking space resource scheduling result to the target vehicle.

It should be understood that the acquiring module 201, the processing module 202, and the communication module 203 may be different modules, two modules, one module, or part of the functions of the modules may be deployed in an upper layer application or other systems, and the embodiment of the present application is not limited to the respective services provided by the server 200 and the specific implementation manner of the respective services.

The modules in the server 200 may communicate with each other and perform information transmission, so as to ensure implementation of related functions of the vehicle control device. For example, the processing module 202 may query, from the obtaining module 201, information such as status information of the target vehicle or a usage status of a parking space in the alternative parking area, and perform parking planning or parking space resource scheduling for the target vehicle based on the queried information, to obtain corresponding parking planning information or parking space resource scheduling result. The communication module 203 may query the parking planning information or the parking space resource scheduling result of the target vehicle from the acquisition module, and send the parking planning information or the parking space resource scheduling result to the target vehicle. In fig. 1b, the connection lines between the acquisition module 201, the processing module 202, and the communication module 203 only indicate that the modules are in communication with each other, and the communication mode, the information transmission direction, and the specific information transmitted between the different modules are not limited.

In this way, under cooperative control of the above-described respective devices or modules, the server 200 flexibly plans and schedules the parking space resource for at least one vehicle 100 so that the vehicle can travel to the free parking space in the first area for a rest before traveling reaches a predetermined threshold. The method can help to reduce the fatigue driving probability of the vehicle driver and improve the traffic safety by flexibly scheduling the parking space resource for the vehicle.

It will be appreciated that the server 200 may take on a variety of different product forms in its implementation. The server may be a single server, or may refer to a server cluster formed by a plurality of servers. The server may be a local server. In the field of internet of vehicles, the server may specifically be a cloud server, which may also be referred to as a cloud, a cloud server, a cloud controller, or an internet of vehicles server. Cloud servers are a general term for devices or apparatuses having data processing capability, and may include, for example, a host or a processor, or may include a virtual device such as a virtual machine or a container, or may include a chip or an integrated circuit. In an alternative implementation, the server 200 may also be a roadside device, or a chip or component in a roadside device.

The vehicle 100 may be any vehicle including, but not limited to, a production vehicle, a general work vehicle, a special work vehicle, etc., and may be a passenger car, a truck, etc. The vehicle 100 may register with the server 200 to obtain the above-described services provided by the server 200. The services provided by the server 200 to the vehicle 100 may be presented in various forms at the vehicle 100, for example, a voice service, an interface display service, a navigation service, an autopilot service, a query service, a voice broadcast service, etc., which are not limited in this embodiment. The vehicle 100 may also report related information, such as status information of the vehicle, to the server 200, so that the server 200 may perform unified parking space planning and scheduling for a plurality of vehicles based on the status information reported by the vehicle 100.

Wherein the vehicle 100 may be a vehicle in a fully manual driving mode, or a vehicle in a fully automatic driving mode, or the vehicle 100 may be configured as a vehicle in a partially automatic driving mode. In which a vehicle in a partially autonomous mode, for example, means that the vehicle 100 can control itself while in the autonomous mode, and the current state of the vehicle and the surrounding environment can be determined by a human operation, the possible behavior of at least one other vehicle in the surrounding environment is determined, and the vehicle 100 is controlled based on the determined information. When the vehicle 100 is in the fully automatic driving mode, the vehicle 100 may be placed into operation without human interaction. It should be appreciated that where at least one vehicle is included in the system described above, the at least one vehicle may include: in other words, the system may specifically include a plurality of different vehicles, which are not limited in this embodiment of the present application.

In an alternative implementation, the vehicle 100 may also have an onboard device, such as a telematics Box (T-Box), placed or mounted thereon for information processing and information interaction, which may communicate with the RSU. Alternatively, various terminal devices, if located on a vehicle (e.g., placed in or mounted to the vehicle), may be considered as in-vehicle devices, which may also be considered as on-board units (OBUs).

In an alternative implementation, the server 200 may apply up to the upper layer. The upper layer application may be an application program or software, for example. The upper layer application may be installed and run on a user device (may be a cloud device or a terminal device or the vehicle 100), and a driver may configure the server 200 through the upper layer application, including but not limited to authorizing a function, an access right, issuing a task, a control instruction, or the like of the server 200. Further, the server 200 may obtain an authorization result, a task, or a control instruction from an upper layer application, and utilize other information that may be obtained by itself to perform uniform parking space resource scheduling on related vehicles and parking areas, so as to reduce collisions between different vehicles, and improve traffic safety.

It is to be appreciated that the user devices described above can be any suitable electronic device including, but not limited to, smart devices associated with the vehicle 100, such as smartphones, tablets, or wearable devices, etc., as well as on-board terminals of the vehicle 100, etc. The user device may have a User Interface (UI) operable to display first parking information including, but not limited to, at least one of an empty space of a first area indicated by the first parking information, a number of empty spaces of the first area, a first probability, a fourth probability, or a first duration, etc. The user interface may also be a touch screen, and the driver may implement the foregoing related authorization configuration or other operations through a touch operation to the user interface; alternatively, the user device may be associated with other input devices, such as a microphone, through which the driver may perform configuration, task (e.g. navigation task) issuing, etc. to the server 200 via an upper layer application, which will not be described herein.

Based on the application scenario shown in fig. 1a or the system architecture shown in fig. 1b and the vehicle control method according to the embodiment of the present application, the server 200 may plan and schedule the parking space resource for the vehicle 100, so that the vehicle 100 can travel to the idle parking space in the first area for parking and resting before reaching the specified threshold. The method can flexibly plan and schedule the parking space resources for the target vehicle, is beneficial to reducing the fatigue driving probability of the driver of the target vehicle and improves the traffic safety. For ease of understanding, specific implementations of the vehicle control method of the embodiments of the present application are described in detail below in conjunction with a method flowchart.

Fig. 2 shows a flow chart of a vehicle control method of an embodiment of the present application. The method may be implemented in conjunction with the target vehicle, which may be the vehicle 100 of fig. 1a or any one of the vehicles 100 of fig. 1b, by the server 200 shown in fig. 1a and 1 b. It will be appreciated that, in the case where a vehicle other than the target vehicle is involved, for convenience of distinction, the embodiment of the present application may also be represented as a first vehicle, a second vehicle, a third vehicle, a fourth vehicle, or the like in different method steps, which may implement the vehicle control method of the embodiment of the present application in cooperation with the server 200 and the target vehicle.

Referring to fig. 2, the vehicle control method may include the steps of:

s210: the server acquires state information of the target vehicle.

In the embodiment of the application, the target vehicle is a vehicle needing to be subjected to parking space resource planning and scheduling.

In general, the target vehicle may be any vehicle that starts running and is in a state of traveling (for example, a speed per hour of greater than 0 Km/h). After obtaining the authorization of the target vehicle, the server may obtain information required for planning and scheduling parking space resources for the target vehicle, for example, state information of the target vehicle, from the target vehicle.

The state information of the target vehicle includes, for example, at least one of the following: location information, heading angle information, speed information, continuous run time (including, for example, a vehicle start-up run time, a vehicle run time length, etc.), and a planned path, etc. The position information of the target vehicle may be used to locate the current position of the target vehicle, and may also be used to determine a road and/or a lane where the target vehicle is located, so as to determine the current driving route of the target vehicle. The speed information of the target vehicle may be used to estimate a length of time required for the target vehicle to travel to an alternative parking area, a probability of the target vehicle arriving at the alternative parking area on time at a second time, a probability of other vehicles arriving at the same alternative parking area being limited to travel of the target vehicle, a probability of other vehicles arriving at the alternative parking area being leaving the target vehicle before the target vehicle arrives at the alternative parking area, etc. the planned path of the target vehicle may be used to indicate a planned route of the target vehicle, which may include, for example, a first road along which the current location of the target vehicle is located, a planned road in a downstream direction of the first road (i.e., to be travelled), and/or a planned road of the first road upstream of the first direction.

By way of example, the manner in which the server obtains the state information of the target vehicle may include, but is not limited to: the target vehicle actively reports the status information, the server requests the target vehicle to acquire the status information, and the server acquires the status information of the target vehicle through a third party communication mode (for example, via a smart device associated with the target vehicle, via an RSU, etc.). The server may obtain the state information of the target vehicle in real time or periodically, which is not limited in the embodiment of the present application. The arrow pointing from the target vehicle to the server shown in fig. 2 indicates that the state information is the state information of the target vehicle, and the specific implementation of the server to acquire the state information of the target vehicle is not limited.

In an alternative implementation, the target vehicle may be configured with at least one mode that may correlate to the manner in which information is interacted with between the target vehicle and the server. For example, an active mode (alternatively referred to as a request mode) or an automatic mode or a response mode. After the authorization of the user is obtained, in the active mode, the target vehicle can actively send the state information of the target vehicle to the server when the server is required to carry out parking space resource planning and scheduling for the target vehicle, so as to request the server to carry out parking space resource planning and scheduling for the target vehicle. After the authorization of the user is obtained, in the automatic mode, the target vehicle can send the state information of the target vehicle to the server in real time or periodically according to an information reporting mechanism associated with the automatic mode, so that the server actively performs parking space resource planning and scheduling for the target vehicle according to the state information reported by the target vehicle. In response mode, the server can send a parking space resource planning and scheduling request to the target vehicle, and the target vehicle can feed back state information or other response information of the target vehicle to the server according to the parking space resource planning and scheduling request from the server.

S220: the server determines a first region according to the state information of the target vehicle.

In this embodiment of the present application, the first area includes an alternative parking area of the target vehicle, where a difference between a time when the target vehicle reaches the first area and the first time is a first duration, and the first duration is less than or equal to a first threshold.

In the embodiment of the present application, the first position represents the position of the target vehicle at the first moment, and the first moment and the first position may be understood differently. For example, in a first understanding, the first time may be a time at which the target vehicle starts to operate, and the first location may be a location at which the target vehicle starts to operate. In a second understanding, the first time is a real time during driving of the target vehicle, for example, a time when status information is reported, and the first position is a position of the target vehicle at the first time during driving of the target vehicle. According to the vehicle control method of the embodiment of the application, the continuous running time of the vehicle from the starting running time cannot exceed the preset threshold (for example, the second threshold is represented), otherwise, the driver of the vehicle is tired to run, and errors can occur in both the driver on the vehicle and the parts of the vehicle, for example, the driver is tired to drive and is not concentrated and cannot pay attention to running, and the parts of the vehicle are overheated and fail, so that traffic safety hazards exist. Thus, in the first understanding, the first threshold is equal to the second threshold, and in the second understanding, the first threshold is smaller than the second threshold.

For example, assuming that the starting running time of the target vehicle is 8:00am, the upper limit (i.e. the second threshold) of the duration of fatigue running of the driver of the vehicle is 4h, if the first time is 8:00am, the first duration is expected to be 4h, which indicates that the target vehicle needs to run before 12:00am to reach the idle parking space for stopping and resting in the first area; if the first time is 10:00am, the first duration is expected to be 2h (less than 4 h), which means that the target vehicle needs to travel to an idle parking space in the first area before 12:00 am.

It may be appreciated that in the embodiment of the present application, the first duration may be an estimated duration obtained according to the state information of the target vehicle. The state information used in estimating the first duration may include, but is not limited to, a start operating time or an already operating duration of the target vehicle, which will be described in detail below in connection with the embodiments.

It will be appreciated that, in implementation, the state information of the target vehicle may include the first time or other time parameter associated with the first time, and the implementation of the first time or other time parameter is not limited in this embodiment of the present application. For example, the other time parameter may be a corresponding run length of the target vehicle at the first time. For example, in the above embodiment, when the starting operation time of the target vehicle is 8:00am and the first time is 8:00am, the operated duration corresponding to the first time is 0, and when the starting operation time of the target vehicle is 8:00am and the first time is 10:00am, the operated duration corresponding to the first time is 2h.

In this embodiment of the present application, the information included in the state information of the target vehicle may be various, and in implementing S220, the server may determine the first area according to the state information of the target vehicle in at least one manner. The at least one mode is exemplified below.

Example 1: the state information of the target vehicle includes a planned path of the target vehicle, and the first area may be a parking area associated with the planned path of the target vehicle.

When S220 is implemented, the server may obtain information of a parking area associated with the planned path according to the planned path of the target vehicle, and determine, according to other state information of the target vehicle and the information of the parking area, candidate parking areas of the target vehicle, where the candidate parking areas are the first areas.

In a specific implementation, the planned path of the target vehicle may include, for example, a first location where the target vehicle is located at a first time, a destination location, and a planned route that needs to be travelled from the first location to the destination location, and the state information of the target vehicle may further include the first time. In S220, the server may determine, according to the planned route, information of at least one parking area, such as an identification of the parking area, location information of the parking area, etc., that may be routed around the road when the target vehicle travels along the planned route. The server may determine an alternative parking area of the target vehicle in the at least one parking area as the first area according to a first location, a speed, a planned route, and location information of the at least one parking area where the target vehicle is located.

Wherein, in example 1, the alternative parking area of the target vehicle needs to satisfy the following first condition: the difference between the time when the target vehicle reaches the parking area (indicated as a second time, for example) and the first time can be equal to or less than a first threshold value. That is, if any one of the at least one parking area satisfies the first condition, the parking area may be an alternative parking area of the target vehicle, and if not, the parking area may not be an alternative parking area of the target vehicle (with respect to only the first time). The plurality of candidate parking areas may be selected from the at least one parking area, and the server may use part or all of the plurality of candidate parking areas as the first area.

Example 2: the target vehicle does not provide a planned path, the state information of the target vehicle includes at least one of position information, course angle information, speed information, starting running time or running time of the target vehicle, and the first area may be a parking area through which the target vehicle runs based on the current driving route in the second time. The second duration is less than or equal to the first duration.

In the implementation of S220, the server may determine, for example, a first road on which the target vehicle is located according to the location information and the heading angle information of the target vehicle, and determine, according to the first road and the road topology relationship information corresponding to the first road, all parking areas through which the target vehicle may travel based on the current driving route.

The road topology information may be used, for example, to indicate a road associated with the first road, including a second road located in an upstream direction of the first road and associated with the first road, and/or a third road located in a downstream direction of the first road and associated with the first road. The server may store the road topology relationship information, or may acquire the road topology relationship information from other devices (for example, management nodes corresponding to traffic departments), and the method for acquiring the road topology relationship information is not limited in this embodiment of the present application. In an alternative implementation manner, the road topology relationship information may further include related attribute information of the first road, the second road and the third road, such as a road identifier, road length information, and the like.

Further, the server may determine, as the first area, an alternative parking area of the target vehicle among the parking areas based on speed information of the target vehicle, start-up running time or already running time, road length information, position information of all the parking areas, and the like.

Wherein, in example 2, the alternative parking area of the target vehicle needs to satisfy the following second condition: the difference between the time when the target vehicle reaches the parking area (indicated as a third time, for example) and the first time can be equal to or less than the first threshold. That is, if one parking area satisfies the second condition, among all parking areas that the target vehicle may travel through based on the current driving route, the parking area may be an alternative parking area of the target vehicle, and if not, the parking area may not be an alternative parking area (only with respect to the first time) of the target vehicle. The target vehicle may have a plurality of alternative parking areas among all parking areas possibly traversed based on the current driving route, and the server may use part or all of the plurality of alternative parking areas as the first area.

In example 1 and example 2, the first condition and the second condition may represent the same condition, and the second time and the third time may have the same meaning, which is not limited in the embodiment of the present application.

S230: the server obtains first location information.

In this embodiment of the present application, the first vehicle location information is used to indicate a use state of a vehicle location in the first area, for example, the vehicle location is in any one of an idle state, a use state, a reservation state, and the like. The idle state indicates that the parking space is not used or reserved by other vehicles, i.e., no other parking space is reserved in the parking space, and no other vehicles reserve to use the parking space. The use state indicates that the parking space is used by other vehicles, i.e. a certain vehicle is parked in the parking space. The reservation status indicates that the parking space is reserved for use by or, allocated for, reserved/locked by, etc. other vehicles. It should be appreciated that a reserved parking space may no longer be used or reserved by another vehicle before it is unlocked, and thus, in one possible implementation, the reserved state of a parking space may be equivalently regarded as one of the use states of the parking space.

In the embodiment of the present application, the first vehicle location information may be represented in any one of at least one representation manner.

In one possible implementation, the first location information may include, for example, a total number of locations in the first area, and a number of locations in the various states. For example, the total number of parking spaces in the first area is 100, wherein 30 parking spaces are in an idle state, 50 parking spaces are in a use state, 20 parking spaces are in a reservation state, and the first parking space information may be expressed as: total-100; idle-30; -50; reservation-20. In another possible implementation manner, the first parking space information may include, for example, an identification of all parking spaces in the first area and a state in which each parking space is located. For example, the N parking spaces in the first area are identified by numbers 1-N (N is an integer greater than or equal to 1), and the first parking space information may be expressed as: 1-use, 2-use, 3-idle, 4-reserved, 5-idle, 6-reserved … …, 10-use. In yet another possible implementation manner, the first location information may include only a state of the empty space in the first area, for example, the total number of the space in the first area is 100, where 30 spaces are in the empty state, and the first location information may be expressed as: idle-30. It should be understood that this representation of the first location information is merely illustrative and not limiting, and in other embodiments, the first location information may be represented in other manners, which are not described herein.

In the implementation S230, the server may directly obtain the first vehicle location information from, for example, a management node in the first area, or the server may obtain the first vehicle location information according to, for example, a vehicle location use condition obtained from the management node in the first area.

Illustratively, the parking space usage obtained by the server from the management node of the first area may include at least one of the following situations:

case a: parking space use condition at current moment;

case B: the idle parking space is reserved by other vehicles at the current moment;

case C: whether the vehicle on the currently used parking space is in a short parking state or not, and the time of possible driving away;

the server may comprehensively consider the above situations a to C, and estimate the possibility of the change of the use state of the parking space in the first area, and determine the first vehicle position information by combining the actual use state of the parking space in the first area and the possibility of the change of the use state of each parking space.

That is, the first vehicle position information may be used to indicate a real use state of the vehicle position in the first area, or may be an estimated use state of the vehicle position in the first area at a future time, which is not limited in the embodiment of the present application.

S240: the server determines first parking information according to the state information of the target vehicle and the first vehicle position information.

S250: the server transmits the first parking information to the target vehicle. Accordingly, the target vehicle receives the first parking information from the server.

In this embodiment of the present application, the first parking information may include a parking suggestion obtained by planning and scheduling a parking space resource for a target vehicle by using a server, where the first parking information may be used to indicate an idle parking space in a first area. After the target vehicle receives the first parking information, whether the target vehicle runs to the idle parking space in the first area or not can be determined according to the first parking information, and the target vehicle stops for rest, so that the fatigue running probability of a driver of the target vehicle is reduced.

In the implementation of S240, the server may comprehensively measure various factors that may affect the target vehicle to arrive at the idle parking space in the first area on time, so as to formulate the first parking information. For ease of understanding, various factors that may affect whether the target vehicle is able to arrive at the free space of the first area on time at the second time are illustrated below.

(1) Road condition information associated with the driving route of the target vehicle (including the planned route described in example 1 and the current driving route of the vehicle described in example 2).

In general, road congestion conditions affect the time required for a target vehicle to travel to reach a first area, and motivate competing conflicts of multiple vehicles, including the target vehicle, for free spaces in the same parking area. For example, road congestion affects the time that the target vehicle reaches the first area, and the more severe the road congestion, the longer the target vehicle needs to travel from the current location to the first area, the greater the risk of being able to reach the first area within the first duration. As another example, the more vehicles on a road, the greater the likelihood that these vehicles will travel to rest in the same parking area, and to some extent, the greater the risk that the target vehicle will reach the first area without remaining available parking space.

Therefore, when S240 is implemented, the server may obtain the road condition information associated with the driving route of the target vehicle, and estimate the time when the target vehicle arrives at the first area (denoted as the second time) or estimate the first time (i.e. the difference between the second time and the first time) or estimate the first probability that the target vehicle arrives at the first area in time at the second time according to the road condition information, the position information and the speed information of the target vehicle. The first parking information may also be used to indicate at least one of the second time, the first duration, or the first probability.

It will be appreciated that the "first probability" is merely a parameter representation of the present embodiment indicating whether the target vehicle is able to travel to the first area on time at the second moment, and is not limited in any way, and in other embodiments, for example, a "first risk value" may be used instead of the "first probability", and the "first risk value" may be used to indicate the possibility that the target vehicle is able to travel to the first area on time. In general, a larger first risk value indicates a smaller likelihood that the target vehicle reaches the first region on time at the second time, and a smaller first risk value indicates a larger likelihood that the target vehicle reaches the first region on time at the second time.

(2) Whether the first vehicle is traveling prior to the target vehicle to the free space in the first area, and whether the number of the free spaces in the first area is reduced by one.

In this embodiment of the present application, the first vehicle is another vehicle other than the target vehicle, and the first area may include an alternative parking area of the first vehicle, where the first vehicle has a possibility of driving into an idle parking space of the first area and parking for rest, similar to the target vehicle. If the first vehicle arrives at the first area before traveling of the target vehicle, the number of idle parking spaces in the first area is reduced by one, and the risk of no parking space when the target vehicle arrives at the first area is increased, which may cause the first area to have no idle parking space due to the reduction of the number of idle parking spaces by one, so that the target vehicle cannot park in the first area.

Therefore, when implementing S240, the server also needs to update the usage status of the parking spaces in the first area according to the status information of the first vehicle, and determine the first parking information for the target vehicle according to the updated result, where the first parking information may be used to indicate the number of the free parking spaces in the first area.

In an exemplary implementation, the server may predict a second probability that the first vehicle arrives at the free parking space in the first area prior to the target vehicle traveling according to the state information of the target vehicle and the state information of the first vehicle, and update the usage state of the free parking space in the first area based on the second probability. For example, the server may set the number of the free parking spaces in the first area to be reduced by one when the value of the second probability is greater than or equal to the first value (for example, 0.7 or other values), and keep the number of the free parking spaces in the first area unchanged when the value of the second probability is less than the first value.

(3) Whether the second vehicle is driven away from the first region before the target vehicle is driven to the first region, i.e., whether the number of free spaces in the first region is increased by one.

In the embodiment of the present application, the second vehicle is another vehicle other than the target vehicle, and the first area may include a parking area where the second vehicle is currently parked. The second vehicle can drive away from the first area before the target vehicle runs to reach the first area due to the change of the running state of the second vehicle, so that the number of idle parking spaces in the first area is increased by one, the risk of no parking spaces when the target vehicle runs to reach the first area is reduced, and a certain parking area which the target vehicle is going to pass through is possibly changed from the original no idle parking spaces to the idle parking spaces due to the increase of the number of the idle parking spaces, so that the first area of the target vehicle can be used.

Therefore, when implementing S240, the server also needs to update the usage status of the parking spaces in the first area according to the status information of the second vehicle, and determine the first parking information for the target vehicle according to the updated result, where the first parking information may be used to indicate the number of the free parking spaces in the first area.

For example, in implementation, the server may predict a third probability that the second vehicle drives away from the first area before the target vehicle drives to reach the first area according to the state information of the target vehicle and the state information of the second vehicle, and update the usage state of the free parking space in the first area based on the third probability. For example, the server may increase the number of the free parking spaces in the first area by one when the third probability is greater than or equal to the second value (for example, 0.7 or other values), and keep the number of the free parking spaces in the first area unchanged when the third probability is less than the second value.

It should be noted that the above three factors are merely illustrative examples, but not limiting, of factors that may affect the target vehicle to arrive at the idle parking space in the first area at the second moment, and in a specific implementation, the server may perform parking space resource planning and scheduling for the target vehicle based on at least one of the above three factors, for example, the server may update the usage status of the idle parking space in the first area according to the above second probability and/or the above third probability. Or, the server may estimate, according to the second probability and/or the third probability, a fourth probability that the target vehicle does not have an idle parking space when traveling to the first area, where the first parking information may be further used to indicate the fourth probability. In other embodiments, the server may also integrate other factors to make an integrated measurement, which is not described here.

It should be understood that the step of updating the usage status of the parking spaces in the first area according to the status information of the first vehicle and/or the status information of the second vehicle may also be performed in S230, that is, the first parking space information is estimated according to the usage status of the parking spaces obtained from the management node in the first area. In S240, the server may directly use the estimated first vehicle location information to plan and schedule a parking space resource for the target vehicle, and in this embodiment of the present application, execution timing of the step of updating the usage status of the parking space in the first area according to the status information of the first vehicle and/or the status information of the second vehicle is not limited.

Based on the above description, in S240, the server performs parking space resource planning and scheduling for the target vehicle according to the state information of the target vehicle and the first vehicle position information to obtain first parking information, where the first parking information may be used to indicate at least one of the following information: the first time period, the first probability, the number of free spaces in the first area, or the fourth probability. After receiving the first parking information from the server, the target vehicle may output the first parking information. Accordingly, the driver can decide whether to stop ahead and go to which alternative parking area to stop for a rest according to at least one item of information indicated by the first parking information.

For example, if the first parking information indicates that the first zone includes zone 1, zone 2, and zone 3, the target vehicle may select one zone from the zone 1, zone 2, and zone 3 as a target parking zone and drive to the target parking zone for parking and rest.

For another example, if the first parking information indicates that the first area includes area 1, area 2, and area 3, the current running duration of the target vehicle is 1h, and the first durations corresponding to area 1, area 2, and area 3 are 2h, 1.5h, and 3h, respectively, and the target vehicle may perform a parking decision in combination with the first durations of the respective areas. For example, any one of the areas 1, 2, or 3 is selected as the target parking area, or the area with the highest priority is selected as the target parking area from among the areas 1, 2, or 3 (a higher priority indicates that the target vehicle is likely to drive into the area without fatigue traveling, and a lower priority indicates that the target vehicle is likely to drive into the area without fatigue traveling), and in this embodiment, the priority order of the area 1, 2, or 3 is the area 2 > the area 1 > the area 3), and the vehicle is stopped and stopped toward the target parking area to avoid fatigue traveling of the driver of the target vehicle. For another example, if the first parking information indicates that the first area includes area 1, area 2, and area 3, the target vehicle may travel to reach the first areas 1, 2, and 3 on time (according to the second time expected by the target vehicle to reach each first area) with first probabilities of 0.6, 0.9, and 0.8, respectively, and the target vehicle may also make a parking decision in combination with the first probabilities corresponding to each area. For example, a region with the highest first probability is selected from the region 1, the region 2 or the region 3 as a target parking region, and the vehicle is stopped and rested towards the target parking region, so that fatigue driving of a driver of the target vehicle is avoided. In one possible implementation manner, if the first probabilities of at least two first areas are the same, for example, the first probabilities corresponding to the area 1 and the area 2 are the same (for example, all the first probabilities are 0.9), the target vehicle may further determine the target parking area by combining the first time lengths corresponding to the area 1 and the area 2, for example, select the area with the smaller value of the first time length from the area 1 and the area 2 as the target parking area.

For another example, if the first parking information indicates that the first area includes area 1, area 2, and area 3, the fourth probability of no idle parking space when the target vehicle travels to reach area 1, area 2, and area 3 is 0.3, 0.5, and 0.4, respectively, and the target vehicle may also perform a parking decision in combination with the fourth probabilities corresponding to the respective areas, for example, select an area with the smallest first probability from area 1, area 2, or area 3 as the target parking area, and travel to the target parking area for parking and rest, so as to avoid fatigue driving of the driver of the target vehicle. In one possible implementation manner, if the fourth probabilities of at least two first areas are the same, for example, the fourth probabilities corresponding to the areas 1 and 2 are the same (for example, all the fourth probabilities are 0.3), the target vehicle may further determine the target parking area by combining the first time lengths corresponding to the areas 1 and 2, for example, select the area with the smaller value of the first time length from the areas 1 and 2 as the target parking area.

Thus, by the above example, the target vehicle can comprehensively make a parking decision based on the first parking information so that the target vehicle can travel to an empty parking space in the first area for a rest before traveling to a prescribed threshold. The method can flexibly plan and schedule the parking space resources for the target vehicle, is beneficial to reducing the fatigue driving probability of the driver of the target vehicle and improves the traffic safety.

In this embodiment of the present application, the target vehicle may output the first parking information, which may be displayed via a man-machine interaction interface, or may output the first parking information through voice, or output the first parking information through a man-machine interaction interface and voice.

In addition, in one possible implementation manner of the embodiment of the present application, the server may be configured to perform unified management on parking spaces in the parking area, and in the active mode, the target vehicle may further actively request the server to allocate the parking spaces for the target vehicle.

For example, the target vehicle may send a parking space allocation request to the server, where the parking space allocation request may carry state information of the target vehicle, such as a first location of the target vehicle, a current running duration, and the like. The server can respond to the parking space allocation request, and allocate a first parking space for the target vehicle according to the first parking space information and the type of the target vehicle, wherein the first parking space is an idle parking space in a first area. Further, the server may send a parking space allocation response message to the target vehicle, where the parking space allocation response message may be used to indicate the first parking space. The server may further send first indication information to a management node in the first area, where the first indication information may be used to indicate that the target vehicle occupies the first parking space. For example, the type of the target vehicle may refer to a vehicle type, a user level, a dispatch priority, and the like, and the server may provide different types of services for the vehicle, such as a parking planning suggestion service, a service of actively requesting allocation of a parking space, an instant messaging service between vehicles, and the like, which will be described in detail below, and will not be repeated herein.

Thus, the management node of the first area can reserve (or refer to as booking, locking, etc.) the first parking space for the target vehicle, the first parking space is in an occupied state, and other vehicles except the target vehicle cannot occupy or use the first parking space. Subsequently, after the target vehicle cancels occupying the first parking space or the target vehicle uses the first parking space and drives away, the state of the first parking space can be changed into an idle state, and the server can allocate the first parking space for other vehicles when carrying out parking space resource scheduling for other vehicles. It may be understood that in the embodiment of the present application, the server may also allocate and reserve a parking space for other vehicles, for example, allocate a second parking space for a third vehicle or allocate a third parking space for a fourth vehicle, and the detailed implementation process may be referred to the above description and will not be repeated herein.

In another possible implementation manner, the server may also implement an instant communication function between the target vehicle and another vehicle (for example, the third vehicle) or between another vehicle (for example, the fourth vehicle) and the target vehicle, and provide an exchange path for the target vehicle and the other vehicle (including the third vehicle or the fourth vehicle), so as to implement a change of the allocated parking space between the target vehicle and the other vehicle, and improve flexibility of parking space allocation.

For example, the target vehicle may send a parking space update request to the server. The server may receive a request for a stall update from the target vehicle and negotiate with the third vehicle to exchange an allocated stall for the third vehicle and the target vehicle in response to the stall update request. If the third vehicle confirms to exchange the allocated parking spaces of the target vehicle and the third vehicle, the server can obtain parking space update information according to the parking space exchange response information from the third vehicle and send the parking space update information to the target vehicle. If the third vehicle refuses to exchange the allocated parking spaces of the target vehicle and the third vehicle, the server may negotiate with the fifth vehicle to exchange the allocated parking spaces of the fifth vehicle and the target vehicle.

Alternatively, the fourth vehicle may send a parking space update request to the server. The server may receive a stall-update request from a fourth vehicle and send a stall-exchange request to the target vehicle in accordance with the stall-update request, the stall-exchange request being operable to indicate an exchange of allocated stalls for the target vehicle and the fourth vehicle. The target vehicle may send a parking space exchange response message to the server. If the target vehicle agrees to exchange, the parking space exchange response information can be used for confirming the allocated parking spaces of the exchange target vehicle and the fourth vehicle, and the server can obtain parking space update information according to the parking space exchange response information and send the parking space update information to the fourth vehicle. If the target vehicle refuses to exchange, the parking space exchange response information may be used to refuse to exchange the allocated parking spaces of the target vehicle and the fourth vehicle, and further, the server may select the sixth vehicle and negotiate with the sixth vehicle to exchange the allocated parking spaces of the fourth vehicle and the sixth vehicle.

As previously mentioned, the type of target vehicle may be understood in many ways, such as a vehicle type, user level, dispatch priority, etc., that may indicate the target vehicle.

Taking the user class as an example, the server may provide different types of services to the vehicle according to different user classes:

for example, a) high-grade: under the level, the server can provide parking planning suggestion service for vehicles, service for designating reserved parking spaces, instant messaging service among vehicles and the like. b) Medium grade: at this level, the server may provide a parking planning suggestion service, a reserved parking space service (the reserved parking space is planned uniformly by the server and cannot be specified) for the vehicle. c) Low grade: at this level, the server may only provide parking planning advice services for the vehicle.

Taking the vehicle type as an example, the server may set a corresponding user class or dispatch priority for the vehicle according to different vehicle types. For example, for private passenger vehicles, the server may set a low-level or low-dispatch priority for the vehicle, for special work vehicles (e.g., ambulances, fire engines, etc.), the server may set a high-level or high-dispatch priority for the vehicle, and for vehicles in a fleet of vehicles, the server may set a medium-level or medium-priority for the vehicle.

When the server uniformly distributes parking spaces for a plurality of vehicles, the current running time of each vehicle, the distance from the alternative parking area, road condition information related to the driving route, weather conditions, the types of each vehicle and the like can be considered, so that the parking spaces are comprehensively distributed for each vehicle, and the requirements of the plurality of vehicles are met as much as possible.

Therefore, through the method, the server can plan the parking space resources for the vehicle, reduce the risk of overtime continuous driving of a vehicle driver, provide the specified/distributed service of the parking space for the vehicle, provide different types of parking space reservation services for the vehicle, increase the probability of available parking spaces when the vehicle parks, reduce the risk that the vehicle cannot find the available parking spaces in the specified continuous operation duration, and improve the flexibility of planning and dispatching the parking space resources.

For ease of understanding, the implementation procedure of the vehicle control method of the embodiment of the present application is described below in conjunction with a method flowchart.

Fig. 3 is a flow chart of a vehicle control method according to an embodiment of the present application. In the method, a server is used for providing planning suggestion service of parking space resources for a target vehicle. It should be noted that, the steps described below are merely examples of steps that may be included in the method, and are not limited, and some optional steps may not be performed, and some steps may be performed in a reverse order, which is not limited in the embodiments of the present application.

As shown in fig. 3, the method may include the steps of:

s301: the target vehicle reports the route planning path or destination information to the server.

Wherein, the step S301 is an optional step, and in the case of executing the step S301, the server may provide a better parking plan suggestion for the target vehicle according to the navigation plan path, and the detailed implementation may be referred to above in connection with example 1. In the case that S301 is not executed, the server may provide the parking plan suggestion for the target vehicle according to the situation of all the candidate parking areas that the vehicle may travel through based on the current driving route, and the detailed implementation may refer to the related description in conjunction with example 2 above, which is not repeated herein. The dashed arrow in fig. 3 indicates that this step is an optional step.

S302: the target vehicle sets a target mode, which may be an active mode or an automatic mode, for example.

Wherein the active mode indicates that the server may issue first parking information to the target vehicle in response to a request from the target vehicle when the target vehicle actively requests the parking plan advice. The automatic mode indicates that the target active vehicle does not need to request a parking planning suggestion, and the server can automatically send the first parking information to the target vehicle, can periodically send the first parking information, and can also send the first parking information when the first parking information is updated, for example, when the first area is changed, when the use state of the parking spaces in the first area is changed, and the like.

S303: and the target vehicle reports the starting operation time.

In the active mode, when the target vehicle starts to run, the driver can report the starting running time of the target vehicle to the server through the intelligent equipment/vehicle-mounted terminal associated with the target vehicle by the vehicle machine application. In the automatic mode, the driver/target vehicle may authorize the server or the vehicle application so that the server or the vehicle application may monitor the target vehicle's launch authority and begin timing and reporting at the target vehicle launch run time.

In one possible implementation, the target vehicle may also report other status information of itself to the server, such as location information, heading angle, speed information, run time length, etc.

S304: the target vehicle sends a parking plan suggestion request to the server. Wherein, this S304 is an optional step, which is only performed in the case where the active mode is set in S302. The dashed arrow in fig. 3 indicates that this step is an optional step.

S305: the server inquires the use state information of the parking spaces of the corresponding parking areas from the management nodes of the plurality of parking areas (for example, area 1 and area 2).

For example, the usage status information of the parking space of the parking area may include at least one of the situations mentioned above, for example:

Case a: parking space use condition at current moment;

case C: whether the vehicle on the currently used parking space is in a short parking state and the time of possible driving away.

S306: the server inquires road condition information related to the driving route of the target vehicle. For example, the information may be queried from a management node of a traffic department or may be obtained from a navigation application, and the implementation manner is not limited in the embodiment of the present application.

S307: and the server performs parking space resource planning for the target vehicle according to the state information of the target vehicle and the queried using state information of the parking space of the parking area to obtain first parking information.

In S307, the server needs to comprehensively consider a plurality of information, for example:

1) The current residual operable duration of the target vehicle is the difference value between the second threshold value and the current operated duration of the target vehicle;

2) The target vehicle is expected to reach the second time of the first area, and the second time can be estimated according to the distance, speed and the like from the current position (for example, the first position) to the first area.

3) The road condition information is associated with a driving route of the target vehicle and can be used for estimating a first probability that the target vehicle reaches the first area in time at a second moment.

4) The number of remaining available parking spaces in the first area, i.e. the real-time use of the parking spaces in the service area, is a true value.

5) When the target vehicle travels to the first area, the first area is free of the risk of available parking spaces, denoted as a fourth probability, which mainly considers that other vehicles (e.g., first vehicles) located between the target vehicle and the first area may drive into the free parking spaces of the first area prior to the target vehicle, so that the number of available parking spaces of the first area is reduced, and that vehicles (e.g., second vehicles) that have been currently parked in the first area may also drive out of the first area before the target vehicle reaches the first area, so that the number of available parking spaces of the first area is increased.

The detailed implementation process of S307 may be referred to above in connection with the description of S240, and will not be repeated here.

S308: the server transmits first parking information to the target vehicle, the first parking information being usable to instruct the server to formulate a parking plan proposal for the target vehicle. Accordingly, the target vehicle may receive the first parking information from the server and output the first parking information.

For example, the target vehicle may display the first parking information on the human-computer interaction interface, as shown in fig. 4, where the first parking information may be used to indicate a first duration, a number of free parking spaces in the first area, a first probability, a fourth probability, and so on. The driver of the target vehicle can decide whether to stop and rest in advance and where to stop and rest according to the first parking information, so that the fatigue driving probability of the driver of the target vehicle is reduced, and the traffic safety is improved.

Therefore, through the embodiment of the method, based on the requirement of the upper limit of the continuous running time of the vehicle on planning and scheduling of the parking space resources, the server can flexibly provide parking advice for the vehicle/vehicle driver based on the continuous running time of the vehicle, so that fatigue driving of the driver is avoided as much as possible, and traffic safety is improved.

Fig. 5 is a flowchart of a vehicle control method according to an embodiment of the present application. According to the method, the server is used for providing parking space resource allocation service for the target vehicle, the server can uniformly manage parking spaces of a plurality of parking areas, and reserve/allocate parking space resources for the target vehicle according to parking space allocation requests of the target vehicle in the plurality of vehicles, so that available parking spaces of the target vehicle are ensured, and the risk that the target vehicle cannot find the available parking spaces within a specified continuous running duration is reduced.

It should be noted that, the steps described below are merely examples of steps that may be included in the method, and are not limited, and some optional steps may not be performed, and some steps may be performed in a reverse order, which is not limited in the embodiments of the present application.

As shown in fig. 5, the method may include the steps of:

S501: a target vehicle of the plurality of vehicles transmits status information to the server.

S502: and the target vehicle sends a parking space allocation request to the server.

S503: the server inquires the using state information of the parking spaces of the corresponding parking areas from the management nodes of the plurality of parking areas.

S504: the server obtains road condition information associated with a driving route of the target vehicle.

S505: the server allocates a first vehicle position for the target vehicle according to the state information of the target vehicle, the use states of the vehicle positions of the parking areas, the road condition information related to the driving route of the target vehicle and the type of the target vehicle.

S506: the server sends first indication information to a management node of a first area, wherein the first indication information is used for indicating that the target vehicle occupies the first parking space.

S507: and the server sends parking space allocation response information to the target vehicle, wherein the parking space allocation response information is used for indicating the first parking space.

Details of implementation of S501-S507 are described above in connection with S210-S250, and are not described here.

Fig. 6 is a flowchart of a vehicle control method according to an embodiment of the present application. In the method, the server is used for providing instant communication service between vehicles for the target vehicle, so that the change of the allocated parking space resources can be realized through communication between different vehicles. It should be noted that, the steps described below are merely examples of steps that may be included in the method, and are not limited, and some optional steps may not be performed, and some steps may be performed in a reverse order, which is not limited in the embodiments of the present application.

As shown in fig. 6, taking the example of a target vehicle requesting to exchange an allocated parking space, the method may include the steps of:

s601: the target vehicle sends a parking space update request to the server, the parking space update request being used to indicate replacement of the allocated parking space.

If the target vehicle designates the exchange object, the parking space update request may optionally further include an identifier of the exchange object (e.g., an identifier of the designated vehicle or an identifier of a parking space allocated to the designated vehicle).

S602: the server determines a target interchange object of the target vehicle, denoted as a third vehicle, in response to the parking space update request of the target vehicle.

If the target vehicle does not designate an exchange object in S601, the server may randomly allocate a potential exchange object as a target exchange object for the target vehicle according to the situation of the allocated parking spaces of the plurality of vehicles. If the target vehicle designates an exchange object in S601, the server may set the designated exchange object as a target exchange object of the target vehicle.

S603: and the server negotiates and exchanges the allocated parking spaces of the third vehicle and the target vehicle with the third vehicle to obtain parking space update information.

In S603, the server may send a parking space exchange request to the target exchange object (i.e., the third vehicle), where the parking space exchange request may be used to indicate to exchange the allocated parking spaces of the target vehicle and the third vehicle. For example, the parking space exchange request may carry a vehicle identifier of the target vehicle and information of an allocated parking space of the target vehicle. Further, the third vehicle may send a parking space exchange response message to the server. If the third vehicle agrees to exchange, the parking space exchange response information can be used for confirming the exchange of the allocated parking spaces of the target vehicle and the third vehicle, and the server can obtain parking space update information according to the parking space exchange response information and send the parking space update information to the target vehicle. If the third vehicle refuses to exchange, the parking space exchange response information may be used to refuse to exchange the allocated parking spaces of the target vehicle and the third vehicle, and further, the server may select another vehicle (for example, the fifth vehicle) and negotiate with the fifth vehicle about the allocated parking spaces of the target vehicle and the fifth vehicle by using the same method.

S604: and the server sends the parking space update information to the target vehicle.

It can be understood that the target vehicle may also be used as an exchanged party of the fourth vehicle, and the server may respond to the parking space update request from the fourth vehicle by negotiating and exchanging the fourth vehicle with the target vehicle for the allocated parking space of the target vehicle, so as to implement the change of the allocated parking space between the fourth vehicle and the target vehicle, and detailed implementation may refer to the related description of fig. 6, which is not repeated herein.

Therefore, through the method embodiment, the situation that the driver/target vehicle possibly is not satisfied with the allocated parking space or the requirement that the target vehicle parks as soon as possible is considered, the server can provide the instant messaging function between different vehicles, and if the two parties of communication reach the agreement of exchanging the parking space, the server can exchange the reserved parking spaces of the two parties. The embodiment can be used for a vehicle formation (non-following vehicle formation) scene, and the purpose that parking space resources can be shared under the same vehicle formation is achieved. It can be appreciated that this embodiment may also be applied to a fleet operator, where the fleet operator manages reserved parking spaces in a unified manner, rather than having two vehicles in the fleet negotiate themselves to exchange the allocated parking spaces.

The embodiment of the application further provides a vehicle control device, which is configured to execute the method executed by the server or the target vehicle in the above method embodiment, and related features may be referred to the above method embodiment, which is not described herein again.

As shown in fig. 7, in one example, the vehicle control apparatus 700 may include: an acquiring unit 701, configured to acquire state information of a target vehicle, where the state information includes an operation duration; a processing unit 702, configured to determine a first area according to the state information, where the first area includes an alternative parking area of the target vehicle, a difference between a time when the target vehicle arrives at the first area and a first time is a first duration, and the first duration is less than or equal to a first threshold; the acquiring unit 701 is further configured to acquire first vehicle location information, where the first vehicle location information is used to indicate a usage state of a vehicle location in the first area; the processing unit 702 is further configured to determine first parking information according to the state information of the target vehicle and the first parking information, where the first parking information is used to indicate an idle parking space in the first area; a communication unit 703 configured to send the first parking information to the target vehicle. The detailed implementation process may refer to the above embodiment of the method implemented by the server, which is not described herein.

The embodiment of the application also provides a vehicle control device, which is used for executing the method executed by the vehicle in the embodiment of the method, and related features can be referred to the embodiment of the method, and are not repeated here.

As shown in fig. 8, the apparatus 800 may include: a communication unit 801 for transmitting state information of a target vehicle to a server; receiving first parking information from the server, wherein the first parking information is obtained according to state information and first vehicle position information of the target vehicle, the first vehicle position information is used for indicating the use state of a parking space in a first area, the first area comprises an alternative parking area of the target vehicle, the difference between the moment when the target vehicle reaches the first area and the first moment is a first duration, the first duration is smaller than or equal to a first threshold, and the first parking information is used for indicating an idle parking space in the first area; an output unit 802, configured to output the first parking information. The detailed implementation process may refer to the above vehicle implemented method embodiment, and will not be described herein.

It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice. The functional units in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application, or a portion or all or part of the technical solution contributing to the related art, may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In a simple embodiment, one skilled in the art will appreciate that either the vehicle control device or the vehicle in the above embodiments may take the form shown in fig. 9.

The apparatus 900 shown in fig. 9 includes at least one processor 910, a memory 920, and optionally a communication interface 930.

Memory 920 may be a volatile memory such as a random access memory; the memory may also be a non-volatile memory such as, but not limited to, read-only memory, flash memory, hard disk (HDD) or Solid State Drive (SSD), or the memory 920 may be 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. Memory 920 may be a combination of the above.

The specific connection medium between the processor 910 and the memory 920 is not limited in the embodiments of the present application.

In the apparatus as in fig. 9, a communication interface 930 is further included, and the processor 910 may perform data transmission through the communication interface 930 when communicating with other devices.

When the vehicle control apparatus takes the form shown in fig. 9, the processor 910 in fig. 9 may cause the apparatus 900 to execute the method executed by the server in any of the above-described method embodiments or cause the apparatus 900 to execute the method executed by the vehicle in any of the above-described method embodiments by invoking computer-executable instructions stored in the memory 920.

Embodiments of the present application also relate to a chip system including a processor for invoking a computer program or computer instructions stored in a memory to cause the processor to perform the above-described method embodiments.

In one possible implementation, the processor is coupled to the memory through an interface.

In one possible implementation, the system on a chip further includes a memory having a computer program or computer instructions stored therein.

The present application also relates to a computer readable storage medium storing program code which, when run on a computer, causes the computer to perform the above-described method embodiments.

The present application also relates to a computer program product which, when run on a computer, causes the computer to perform the above-described method embodiments. Embodiments of the present application also relate to a processor for invoking a computer program or computer instructions stored in a memory to cause the processor to perform the above-described method embodiments.

The processor mentioned in any of the above may be a general-purpose central processing unit, a microprocessor, a specific ASIC, or one or more integrated circuits for controlling the execution of the program of the driving scenario recognition method in the embodiment shown in fig. 5. The memory mentioned in any of the above may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (random access memory, RAM), etc.

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

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

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

It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present application without departing from the scope of the embodiments of the present application. Thus, if such modifications and variations of the embodiments of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to encompass such modifications and variations.

Claims

1. A vehicle control method, characterized in that the method comprises:

acquiring state information of a target vehicle;

determining a first area according to the state information, wherein the first area comprises an alternative parking area of the target vehicle, the difference value between the moment when the target vehicle reaches the first area and the first moment is a first duration, and the first duration is smaller than or equal to a first threshold value;

acquiring first vehicle position information, wherein the first vehicle position information is used for indicating the use state of a vehicle position in the first area;

determining first parking information according to the state information of the target vehicle and the first vehicle position information, wherein the first parking information is used for indicating an idle vehicle position in the first area;

and sending the first parking information to the target vehicle.

2. The method of claim 1, wherein the step of determining the position of the substrate comprises,

The first area is a parking area associated with a planned path of the target vehicle; or alternatively, the process may be performed,

the first area is a parking area through which the target vehicle runs based on the current driving route in the second time period.

3. The method according to claim 1 or 2, wherein the first duration is an estimated duration obtained from state information of the target vehicle, and the first parking information is further used to indicate the first duration.

4. A method according to any one of claims 1-3, wherein the status information includes position information and speed information of the target vehicle, the method further comprising:

acquiring road condition information associated with a driving route of the target vehicle;

and estimating a first probability that the target vehicle travels to reach the first area at a second moment according to the road condition information, the position information and the speed information, wherein the second moment is a moment when the target vehicle is expected to reach the first area, and the first parking information is also used for indicating the first probability.

5. The method of any of claims 1-4, wherein the first zone comprises an alternate parking zone for a first vehicle or comprises a parking zone for a second vehicle to stay, the method further comprising:

And updating the use state of the parking spaces in the first area according to the state information of the first vehicle and/or the state information of the second vehicle, wherein the first parking information is also used for indicating the number of the idle parking spaces in the first area.

6. The method of claim 5, wherein updating the usage status of the first area of parking spaces comprises:

estimating a second probability that the first vehicle reaches an idle parking space of the first area before the target vehicle runs according to the state information of the target vehicle and the state information of the first vehicle;

estimating a third probability that the second vehicle is driven away from the first area before the target vehicle reaches the first area according to the state information of the target vehicle and the state information of the second vehicle;

and updating the use state of the idle parking spaces in the first area according to the second probability and/or the third probability.

7. The method of claim 6, wherein the method further comprises:

and estimating a fourth probability of no idle parking space when the target vehicle runs to reach the first area according to the second probability and/or the third probability, wherein the first parking information is also used for indicating the fourth probability.

8. The method according to any one of claims 1-7, further comprising:

receiving a parking space allocation request from the target vehicle;

responding to the parking space allocation request, and allocating a first parking space for the target vehicle according to the first parking space information and the type of the target vehicle, wherein the first parking space is an idle parking space in the first area;

sending first indication information to a management node of the first area, wherein the first indication information is used for indicating that the target vehicle occupies the first parking space;

and sending parking space allocation response information to the target vehicle, wherein the parking space allocation response information is used for indicating the first parking space.

9. The method according to any one of claims 1-8, further comprising:

receiving a parking space update request from the target vehicle;

responding to the parking space update request, negotiating and exchanging the allocated parking spaces of the third vehicle and the target vehicle with the third vehicle, and obtaining parking space update information;

and sending the parking space update information to the target vehicle.

10. The method according to any one of claims 1-9, further comprising:

According to a parking space update request from a fourth vehicle, a parking space exchange request is sent to the target vehicle, wherein the parking space exchange request is used for indicating to exchange the allocated parking spaces of the target vehicle and the fourth vehicle;

and receiving parking space exchange response information from the target vehicle, wherein the parking space exchange response information is used for confirming exchange of the allocated parking spaces of the target vehicle and the fourth vehicle.

11. A vehicle control method characterized by comprising:

transmitting state information of the target vehicle to a server;

receiving first parking information from the server, wherein the first parking information is obtained according to state information and first vehicle position information of the target vehicle, the first vehicle position information is used for indicating the use state of a parking space in a first area, the first area comprises an alternative parking area of the target vehicle, the difference between the time when the target vehicle arrives at the first area and the first time is a first duration, the first duration is less than or equal to a first threshold, and the first parking information is used for indicating an idle parking space in the first area;

and outputting the first parking information.

12. The method of claim 11, wherein the step of determining the position of the probe is performed,

13. The method according to claim 11 or 12, wherein the first time period is an estimated time period obtained from state information of the target vehicle, and the first parking information is further used to indicate the first time period.

14. The method according to any one of claims 11-13, wherein the status information includes position information and speed information of the target vehicle, the first parking information further indicating a first probability that the target vehicle travels to reach the first area at a second time estimated based on road condition information associated with a travel route of the target vehicle, the position information, and the speed information, the second time being a time when the target vehicle is expected to reach the first area.

15. The method according to any one of claims 11-14, wherein the first parking information is further used for indicating a number of free parking spaces in the first area, wherein the usage status of the parking spaces in the first area is updated according to status information of a first vehicle and/or status information of a second vehicle, and wherein the first area comprises an alternative parking area of the first vehicle or comprises a parking area where the second vehicle stays.

16. The method of claim 15, wherein the usage status of the parking space in the first area is updated according to status information of the first vehicle and/or status information of the second vehicle, comprising:

the use state of the idle parking space in the first area is updated according to a first probability and/or a second probability, wherein the first probability is a probability estimated according to the state information of the target vehicle and the state information of the first vehicle that the first vehicle reaches the idle parking space in the first area before the target vehicle runs, and the third probability is a probability estimated according to the state information of the target vehicle and the state information of the second vehicle that the second vehicle runs away from the first area before the target vehicle runs to reach the first area.

17. The method of claim 16, wherein the first parking information is further used to indicate a fourth probability that there is no free space when the target vehicle is traveling to the first area, as estimated from the second probability and/or the third probability.

18. The method according to any one of claims 11-17, further comprising:

Sending a parking space allocation request to the server;

and receiving parking space allocation response information from the server, wherein the parking space allocation response information is used for indicating a first parking space, the first parking space is an idle parking space in the first area, and the first parking space is allocated by the server according to the first parking space information and the type of the target vehicle.

19. The method according to any one of claims 11-18, further comprising:

sending a parking space update request to the server;

and receiving the parking space update information from the server, wherein the parking space update information is obtained by negotiating and exchanging the allocated parking spaces of the third vehicle and the target vehicle with the third vehicle according to the parking space update request.

20. The method according to any one of claims 11-19, further comprising:

receiving a parking space exchange request from the server, wherein the parking space exchange request is used for indicating to exchange the allocated parking spaces of the target vehicle and the fourth vehicle;

and sending parking space exchange response information to the server, wherein the parking space exchange response information is used for confirming and exchanging the allocated parking spaces of the target vehicle and the fourth vehicle.

21. A vehicle control apparatus characterized by comprising:

the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring state information of a target vehicle, and the state information comprises operation time;

the processing unit is used for determining a first area according to the state information, wherein the first area comprises an alternative parking area of the target vehicle, the difference value between the moment when the target vehicle reaches the first area and the first moment is a first duration, and the first duration is smaller than or equal to a first threshold value;

the acquisition unit is further used for acquiring first vehicle position information, wherein the first vehicle position information is used for indicating the use state of the vehicle position of the first area;

the processing unit is further used for determining first parking information according to the state information of the target vehicle and the first parking information, wherein the first parking information is used for indicating an idle parking place of the first area;

and the communication unit is used for sending the first parking information to the target vehicle.

22. A vehicle control apparatus characterized by comprising:

a communication unit configured to transmit status information of a target vehicle to a server; receiving first parking information from the server, wherein the first parking information is obtained according to state information and first vehicle position information of the target vehicle, the first vehicle position information is used for indicating the use state of a parking space in a first area, the first area comprises an alternative parking area of the target vehicle, the difference between the moment when the target vehicle reaches the first area and the first moment is a first duration, the first duration is smaller than or equal to a first threshold, and the first parking information is used for indicating an idle parking space in the first area;

And the output unit is used for outputting the first parking information.

23. A vehicle control apparatus characterized by comprising: a processor and a memory;

the memory is used for storing programs;

the processor is configured to execute a program stored in the memory, to cause the apparatus to implement the method according to any one of claims 1-9.

24. A vehicle control apparatus characterized by comprising: a processor and a memory;

the memory is used for storing programs;

the processor is configured to execute a program stored in the memory, to cause the apparatus to implement the method according to any one of the claims 10-19.

25. A vehicle control system, characterized by comprising:

the vehicle control apparatus according to claim 21, and,

the vehicle control apparatus according to claim 22.

26. A computer readable storage medium, characterized in that the computer readable medium stores a program code which, when run on a computer, causes the computer to perform the method of any one of claims 1 to 10; alternatively, the program code, when run on a computer, causes the computer to perform the method of any of claims 11 to 20.