CN117877309A

CN117877309A - Parking method and device

Info

Publication number: CN117877309A
Application number: CN202410034671.3A
Authority: CN
Inventors: 程甫; 徐达学; 朱强; 聂俊霞
Original assignee: Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2024-01-09
Filing date: 2024-01-09
Publication date: 2024-04-12

Abstract

The application discloses a parking method and device, and belongs to the technical field of vehicles. The parking device determines a first parking space among the plurality of parking spaces according to the position information of the vehicle, the category identification of the plurality of parking spaces in the target parking space and the position information of the plurality of parking spaces, wherein the first parking space is a free public parking space in the plurality of parking spaces. The parking device generates a first parking path according to the position information of the vehicle and the position information of the first parking space, and controls the vehicle to park in the first parking space according to the first parking path. Since the first parking space determined by the parking device is a free public parking space and is not a private parking space, the availability of the first parking space determined by the parking device is high.

Description

Parking method and device

Technical Field

The application relates to the technical field of vehicles, in particular to a parking method and device.

Background

With the development of society, vehicles are becoming a necessary travel tool for people. After the driver drives the vehicle to the parking lot, the driver needs to find an empty parking space and park the vehicle in the empty parking space. In order to improve convenience of parking, some existing vehicles have an autonomous valet parking (automated valet parking, AVP) function that can achieve autonomous parking of the vehicle into an empty parking space.

In the related art, a vehicle-mounted terminal determines an empty parking space in a parking lot according to position information of a vehicle and state information of a plurality of parking spaces in the parking lot, and controls the vehicle to park in the empty parking space.

However, in the related art, the free parking space determined by the in-vehicle terminal may be a private parking space, and thus the availability of the free parking space determined by the in-vehicle terminal is low.

Disclosure of Invention

The application provides a parking method and device. The availability of the free parking space determined by the method is higher. The technical scheme is as follows.

In a first aspect, a parking method is provided, the method comprising:

acquiring position information of a vehicle, category identifiers of a plurality of parking spaces in a target parking lot and position information of the plurality of parking spaces, wherein the category identifier of each parking space in the plurality of parking spaces is used for indicating whether the parking space is an idle public parking space;

determining a first parking space in the plurality of parking spaces according to the position information of the vehicle, the category identification of the plurality of parking spaces and the position information of the plurality of parking spaces, wherein the first parking space is an idle public parking space in the plurality of parking spaces;

Generating a first parking path according to the position information of the vehicle and the position information of the first parking space;

and controlling the vehicle to park in the first parking space according to the first parking path.

Optionally, the determining a first parking space in the plurality of parking spaces according to the position information of the vehicle, the category identifiers of the plurality of parking spaces and the position information of the plurality of parking spaces includes:

determining at least one alternative parking space in the plurality of parking spaces according to the category identification of the plurality of parking spaces, wherein the at least one alternative parking space is an idle public parking space in the plurality of parking spaces;

and determining the first parking space in the at least one alternative parking space according to the position information of the vehicle and the position information of the at least one alternative parking space.

Optionally, the determining the first parking space in the at least one candidate parking space according to the position information of the vehicle and the position information of the at least one candidate parking space includes:

transmitting the position information of the vehicle and the position information of the at least one alternative parking space to a user terminal, wherein the user terminal is used for determining the first parking space in the at least one alternative parking space based on a selection instruction triggered by a user and transmitting parking space indication information for indicating the first parking space;

Receiving the parking space indication information sent by the user terminal;

and determining the first parking space according to the parking space indication information.

and determining an alternative parking space closest to the vehicle in the at least one alternative parking space as the first parking space according to the position information of the vehicle and the position information of the at least one alternative parking space.

Optionally, the parking method further includes:

in the process of controlling the vehicle to park in the first parking space according to the first parking path, if the type identifier of the first parking space is updated to be used for indicating the type identifier of the first parking space to be occupied, determining a second parking space in the plurality of parking spaces according to the position information of the vehicle, the type identifiers of the plurality of parking spaces and the position information of the plurality of parking spaces at the current moment, wherein the second parking space is an idle public parking space in the plurality of parking spaces;

generating a second parking path according to the position information of the vehicle at the current moment and the position information of the second parking space;

And controlling the vehicle to park in the second parking space according to the second parking path.

In a second aspect, there is provided a parking apparatus, the apparatus comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the position information of a vehicle, the category identifiers of a plurality of parking spaces in a target parking lot and the position information of the plurality of parking spaces, and the category identifier of each parking space in the plurality of parking spaces is used for indicating whether the parking space is an idle public parking space;

a determining module, configured to determine a first parking space among the plurality of parking spaces according to the position information of the vehicle, the category identifiers of the plurality of parking spaces, and the position information of the plurality of parking spaces, where the first parking space is a free public parking space among the plurality of parking spaces;

the generation module is used for generating a first parking path according to the position information of the vehicle and the position information of the first parking space;

and the control module is used for controlling the vehicle to park in the first parking space according to the first parking path.

Optionally, the determining module is configured to:

receiving the parking space indication information sent by the user terminal;

Optionally, the determining module is configured to:

Optionally, the determining module is further configured to determine, in the process that the control module controls the vehicle to park in the first parking space according to the first parking path, a second parking space in the plurality of parking spaces according to the position information of the vehicle, the category identifiers of the plurality of parking spaces, and the position information of the plurality of parking spaces at the current moment, if it is determined that the category identifier of the first parking space is updated to be a category identifier for indicating that the first parking space is occupied, and the second parking space is an idle public parking space in the plurality of parking spaces;

The generation module is further used for generating a second parking path according to the position information of the vehicle at the current moment and the position information of the second parking space;

the control module is further used for controlling the vehicle to park into the second parking space according to the second parking path.

In a third aspect, a parking system is provided, the parking system comprising a parking device;

the parking device is used for: acquiring position information of a vehicle, category identifiers of a plurality of parking spaces in a target parking lot and position information of the plurality of parking spaces, wherein the category identifier of each parking space in the plurality of parking spaces is used for indicating whether the parking space is an idle public parking space; determining a first parking space in the plurality of parking spaces according to the position information of the vehicle, the category identification of the plurality of parking spaces and the position information of the plurality of parking spaces, wherein the first parking space is an idle public parking space in the plurality of parking spaces; generating a first parking path according to the position information of the vehicle and the position information of the first parking space; and controlling the vehicle to park in the first parking space according to the first parking path.

Optionally, the parking device is configured to: determining at least one alternative parking space in the plurality of parking spaces according to the category identification of the plurality of parking spaces, wherein the at least one alternative parking space is an idle public parking space in the plurality of parking spaces; and determining the first parking space in the at least one alternative parking space according to the position information of the vehicle and the position information of the at least one alternative parking space.

Optionally, the parking device is configured to determine, as the first parking space, an alternative parking space closest to the vehicle from among the at least one alternative parking space according to the position information of the vehicle and the position information of the at least one alternative parking space.

Optionally, the parking system further comprises a user terminal;

the parking device is used for sending the position information of the vehicle and the position information of the at least one alternative parking space to the user terminal;

the user terminal is used for determining the first parking space in the at least one alternative parking space based on a selection instruction triggered by a user and sending parking space indication information for indicating the first parking space to the parking device;

The parking device is further used for determining the first parking space according to the parking space indication information.

Optionally, the parking system further comprises a server;

the server is used for storing category identifiers of the plurality of parking spaces and position information of the plurality of parking spaces in the target parking lot;

the parking device is used for acquiring category identifiers of the plurality of parking spaces and position information of the plurality of parking spaces from the server, and further determining a first parking space in the plurality of parking spaces according to the position information of the vehicle, the category identifiers of the plurality of parking spaces and the position information of the plurality of parking spaces.

Optionally, the parking system further comprises a monitoring subsystem;

the monitoring subsystem is used for: collecting monitoring data of the target parking lot; determining category identifiers of the plurality of parking spaces and position information of the plurality of parking spaces according to the monitoring data of the parking lot; transmitting category identifiers of the plurality of parking spaces and position information of the plurality of parking spaces to the server;

the server is used for receiving the category identifiers of the plurality of parking spaces and the position information of the plurality of parking spaces and storing the category identifiers of the plurality of parking spaces and the position information of the plurality of parking spaces.

Optionally, the parking device is further configured to: in the process of controlling the vehicle to park in the first parking space according to the first parking path, if the type identifier of the first parking space is updated to be used for indicating the type identifier of the first parking space to be occupied, determining a second parking space in the plurality of parking spaces according to the position information of the vehicle, the type identifiers of the plurality of parking spaces and the position information of the plurality of parking spaces at the current moment, wherein the second parking space is an idle public parking space in the plurality of parking spaces; generating a second parking path according to the position information of the vehicle at the current moment and the position information of the second parking space; and controlling the vehicle to park in the second parking space according to the second parking path.

In a fourth aspect, a parking device is provided, comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, implements the method provided by the first aspect or any of the alternative implementations of the first aspect.

In a fifth aspect, a computer readable storage medium is provided, in which a computer program is stored which, when executed (e.g. by a processor, a parking device, etc.), implements the method provided by the first aspect or any of the alternative implementations of the first aspect.

In a sixth aspect, there is provided a computer program product comprising computer programs/instructions which when executed (e.g. by a processor, a parking device, etc.) implement the method provided by the first aspect or any of the alternative implementations of the first aspect.

The application provides a parking method and a device, wherein the parking method is executed by a parking device. The parking device determines a first parking space among the plurality of parking spaces according to the position information of the vehicle, the category identification of the plurality of parking spaces in the target parking space and the position information of the plurality of parking spaces, wherein the first parking space is a free public parking space in the plurality of parking spaces. The parking device generates a first parking path according to the position information of the vehicle and the position information of the first parking space, and controls the vehicle to park in the first parking space according to the first parking path. Since the first parking space is a free public parking space, i.e. a public parking space not occupied by other people, but not a private parking space, the availability of the first parking space determined by the parking device is high.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic illustration of a parking system provided in an embodiment of the present application;

FIG. 2 is a flow chart of a parking method provided in an embodiment of the present application;

FIG. 3 is a flow chart of another parking method provided by an embodiment of the present application;

fig. 4 is a schematic view of a parking device according to an embodiment of the present application;

fig. 5 is a schematic view of a vehicle according to an embodiment of the present application.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings, wherein it is apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

With the continuous development of intelligent driving technology, vehicles have autonomous passenger parking (automated valetparking, AVP) functions that enable the vehicle to autonomously park into an empty parking space (i.e., into an empty parking space without driver involvement). In the related art, for a vehicle having an AVP function, a vehicle-mounted terminal determines an empty parking space in a parking lot according to position information of the vehicle and state information of a plurality of parking spaces in the parking lot, and controls the vehicle to park in the empty parking space. Wherein the status information of each parking space is used to indicate whether the parking space is in an unoccupied state (i.e., whether the parking space is in an unoccupied state). However, a private parking space is also often included in the parking lot, and the free parking space determined in the related art may be a private parking space, and thus, the availability of the free parking space determined in the related art is low.

The embodiment of the application provides a parking method and device. The parking method is performed by a parking device. The parking device is a vehicle or a functional component deployed in the vehicle. The parking device may be a vehicle-mounted terminal, a main control unit (main control unit, MCU), or a functional module integrated on a system main board of the vehicle, etc. The parking method is adapted to determine an available parking space and to control the parking of a vehicle into the available parking space. In an example, the parking device determines a first parking space among a plurality of parking spaces in a target parking space according to position information of a vehicle, category identifications of the plurality of parking spaces and position information of the plurality of parking spaces, generates a first parking path according to the position information of the vehicle and the position information of the first parking space, and controls the vehicle to park into the first parking space according to the first parking path. The first parking space is a free common parking space of the plurality of parking spaces. Since the first parking space is a free public parking space, i.e. a public parking space not occupied by other people, but not a private parking space, the availability of the first parking space determined by the parking device is high.

The following describes the technical scheme of the present application. First, a system embodiment of the present application is described.

Referring to fig. 1, a schematic diagram of a parking system according to an embodiment of the present application is shown. The parking system comprises a parking device 10. The parking device 10 is for: acquiring position information of a vehicle, category identifiers of a plurality of parking spaces in a target parking lot and the position information of the plurality of parking spaces; determining a first parking space in the plurality of parking spaces according to the position information of the vehicle, the category identification of the plurality of parking spaces and the position information of the plurality of parking spaces; generating a first parking path according to the position information of the vehicle and the position information of the first parking space; the vehicle is controlled to park in a first parking space according to a first parking path. Wherein the category identification of each of the plurality of parking spaces indicates whether the parking space is a free common parking space and the first parking space is a free common parking space of the plurality of parking spaces. The target parking lot is a parking lot where the vehicle is located or a parking lot where a distance from the vehicle is smaller than a preset distance. For example, in the case where the vehicle has entered a parking lot, the target parking lot is a parking lot where the vehicle is located; in the case where the vehicle has not yet entered the parking lot, the target parking lot is a parking lot in which the distance between the vehicle and the vehicle is smaller than a preset distance.

In an alternative embodiment, the parking device 10 is configured to: determining at least one alternative parking space in the plurality of parking spaces according to the category identification of the plurality of parking spaces, wherein the at least one alternative parking space is an idle public parking space in the plurality of parking spaces; a first parking space is determined among the at least one candidate parking space based on the location information of the vehicle and the location information of the at least one candidate parking space.

In one embodiment, the parking device 10 is configured to: and determining an alternative parking space closest to the vehicle in the at least one alternative parking space as a first parking space according to the position information of the vehicle and the position information of the at least one alternative parking space.

In another embodiment, referring still to FIG. 1, the parking system further includes a user terminal 20. The parking device 10 is communicatively connected to a user terminal 20. For example, parking device 10 is communicatively coupled to user terminal 20 via a wireless network. The wireless network includes, but is not limited to: the world wide web, metropolitan area network, intranet, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area network, bluetooth, or the like. The parking device 10 is configured to transmit the position information of the vehicle and the position information of the at least one candidate parking space to the user terminal 20. The user terminal 20 is configured to determine a first parking space among the at least one candidate parking space based on a selection instruction triggered by the user and transmit parking space instruction information for instructing the first parking space to the parking device 10. The parking device 10 is further configured to receive the parking space indication information sent by the user terminal 20; and determining a first parking space according to the parking space indication information.

In an alternative embodiment, referring still to FIG. 1, the parking system further includes a server 30. The parking device 10 is also communicatively connected to a server 30. For example, parking device 10 is communicatively coupled to server 30 via a wireless network. The wireless network includes, but is not limited to: the world wide web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and the like. The server 30 is configured to store category identifications of the plurality of parking spaces and location information of the plurality of parking spaces in the target parking lot. The parking device 10 is configured to acquire category identifiers of the plurality of parking spaces and position information of the plurality of parking spaces from the server 30, and further determine a first parking space among the plurality of parking spaces based on the position information of the vehicle, the category identifiers of the plurality of parking spaces, and the position information of the plurality of parking spaces.

In an alternative embodiment, with continued reference to FIG. 1, the parking system includes a monitoring subsystem 40. The monitoring subsystem 40 is communicatively coupled to the server 30. For example, the monitoring subsystem 40 is communicatively coupled to the server 30 via a wired network or a wireless network. The wireless network includes, but is not limited to: the world wide web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and the like. The monitoring subsystem 40 is configured to collect monitoring data of the parking lot, determine category identifiers of the plurality of parking spaces and location information of the plurality of parking spaces according to the monitoring data of the parking lot, and send the category identifiers of the plurality of parking spaces and the location information of the plurality of parking spaces to the server 30. Server 30 is configured to store category identifications of the plurality of parking spaces and location information of the plurality of parking spaces transmitted by monitoring subsystem 40.

In an alternative embodiment, the parking device 10 is further configured to: in the process of controlling the vehicle to park into the first parking space according to the first parking path, if the category identification of the first parking space is updated to be used for indicating the category identification of the first parking space to be occupied, determining a second parking space in the plurality of parking spaces according to the position information of the vehicle, the category identifications of the plurality of parking spaces and the position information of the plurality of parking spaces at the current moment; generating a second parking path according to the position information of the vehicle at the current moment, the position information of a second parking space and a high-precision map of the parking lot; the vehicle is controlled to park in a second parking space according to the second parking path. The second parking space is a free public parking space in the plurality of parking spaces, and the second parking path is the shortest path from the position of the vehicle at the current moment to the second parking space.

The parking device 10 may be a vehicle-mounted terminal, an MCU, a functional module integrated on a system main board of the vehicle, or the like. The user terminal 20 may be a computer having a wireless communication function, a personal computer having a wireless communication function, a laptop computer having a wireless communication function, a mobile phone, a smart phone, a tablet computer, a cloud host, a portable mobile terminal, a multimedia player, an electronic book reader having a wireless communication function, a wearable device having a wireless communication function, a smart home appliance, an artificial smart device, or a smart wearable device, etc. The monitoring subsystem 40 may include a computing device and at least one acquisition device, which may be connected by a wired network or a wireless network, the computing device may be a computer, a personal computer, a tablet computer, a cloud host, or the like. The acquisition device may be a radar, a camera, etc. The monitoring data collected by the collecting device can be radar data collected by a radar or image data collected by a camera. Taking the at least one collection device as a camera for example, the at least one collection device collects image data of a target parking lot and transmits the image data to the computing device, and the computing device analyzes the image data collected by the at least one collection device to determine category identifiers of the plurality of parking spaces and position information of the plurality of parking spaces in the target parking lot and sends the category identifiers of the plurality of parking spaces and the position information of the plurality of parking spaces to the server 30. The server 30 may be one server or a server cluster composed of a plurality of servers.

Further, the above-described embodiments are simple descriptions of a parking method applied to a parking system, and reference is made to the following embodiments of the parking method for a specific description of the parking method.

The foregoing is an introduction to system embodiments of the present application and the following description of method embodiments of the present application.

Referring to fig. 2, a flowchart of a parking method according to an embodiment of the present application is shown. The parking method is performed by the parking device 10 in the parking system shown in fig. 1. The parking device may be deployed in a vehicle. Referring to fig. 2, the method flow includes the following steps S201 to S204.

S201, the parking device acquires the position information of a vehicle, category identifiers of a plurality of parking spaces in a target parking lot and the position information of the plurality of parking spaces, wherein the category identifier of each parking space in the plurality of parking spaces is used for indicating whether the parking space is an idle public parking space.

The location information of the vehicle may be location information of the vehicle determined by a global satellite positioning system, the location information of the vehicle indicating a location of the vehicle. The vehicle may be located in the target parking lot or outside the target parking lot. In the case where the vehicle is located outside the target parking lot, a distance between the target parking lot and the vehicle is smaller than a preset distance. The target parking lot may be the parking lot closest to the vehicle, or may be the parking lot selected by the user. The category identification of the parking space can be a text identification or a graphic identification, etc. The category identification of a parking space is used to indicate whether the parking space is a free public parking space, and the category identification of a parking space may be dynamically updated as the parking space is used (e.g., whether the parking space is occupied). For example, the class identifier of a parking space is a text identifier, e.g., "01," "02," and "03," the class identifier "01" indicates that the parking space is a free public parking space, the class identifier "02" indicates that the parking space is a free private parking space, and the class identifier "03" indicates that the parking space is an occupied parking space (i.e., the parking space is already occupied). The position information of the parking space is position information determined by the monitoring subsystem based on the monitoring data, and the position information of the parking space is used for indicating the position of the parking space. The category identifiers of the plurality of parking spaces and the position information of the plurality of parking spaces in the target parking lot may be stored in a server, and the parking device may acquire the category identifiers of the plurality of parking spaces and the position information of the plurality of parking spaces from the server.

In one embodiment, the user triggers the information acquisition instruction based on a display interface of a vehicle Map (standard definition Map, SD Map) application installed on the vehicle. The parking device on the vehicle acquires the position information of the vehicle according to the information acquisition instruction. And the parking device sends a parking space acquisition instruction to a server according to the information acquisition instruction, and the server acquires category identifiers of a plurality of parking spaces in the target parking lot and position information of the plurality of parking spaces according to the parking space acquisition instruction and sends the category identifiers of the plurality of parking spaces and the position information of the plurality of parking spaces to the parking device. The parking device receives category identification of the plurality of parking spaces and location information of the plurality of parking spaces. The mode of the user for acquiring the instruction based on the display interface trigger information of the vehicle map application can be voice trigger or key trigger and the like.

In an alternative embodiment, after the parking device acquires the position information of the vehicle, the parking device sends a parking lot acquisition instruction to the server, where the parking lot acquisition instruction carries the position information of the vehicle. After the server receives the parking lot acquisition instruction, the server acquires the position information of a plurality of parking lots stored by the server according to the parking lot acquisition instruction, and the server determines at least one alternative parking lot according to the position information of the plurality of parking lots and the position information of the vehicle carried by the parking lot acquisition instruction. The server transmits the location information of the at least one alternative parking lot, the number of available parking spaces of each of the at least one alternative parking lot, to the parking device. After the parking device receives the position information of the at least one alternative parking lot and the number of available parking spaces of the at least one alternative parking lot, the parking device displays the position information of the at least one alternative parking lot and the number of available parking spaces of the at least one alternative parking lot through a display interface of the vehicle map application. The user selects a parking lot from the at least one alternative parking lot as a target parking lot based on the display interface of the vehicle map application and triggers a parking lot determining instruction, and the parking device determines the target parking lot based on the parking lot determining instruction. The parking device generates a parking space acquisition instruction based on the target parking lot, and sends the parking space acquisition instruction to the server, wherein the parking space acquisition instruction carries an identifier (for example, the number of the target parking lot) of the target parking lot. After receiving the parking space obtaining instruction, the server obtains category identifiers of a plurality of parking spaces in the target parking lot and position information of the plurality of parking spaces stored in the server, and sends the category identifiers of the plurality of parking spaces in the target parking lot and the position information of the plurality of parking spaces to the parking device. The manner of triggering the parking space acquisition instruction by the user based on the display interface of the vehicle map application can be voice triggering or key triggering and the like. The distance between the at least one alternative parking lot and the vehicle, which is determined by the server according to the position information of the vehicle, is smaller than a preset distance. In the event that the vehicle has driven into a parking lot, the at least one alternative parking lot includes a parking lot in which the vehicle is located. The at least one alternative parking lot is located in a circular area with the position of the vehicle as a center and the preset distance as a radius.

S202, the parking device determines a first parking space among the plurality of parking spaces according to the position information of the vehicle, the category identification of the plurality of parking spaces and the position information of the plurality of parking spaces, wherein the first parking space is a free public parking space among the plurality of parking spaces.

In an alternative embodiment, the parking device determines at least one alternative parking space among the plurality of parking spaces according to the category identification of the plurality of parking spaces, and the parking device determines a first parking space among the at least one alternative parking space according to the position information of the vehicle and the position information of the at least one alternative parking space. Wherein the at least one candidate parking space is a free common parking space of the plurality of parking spaces. The first parking space is a free public parking space of the at least one alternative parking space.

Illustratively, the plurality of parking spaces includes parking space 1, parking space 2, parking space 3, and parking space 4. The category of parking space 1 is identified as "01", the category of parking space 2 is identified as "02", the category of parking space 3 is identified as "03", and the category of parking space 4 is identified as "01". The category identification "01" indicates that the parking space is a free public parking space, the category identification "02" indicates that the parking space is a free private parking space, and the category identification "03" indicates that the parking space is an occupied parking space (i.e., the parking space has been occupied). According to the category identification of the parking spaces 1-4, the parking device determines that the parking space 1 and the parking space 4 are free public parking spaces, so that the parking device determines the parking space 1 and the parking space 4 as alternative parking spaces.

In the embodiment of the application, the parking device may autonomously determine the first parking space in the at least one alternative parking space according to the position information of the vehicle and the position information of the at least one alternative parking space, and may also determine the first parking space in the at least one alternative parking space by interacting with the user terminal. Accordingly, the parking device determining a first parking space among the at least one candidate parking space based on the position information of the vehicle and the position information of the at least one candidate parking space includes any one of two implementations.

The first implementation mode: the parking device determines a first parking space among the at least one candidate parking space by interacting with the user terminal. In a specific embodiment, the parking device transmits the position information of the vehicle and the position information of the at least one alternative parking space to the user terminal. After the user terminal receives the position information of the vehicle and the position information of the at least one alternative parking space, the user terminal displays the position of the vehicle and the position of the at least one alternative parking space according to the position information of the vehicle and the position information of the at least one alternative parking space. The user may select a first parking space among the at least one candidate parking space based on the position of the vehicle and the position of the at least one candidate parking space displayed by the user terminal, and trigger a selection instruction for selecting the first parking space. The user terminal determines a first parking space in the at least one alternative parking space based on a selection instruction triggered by a user, and sends parking space indication information for indicating the first parking space to the parking device. The parking device receives the parking space indication information sent by the user terminal, and determines a first parking space according to the parking space indication information. Wherein the parking space indication information includes at least one of an identification of the first parking space or location information of the first parking space. The identification of the first parking space may be a number of the first parking space. The first parking space selected by the user may be the parking space closest to the vehicle among the at least one candidate parking space, or may not be the parking space closest to the vehicle among the at least one candidate parking space, which is not limited in the embodiment of the present application.

For example, the parking device transmits the position information of the vehicle, the position information of the candidate parking space 1 (e.g., parking space 1), and the position information of the candidate parking space 2 (e.g., parking space 4) to the user terminal. The user terminal displays the position of the vehicle, the position of the candidate parking space 1 and the position of the candidate parking space 2 based on a display interface of the vehicle map application according to the position information of the vehicle, the position information of the candidate parking space 1 and the position information of the candidate parking space 2. The user selects the alternative parking space 1 as the first parking space based on the display interface of the vehicle map application, and triggers a selection instruction for selecting the alternative parking space 1. The user terminal determines the alternative parking space 1 as a first parking space based on the selection instruction, generates parking space indication information for indicating the alternative parking space 1, and sends the parking space indication information to the parking device, and the parking device takes the alternative parking space 1 as the first parking space according to the parking space indication information.

The second implementation mode: the parking device autonomously determines a first parking space in the at least one alternative parking space according to the position information of the vehicle and the position information of the at least one alternative parking space. In an alternative embodiment, the parking device determines an alternative parking space closest to the vehicle among the at least one alternative parking space as the first parking space according to the position information of the vehicle and the position information of the at least one alternative parking space.

In one embodiment, the parking device calculates a distance between the vehicle and each of the at least one candidate parking space based on the position information of the vehicle and the position information of the candidate parking space; the parking device determining a minimum distance of distances between the vehicle and the at least one alternate parking space; the parking device determines an alternative parking space corresponding to the minimum distance as a first parking space. For example, the parking device calculates a distance 1 between the vehicle and an alternative parking space 1 based on the position information of the vehicle and the position information of the alternative parking space 1 (for example, the parking space 1); and, the parking device calculates a distance 2 between the vehicle and the candidate parking space 2 based on the position information of the vehicle and the position information of the candidate parking space 2 (e.g., parking space 4); the parking device determines the minimum distance between the distance 1 and the distance 2; the parking device determines an alternative parking space corresponding to the minimum distance as a first parking space. For example, distance 1 is less than distance 2, so the parking device determines candidate parking space 1 as the first parking space.

In another embodiment, the parking device calculates a path between the vehicle and each of the at least one alternate parking space based on the location information of the vehicle and the location information of the alternate parking space; the parking device determining a shortest path among paths between the vehicle and the at least one alternate parking space; the parking device determines an alternative parking space corresponding to the shortest path as a first parking space. For example, the parking device calculates a path 1 between the vehicle and an alternative parking space 1 based on the position information of the vehicle and the position information of the alternative parking space 1 (for example, the parking space 1); and, the parking device calculates a path 2 between the vehicle and an alternative parking space 2 based on the position information of the vehicle and the position information of the alternative parking space 2 (e.g., parking space 4); the parking device determines the shortest path among the path 1 and the path 2; the parking device determines an alternative parking space corresponding to the shortest path as a first parking space. For example, path 1 is the shortest path, and thus the parking device determines candidate parking space 1 as the first parking space.

S203, the parking device generates a first parking path according to the position information of the vehicle and the position information of the first parking space.

In the embodiment of the application, the vehicle may be located in the target parking lot or may be located outside the target parking lot. In the case where the vehicle is located in the target parking lot, the first parking path is the shortest path between the vehicle and the first parking space. In the case where the vehicle is located outside the target parking lot, the first parking path is the shortest path between the target entrance of the target parking lot, which may be the closest entrance to the vehicle among the at least one entrance of the target parking lot, and the first parking space. Since the first parking path is the shortest path between the vehicle and the first parking space or the shortest path between the target entrance of the target parking lot and the first parking space, the time taken for the vehicle to park into the first parking space is shorter, and the parking efficiency is higher.

In an alternative embodiment, the parking device generates the first parking path according to the position information of the vehicle, the position information of the first parking space and the high-precision map of the target parking lot. The high-precision map of the target parking lot includes lane information in the target parking lot, position information of a parking space, position information of an elevator car, position information of an exit of the target parking lot, position information of an entrance of the target parking lot, and the like. The high-precision map of the target parking lot may be stored in the parking device or may be stored in a server. Optionally, after the parking device determines the first parking space, the parking device searches the high-precision map of the target parking lot in the parking device. If the parking device does not find the high-precision map of the target parking lot in the parking device, the parking device sends a map acquisition instruction to the server, wherein the map acquisition instruction comprises the identification of the target parking lot. The server determines a high-precision map of the target parking lot according to the identification of the target parking lot included in the map acquisition instruction, and the server sends the high-precision map of the target parking lot to the parking device. The parking device receives the high-precision map of the target parking lot sent by the server.

In one embodiment, the vehicle is located in a target parking lot, the parking device generates a first parking path according to position information of the vehicle, position information of a first parking space, and a high-precision map of the target parking lot, and the method includes: the parking device determines the position of the vehicle in the high-precision map of the target parking lot according to the position information of the vehicle; the parking device determines the position of the first parking space in the high-precision map of the target parking lot according to the position information of the first parking space; the parking device generates a first parking path according to the position of the vehicle in the high-precision map of the target parking lot, the position of the first parking space in the high-precision map of the target parking lot and lane information in the high-precision map of the target parking lot.

In another embodiment, the vehicle is located outside a target parking lot, and the parking device generates a first parking path according to position information of the vehicle, position information of a first parking space, and a high-precision map of the target parking lot, including: the parking device determines the position of a target entrance in a high-precision diagram of the target parking lot according to the position information of the target entrance of the target parking lot; the parking device determines the position of the first parking space in the high-precision map of the target parking lot according to the position information of the first parking space; the parking device generates a first parking path according to the position of the target entrance in the high-precision map of the target parking lot, the position of the first parking space in the high-precision map of the target parking lot and lane information in the high-precision map of the target parking lot.

S204, the parking device controls the vehicle to park into a first parking space according to a first parking path.

In one embodiment, the parking device controls the vehicle to travel along a first parking path to park the vehicle into a first parking space. Optionally, the parking device collects the rotation speed of wheels of the vehicle through a wheel speed sensor of the vehicle and collects the rotation angular speed of a steering wheel of the vehicle through a gyroscope sensor in the process that the vehicle is parked in the first parking space according to the first parking path. The parking device calculates the distance travelled by the vehicle in a first sampling time period according to the rotating speed of the wheels of the vehicle and the first sampling time period, wherein the first sampling time period is the time period for the wheel speed sensor to collect the rotating speed of the wheels of the vehicle. For example, the distance traveled by the vehicle in the first sample period = the rotational speed of the wheel, the first sample period, wherein the symbol "×" represents a multiplier. The parking device determines the rotation angle of the steering wheel according to the rotation angular speed of the steering wheel and a second sampling time length, wherein the second sampling time length is the sampling time length between the first sampling time and the last sampling time length when the gyroscope sensor collects the rotation angular speed of the steering wheel at the first sampling time. For example, the steering wheel rotation angle = the steering wheel rotation angular velocity/the second sample duration, wherein the symbol "/" indicates a divisor. The parking device adopts a dead reckoning algorithm to determine the position information of the vehicle in the running process according to the running distance of the vehicle and the rotation angle of the steering wheel. The parking device compares position information of the vehicle during traveling with the first parking path to determine a position of the vehicle in the first parking path. The parking device sends the position of the vehicle in the first parking path to the user terminal so that the user terminal displays the position of the vehicle in the first parking path in a display interface of the vehicle map application. Optionally, the parking device controls the camera assembly of the vehicle to shoot an environmental image around the vehicle in the process of parking the vehicle in the first parking space according to the first parking path, and sends the environmental image to the user terminal, so that the user can view the environmental image of the vehicle in the process of parking the vehicle in the first parking space based on the user terminal.

The category identification of the first parking space may change during the parking device controlling the vehicle to park in the first parking space according to the first parking path. For example, the first parking space being occupied causes the class identification of the first parking space to be updated from the class identification of the common parking space indicating that the first parking space is free to the class identification indicating that the first parking space is occupied. In an alternative embodiment, in the process that the parking device controls the vehicle to park in the first parking space according to the first parking path, if the parking device determines that the category identifier of the first parking space is updated to be the category identifier for indicating that the first parking space is occupied, the parking device determines a second parking space in the plurality of parking spaces according to the position information of the vehicle, the category identifiers of the plurality of parking spaces and the position information of the plurality of parking spaces at the current moment. The parking device generates a second parking path according to the position information of the vehicle at the current moment, the position information of the second parking space and the high-precision map of the parking lot, and controls the vehicle to park into the second parking space according to the second parking path. Wherein the second parking space is a free common parking space of the plurality of parking spaces. The second parking path is the shortest path from the position of the vehicle at the current time to the second parking space. The implementation process of determining the second parking space by the parking device may refer to the implementation process of determining the first parking space by the parking device, the implementation process of determining the second parking path by the parking device may refer to the implementation process of generating the first parking path by the parking device, the implementation process of controlling the vehicle to park in the second parking space according to the second parking path by the parking device may refer to the implementation process of controlling the vehicle to park in the second parking space according to the first parking path by the parking device, which will not be described herein.

Wherein the category identification of the first parking space is used for indicating whether the first parking space is a free public parking space. For example, the category identification of the first parking space may be used to indicate that the first parking space is any one of an unoccupied public parking space, an unoccupied private parking space, or an occupied parking space (i.e., the first parking space is occupied). For example, the first parking space is the parking space 1, and in the process of determining the first parking space and the first parking path by the parking device, the category identifier of the parking space 1 is "01", and the category identifier "01" is used for indicating that the parking space 1 is a free public parking space. In the process that the parking device controls the vehicle to park into the parking space 1 according to the first parking path, the category identification of the parking space 1 is updated to be '03', and the category identification '03' is used for indicating that the parking space 1 is occupied. If the parking device controls the vehicle to be parked in the parking space 1 according to the first parking path, the parking device determines that the category identification of the parking space 1 is updated to be "03", and the parking device determines that the category identification of the parking space 1 is updated to be the category identification for indicating that the parking space 1 is occupied.

Optionally, before the parking device controls the vehicle to park in the first parking space according to the first parking path, the parking device prompts the user to get off after the vehicle travels to the get-off area through voice, or displays prompt information through the vehicle map application so as to prompt the user to get off after the vehicle travels to the get-off area. And after the parking device receives a parking instruction sent by the user terminal, controlling the vehicle to park in a first parking space according to a first parking path. The parking area may be a preset area outside or inside a target entrance of the target parking area when the vehicle does not drive into the target parking area, and the first parking path is a shortest path between the target entrance and the first parking space. Under the condition that the vehicle is driven into the target parking lot, the passenger-discharging area is a preset area in the target parking lot, and the first parking path is the shortest path between the vehicle and the first parking space. For example, after the vehicle travels to the get-off area, the user gets off and selects a start parking button based on a display interface of a vehicle map application of the user terminal to trigger a parking instruction. And after the parking device receives the parking instruction sent by the user terminal, controlling the vehicle to park in a first parking space according to a first parking path.

In summary, in the parking method provided in the embodiment of the present application, the parking device determines, according to the position information of the vehicle, the category identifiers of a plurality of parking spaces in the target parking space, and the position information of the plurality of parking spaces, a first parking space among the plurality of parking spaces, where the first parking space is a free public parking space in the plurality of parking spaces, and a distance between the target parking space and the vehicle is smaller than a preset distance. The parking device generates a first parking path according to the position information of the vehicle and the position information of the first parking space, and controls the vehicle to park in the first parking space according to the first parking path. Since the first parking space is a free public parking space, i.e. a public parking space not occupied by other people, but not a private parking space, the availability of the first parking space determined by the parking device is high.

For ease of understanding, the parking method will be described below in one embodiment. As shown in fig. 3, the parking method is applied to the parking system shown in fig. 1, wherein the parking device may be the parking device 10 in fig. 1. The parking method includes the following steps S301 to S312.

S301, a monitoring subsystem collects monitoring data of a parking lot.

Wherein the monitoring subsystem comprises at least one acquisition device, which may comprise a radar, a camera, or the like. Correspondingly, the monitoring data of the parking lot collected by the collecting device can comprise radar data collected by radar and/or image data collected by a camera.

S302, the monitoring subsystem determines category identifiers of the plurality of parking spaces and position information of the plurality of parking spaces according to the monitoring data of the parking lot, and the category identifiers of the parking spaces are used for indicating whether the parking spaces are free public parking spaces or not.

Wherein the monitoring subsystem further comprises a computing device, the computing device and the at least one acquisition device may be communicatively connected via a wired network or a wireless network. The wireless network includes, but is not limited to: the computing device may be a computer, personal computer, tablet, cloud host, etc., world wide web, metropolitan area network, intranet, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area network, bluetooth, etc. The at least one collection device may transmit collected monitoring data to the computing device, which analyzes the monitoring data to determine category identifications of the plurality of parking spaces and location information of the plurality of parking spaces. For example, the monitoring data is a depth image captured by a depth camera, depth information of a plurality of parking spaces (including distance information between the plurality of parking spaces and the depth camera) may be determined according to the depth image, and position information of the plurality of parking spaces may be determined according to position information of the depth camera and the depth information of the plurality of parking spaces, where the position information of the depth camera is stored in a computing device in the monitoring subsystem. In another example, the monitoring data is a first image collected by a camera, the first image is input into a graph segmentation network, positions of a plurality of parking spaces in the first image are determined, then, according to shooting parameters of the camera and the positions of the plurality of parking spaces in the first image, distances between the plurality of parking spaces and the camera can be calculated, and further, according to the distances between the plurality of parking spaces and the camera and position information of the camera, coordinate information of the plurality of parking spaces can be determined.

S303, the monitoring subsystem sends the category identification of the plurality of parking spaces and the position information of the plurality of parking spaces to the server.

Wherein the monitoring subsystem is communicatively coupled to the server. For example, the monitoring subsystem is communicatively coupled to the server via a wired network or a wireless network. The wireless network includes, but is not limited to: the world wide web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and the like. The server may be one server or a server cluster composed of a plurality of servers.

S304, the server stores category identifiers of the plurality of parking spaces and position information of the plurality of parking spaces.

The server is in communication connection with the parking device. For example, the server is communicatively connected to the parking device via a wireless network. The wireless network includes, but is not limited to: the world wide web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and the like.

S305, the parking device acquires the position information of the vehicle, the category identification of the plurality of parking spaces, and the position information of the plurality of parking spaces.

S306, the parking device determines at least one alternative parking space in the plurality of parking spaces according to the category identification of the plurality of parking spaces, wherein the at least one alternative parking space is an idle public parking space in the plurality of parking spaces.

S307, the parking device transmits the position information of the vehicle and the position information of the at least one candidate parking space to the user terminal.

The parking device is in communication connection with the user terminal. For example, the parking device is communicatively connected to the user terminal via a wireless network. The wireless network includes, but is not limited to: the world wide web, metropolitan area network, intranet, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area network, bluetooth, or the like.

S308, the user terminal determines a first parking space in the at least one alternative parking space based on the selection instruction triggered by the user.

S309, the user terminal transmits parking space indication information for indicating the first parking space to the parking device.

S310, the parking device determines a first parking space according to the parking space indication information.

S311, the parking device generates a first parking path according to the position information of the vehicle and the position information of the first parking space.

S312, the parking device controls the vehicle to park into the first parking space according to the first parking path.

In the process of controlling the vehicle to park into a first parking space according to a first parking path, if the parking device determines that the type identifier of the first parking space is updated to be used for indicating that the first parking space is occupied, the parking device determines a second parking space in the plurality of parking spaces according to the position information of the vehicle, the type identifiers of the plurality of parking spaces and the position information of the plurality of parking spaces at the current moment, and the second parking space is an idle public parking space in the plurality of parking spaces. The parking device generates a second parking path according to the position information of the vehicle at the current moment and the position information of a second parking space. The parking device controls the vehicle to park into a second parking space according to a second parking path. The specific description and advantageous effects of the parking method shown in fig. 3 may refer to the explanation of the parking method shown in fig. 2, and are not described herein.

The following are device embodiments of the present application, which may be used to perform method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

Referring to fig. 4, a schematic diagram of a parking device 40 according to an embodiment of the present application is shown. The parking device 40 is used to perform the parking method provided by the embodiment shown in fig. 2, for example, the parking device 40 is a functional component in a vehicle. Referring to fig. 4, the parking device 40 includes: an acquisition module 401, a determination module 402, a generation module 403, and a control module 404.

An obtaining module 401, configured to obtain location information of a vehicle, category identifiers of a plurality of parking spaces in a target parking lot, and location information of the plurality of parking spaces, where the category identifier of each of the plurality of parking spaces is used to indicate whether the parking space is a free public parking space;

a determining module 402, configured to determine a first parking space among the plurality of parking spaces according to the position information of the vehicle, the category identifiers of the plurality of parking spaces, and the position information of the plurality of parking spaces, where the first parking space is a free public parking space among the plurality of parking spaces;

a generating module 403, configured to generate a first parking path according to the position information of the vehicle and the position information of the first parking space;

The control module 404 is configured to control the vehicle to park in the first parking space according to the first parking path.

Optionally, the determining module 402 is configured to: determining at least one alternative parking space in the plurality of parking spaces according to the category identification of the plurality of parking spaces, wherein the at least one alternative parking space is an idle public parking space in the plurality of parking spaces; a first parking space is determined among the at least one candidate parking space based on the location information of the vehicle and the location information of the at least one candidate parking space.

Optionally, the determining module 402 is configured to: transmitting the position information of the vehicle and the position information of the at least one alternative parking space to a user terminal, wherein the user terminal is used for determining a first parking space in the at least one alternative parking space based on a selection instruction triggered by a user and transmitting parking space indication information for indicating the first parking space; receiving the parking space indication information sent by the user terminal; and determining a first parking space according to the parking space indication information.

Optionally, the determining module 402 is configured to: and determining an alternative parking space closest to the vehicle in the at least one alternative parking space as the first parking space according to the position information of the vehicle and the position information of the at least one alternative parking space.

Optionally, the determining module 402 is further configured to determine, during the control module 404 controlling the vehicle to park in the first parking space according to the first parking path, a second parking space among the plurality of parking spaces according to the position information of the vehicle, the category identifiers of the plurality of parking spaces, and the position information of the plurality of parking spaces at the current moment, if it is determined that the category identifier of the first parking space is updated to a category identifier for indicating that the first parking space is occupied, where the second parking space is an empty common parking space among the plurality of parking spaces;

the generating module 403 is further configured to generate a second parking path according to the position information of the vehicle at the current moment and the position information of the second parking space;

the control module 404 is further configured to control the vehicle to park in the second parking space according to the second parking path. In summary, in the technical solution provided in the embodiments of the present application, the determining module in the parking device determines, according to the position information of the vehicle, the category identifiers of the plurality of parking spaces in the target parking lot, and the position information of the plurality of parking spaces, a first parking space among the plurality of parking spaces, where the first parking space is an empty public parking space among the plurality of parking spaces. A generation module in the parking device generates a first parking path according to the position information of the vehicle and the position information of the first parking space. A control module in the parking device controls the vehicle to park into a first parking space according to a first parking path. Since the first parking space is a free public parking space, i.e. a public parking space not occupied by other people, but not a private parking space, the availability of the first parking space determined by the parking device is high.

Embodiments of the present application provide a parking device including a memory and a processor, where the memory stores a computer program that, when executed by the processor, performs all or part of the steps of the parking method provided by the embodiment shown in fig. 2, or performs all or part of the steps performed by the parking device in the parking method provided by the embodiment shown in fig. 3.

The parking device provided by the embodiment of the application can be a vehicle or a functional component deployed in the vehicle. Optionally, the parking device is a functional component deployed in the vehicle, and the embodiment of the application further provides the vehicle including the parking device. As an example, please refer to fig. 5, fig. 5 is a schematic diagram of a vehicle 500 according to an embodiment of the present application. The vehicle 500 includes the parking apparatus provided in the above embodiment to perform the above-described parking method.

In general, the vehicle 500 includes: a processor 501 and a memory 502.

Processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 501 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 501 may also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit ); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 501 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 501 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 502 may include one or more computer-readable storage media, which may be non-transitory. Memory 502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 502 is used to store a computer program comprising at least one instruction for execution by processor 501 to implement the parking method provided by embodiments of the present application.

In some embodiments, the parking device 500 may further optionally include: a peripheral interface 503 and at least one peripheral. The processor 501, memory 502, and peripheral interface 503 may be connected by buses or signal lines. The individual peripheral devices may be connected to the peripheral device interface 503 by buses, signal lines or circuit boards. Specifically, the peripheral device includes: at least one of radio frequency circuitry 504, a display 505, a camera assembly 506, audio circuitry 507, a positioning assembly 508, and a power supply 509.

Peripheral interface 503 may be used to connect at least one Input/Output (I/O) related peripheral to processor 501 and memory 502. In some embodiments, processor 501, memory 502, and peripheral interface 503 are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor 501, memory 502, and peripheral interface 503 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.

The Radio Frequency circuit 504 is configured to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuitry 504 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 504 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 504 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuitry 504 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the world wide web, metropolitan area networks, intranets, generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuitry 504 may also include NFC (Near Field Communication ) related circuitry, which is not limited by the embodiments of the present application.

The display 505 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 505 is a touch display, the display 505 also has the ability to collect touch signals at or above the surface of the display 505. The touch signal may be input as a control signal to the processor 501 for processing. At this time, the display 505 may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, the display 505 may be a flexible display. Even more, the display 505 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The display 505 may be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode) or other materials.

The camera assembly 506 is used to capture images or video. Optionally, the camera assembly 506 includes at least one camera. Typically, camera assemblies are provided inside the vehicle to capture images of the interior of the vehicle, such as the roof of the vehicle, on the dashboard, on the steering wheel. In some embodiments, camera assembly 506 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures. The camera assembly may also be disposed about the vehicle body to capture images of the surrounding environment.

The audio circuitry 507 may include a microphone and a speaker. The microphone is used for collecting sound waves of users and environments, converting the sound waves into electric signals, and inputting the electric signals to the processor 501 for processing, or inputting the electric signals to the radio frequency circuit 504 for voice communication. For stereo acquisition or noise reduction purposes, a plurality of microphones may be respectively disposed at different positions of the parking apparatus 500. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 501 or the radio frequency circuit 504 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, audio circuitry 507 may also include a headphone jack.

The locating component 508 is used to locate the current geographic location of the parking device 500 for navigation or LBS (Location Based Service, location-based services). The positioning component 508 may be a positioning component based on the United states GPS (Global Positioning System ), the Beidou system of China, or the Galileo system of Russia.

The power supply 509 is used to power the various components in the parking device 500. The power supply 509 may be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 509 comprises a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, parking device 500 also includes one or more sensors 510. The one or more sensors 510 include, but are not limited to: a pressure sensor 511, a fingerprint sensor 512, an optical sensor 513, a wheel speed sensor 514, and a gyro sensor 515.

The pressure sensor 511 may be disposed at a lower layer of the display screen 505. When the pressure sensor 511 is disposed at the lower layer of the display screen 505, the processor 501 controls the operability control on the UI interface according to the pressure operation of the user on the display screen 505. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

The fingerprint sensor 512 is used for collecting the fingerprint of the user, and the processor 501 identifies the identity of the user according to the collected fingerprint of the fingerprint sensor 512, or the fingerprint sensor 512 identifies the identity of the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, the user is authorized by the processor 501 to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying for and changing settings, etc. The fingerprint sensor 512 may be provided on the front, back or side of the display 505. When a physical key or vendor Logo is provided on the display 505, the fingerprint sensor 512 may be integrated with the physical key or vendor Logo.

The optical sensor 513 is used to collect the ambient light intensity. In one embodiment, the processor 501 may control the display brightness of the display 505 based on the ambient light intensity collected by the optical sensor 513. Specifically, when the intensity of the ambient light is high, the display brightness of the display screen 505 is turned up; when the ambient light intensity is low, the display brightness of the display screen 505 is turned down. In another embodiment, the processor 501 may also dynamically adjust the shooting parameters of the camera module 506 according to the ambient light intensity collected by the optical sensor 513.

The wheel speed sensor 514 is used to acquire the rotational speed of the wheels of the vehicle.

The gyro sensor 515 is used to acquire the rotational angular velocity of the steering wheel of the vehicle.

In some embodiments, a computer-readable storage medium is also provided, in which a computer program is stored which, when executed (e.g. by a processor, a parking device, etc.), implements all or part of the steps of the above-described parking method.

It is noted that the computer readable storage medium mentioned in the embodiments of the present application may be a non-volatile storage medium, in other words, may be a non-transitory storage medium.

It should be understood that all or part of the steps to implement the above-described embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. Computer instructions may be stored in the computer-readable storage medium described above.

In some embodiments, embodiments of the present application also provide a computer program product comprising a computer program/instructions which, when executed (e.g., by a processor, a parking device, etc.), implement all or part of the steps of the above-described parking method.

It should be understood that references herein to "at least one" mean one or more, and "a plurality" means two or more. In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", and the like are used to distinguish the same item or similar items having substantially the same function and effect. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.

Different types of embodiments, such as a method embodiment and a device embodiment, provided in the embodiments of the present application may be mutually referred to, and the embodiments of the present application are not limited to this. The sequence of the operations of the method embodiment provided in the embodiment of the present application can be appropriately adjusted, the operations can also be increased or decreased according to the situation, and any method that is easily conceivable to be changed by a person skilled in the art within the technical scope of the present application is covered in the protection scope of the present application, so that no further description is provided.

In the corresponding embodiments provided in the present application, it should be understood that the disclosed apparatus and the like may be implemented by other structural manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules is merely a logical division of functionality, and there may be additional divisions of actual implementation, e.g., multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed.

The modules illustrated as separate components may or may not be physically separate, and the components described as modules may or may not be physical modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

It should be noted that, information (including, but not limited to, location information of a vehicle, category identification of a parking space, location information of a parking space, etc.), data (including, but not limited to, data for analysis, stored data, etc.), and signals related to the present application are all authorized by a user or sufficiently authorized by each party, and the collection, use, and processing of related data is required to comply with related laws and regulations and standards of related countries and regions. For example, the images in the vehicle and the displayed images referred to in this application are acquired with sufficient authorization.

The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as being included within the spirit and principles of the present invention.

Claims

1. A method of parking, the method comprising:

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

the determining a first parking space among the plurality of parking spaces according to the position information of the vehicle, the category identification of the plurality of parking spaces and the position information of the plurality of parking spaces includes:

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

the determining the first parking space in the at least one alternative parking space according to the position information of the vehicle and the position information of the at least one alternative parking space comprises the following steps:

receiving the parking space indication information sent by the user terminal;

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

5. The method according to any one of claims 1 to 4, further comprising:

6. A parking apparatus, the apparatus comprising:

7. The apparatus of claim 6, wherein the means for determining is configured to:

8. The apparatus of claim 7, wherein the means for determining is configured to:

receiving the parking space indication information sent by the user terminal;

9. The apparatus of claim 7, wherein the means for determining is configured to:

10. The device according to any one of claims 6 to 9, wherein,

The determining module is further configured to determine, in the process that the control module controls the vehicle to park in the first parking space according to the first parking path, a second parking space in the plurality of parking spaces according to the position information of the vehicle, the category identifiers of the plurality of parking spaces, and the position information of the plurality of parking spaces at the current moment, if it is determined that the category identifier of the first parking space is updated to be used for indicating that the first parking space is occupied;