TWI693580B - Method of parking automatically based on negotiation of parking spaces - Google Patents

Abstract

A method of parking automatically based on negotiation of parking spaces is provided. The method is to execute a procedure of searching parking spaces for retrieving a plurality of parking space data of a plurality of available parking spaces from at least one car park server(s) when receipt of parking instruction, execute a negotiation procedure of parking spaces for selecting one of a plurality of parking space data, transfer an instruction of distributing parking space to the car park server providing the parking space data for making the car park server distribute the parking space data to identity data corresponding to a vehicle, and transfer parking guidance information to the vehicle for making the vehicle execute an automatic driver procedure to move from a get-off position to the available parking space according to the parking space data.

Description

Automatic parking method based on parking space negotiation

The present invention relates to automatic vehicles, and in particular relates to an automatic parking method based on parking space negotiation.

At present, many automatic vehicles with automatic driving technology have been proposed. The user only needs to input the destination to the automatic vehicle, and the automatic vehicle can be automatically driven to the destination without the user's manual driving behavior.

In addition, another automatic parking technology has been proposed. When the automatic vehicle arrives next to the parking space, the user can start the automatic parking, and the automatic vehicle can be automatically parked in the parking space without the user's manual parking behavior.

Although the existing automatic driving technology and automatic parking technology have the above advantages, however, the existing automatic driving technology cannot automatically find a parking lot with available parking spaces, but must rely on the user to find the parking space by himself, and then input the location of the parking lot to the automatic vehicle. Make the automatic car drive to the parking lot automatically.

In addition, the existing automatic parking technology is manually activated when the user judges that the automatic vehicle has reached the available parking space, which makes the user have to go to the parking lot with the automatic vehicle and manually find the available parking space, and then move from the parking lot to the destination after the parking is completed.

In view of this, the current automatic driving technology and automatic parking technology still have to rely on manpower to complete parking, but fail to achieve full automation.

The main purpose of the present invention is to provide an automatic parking method based on parking space negotiation, which can realize a fully automated automatic parking function.

To achieve the foregoing objective, the present invention provides an automatic parking method based on parking space negotiation, which includes: establishing a connection between the cloud server and the vehicle's on-board computer; obtaining a parking instruction when receiving a parking instruction from a user's mobile device or on-board computer Preference data corresponding to the identification data of the vehicle; execute the available parking space search procedure according to the parking position and the preset search distance to obtain multiple parking space data of multiple available parking spaces from at least one parking server; based on the preference data and multiple parking spaces The data executes the parking space negotiation procedure to select one of the multiple parking space data; sends a parking space assignment instruction to the parking lot server that provides parking space data based on the parking space data and the identification data so that the parking lot server assigns the parking space data to the identification data; and, based The parking space data transmits the parking space guidance information to the on-board computer so that the on-board computer executes an automatic driving procedure according to the parking space guidance information to control the vehicle to move from the disembarking position to the available parking space corresponding to the parking space data.

The invention can save the parking action for the user and save the time required for parking.

10: Vehicle

100: Car computer

13: User mobile device

20: Cloud server

200: database

30: Parking lot server

31: Service server

32: Traffic server

S10-S15: Automatic parking steps

S20-S24: Available parking space search steps

S30-35: parking space coordination steps

S40-S42: car picking steps

S500-S513: Automatic parking and service scheduling steps

Figure 1 is a schematic diagram of the time-space relationship from the departure point to the destination.

FIG. 2 is a structural diagram of an automatic parking system according to an embodiment of the invention.

3 is a flowchart of an automatic parking method according to a first embodiment of the invention.

FIG. 4 is a flowchart of an available parking space search procedure according to a second embodiment of the invention.

5 is a flowchart of a parking space negotiation procedure according to a third embodiment of the invention.

FIG. 6 is a flowchart of an automatic car pickup according to a fourth embodiment of the invention.

7 is a flowchart of an automatic parking method according to a fifth embodiment of the present invention.

The following is a detailed description of a preferred embodiment of the present invention with reference to the drawings.

Please refer to Figure 1 for the first time, which is a schematic diagram of the time-space relationship from the departure point to the destination. FIG. 1 is used to exemplify the detailed process of the user from the departure point to the destination. In this example, the user can first take the automatic car from the departure point to the destination (it takes 30 minutes). After arriving at the destination, the user must manually drive the automatic car to find the parking lot (such as the first parking lot, which takes 5 minutes). Moreover, after arriving at the first parking lot, since there is no available parking space, the user must manually drive the automatic vehicle to find other parking lots (such as the second parking lot, which takes 10 minutes), and manually search for available parking spaces in the second parking lot and park. Finally, after the parking is completed, the user must walk back to the destination (it takes 15 minutes).

It can be seen from the above example that although the user only takes 30 minutes to reach the destination, he needs to spend an additional 30 minutes to park, which greatly reduces the time advantage of driving by himself.

In view of this, the present invention proposes an automatic parking system and automatic parking method based on parking space coordination. The automatic parking system and the automatic parking method of the present invention can automatically coordinate available parking spaces, and control the automatic vehicles to automatically go to the available parking spaces for automatic parking. In this way, the user can get off directly at the destination without spending extra time to find available parking spaces and park.

Please refer to FIG. 2, which is an architectural diagram of an automatic parking system according to an embodiment of the present invention. The automatic parking system of this embodiment mainly includes a vehicle 10, a cloud server 20, and one or more parking lot servers 30.

The vehicle 10 (such as an automatic vehicle, the aforementioned automatic vehicle may be, but not limited to, a vehicle conforming to SAE level 3 or higher specified by the Society of Automotive Engineers (SAE)) for transportation Lose people or goods, and may include on-board computer 100. The on-board computer 100 is connected to the Internet and can control the vehicle 10 to perform unmanned automatic driving to move to a designated location. The aforementioned unmanned autonomous driving technology belongs to a common technology in the technical field, and technical details and detailed implementations thereof are not described in detail here.

The cloud server 20 is connected to the Internet to coordinate available parking spaces. Each parking lot server 30 records the parking lot data of a plurality of parking lots in the managed parking lot, and records the use status of each parking lot (such as available parking spaces that can be parked or occupied parking spaces that have been parked).

In an embodiment, the automatic parking system further includes a user mobile device 13 (such as a remote control of the vehicle 10 or a smartphone held by the user). The user mobile device 13 can be connected to the on-board computer 100 to serve with the cloud via the on-board computer 100 The device 20 communicates, or the user mobile device 13 may directly connect to the Internet and communicate with the cloud server 20 via the Internet.

Please refer to FIG. 2 and FIG. 3 together. FIG. 3 is a flowchart of the automatic parking method according to the first embodiment of the present invention. The automatic parking method of each embodiment of the present invention can be implemented using the automatic parking system shown in FIG. 2. Furthermore, the cloud server 20 stores an application program (not shown in the figure) including program code executable by the computer. When the processor (not shown) of the cloud server 20 executes an application program, the cloud server 20 can be controlled to interact with the on-board computer 100, the user mobile device 13 and the parking lot server 30 to execute the automatic parking method of each embodiment of the present invention Steps.

First, the vehicle-mounted computer 100 of the vehicle 10 establishes a connection with the cloud server 20. Then, the user can ride the vehicle 10 to the destination from the departure point (the user can manually drive the vehicle 10 or be automatically driven by the vehicle 10). After arriving at the destination, the user can directly get off the vehicle and operate the user mobile device 13 or the on-board computer 100 to issue a parking command to the cloud server 20 to activate the automatic parking function of the present invention.

In one embodiment, the parking instruction includes identification data. The identification data may be the identification data of the vehicle 10 (such as a license plate or a pilot number, etc.) or the identification data of a user (such as an identity code or registered account number, etc.). limited.

In one embodiment, the parking command includes the exit position. Specifically, the in-vehicle computer 100 or the user mobile device 13 may include a positioning device (such as a GPS locator, not shown in the figure). The in-vehicle computer 100 or the user mobile device 13 can sense the current position (such as GPS coordinates) via the aforementioned positioning device and serve as the aforementioned disembarking position.

Next, the cloud server 20 determines whether a parking instruction is received from the user mobile device 13 or the vehicle-mounted computer 100 of the vehicle 10 (step S10). If the cloud server 20 does not receive any parking instruction, it continues to make judgments.

If the cloud server 20 receives a parking instruction, it analyzes the received parking instruction to obtain identification data, and queries corresponding preference data according to the identification data (step S11).

In one embodiment, the cloud server 20 includes a database 200. The database 200 stores a plurality of pieces of preference data, and each preference data corresponds to a set of identification data and is used to indicate the user's preference conditions for the parking space. The aforementioned preference data may be set by the user in advance or obtained by the cloud server 20 by analyzing the user's usage habits and/or feedback opinions, without limitation.

In an embodiment, each preference data includes multiple preference conditions. The aforementioned preference conditions may be the distance between the parking lot and the destination preferred by the user (such as within 500 meters), the parking rate (such as less than 40 yuan per hour), the brand of the parking lot, the type of parking space (such as flat parking spaces or mechanical parking spaces, Flat lanes or mechanical lanes), vehicle size, vehicle weight, preferential schemes (such as specific credit cards or special parking lots of specific merchants) or estimated parking hours (such as ten o'clock in the evening to seven o'clock in the morning) and so on.

Then, the cloud server 20 analyzes the parking instruction to retrieve the drop-off position, and obtains a set of preset search distances (such as 1000 meters) set by the user in advance (or system default), and performs a search for available parking spaces according to the preset search distances The program acquires multiple parking space data of multiple available parking spaces from the parking lot server 30 (step S12).

In one embodiment, the cloud server 20 uses the following vehicle position as the origin, and uses the preset search distance as the search radius (or diameter) to create a search range, and queries each parking lot server 30 for the search There is a parking lot with available parking spaces in the range, and the parking space information of this available parking space is obtained when there is any available parking space.

In an embodiment, each parking lot server 30 (such as a parking lot management host) corresponds to one or more parking lots, and records the parking lot data and real-time parking lot status (such as available parking spaces or Occupied parking spaces). In this way, the cloud server 20 can quickly know whether there are available parking spaces in each parking lot by querying the parking space status of all parking spaces.

After acquiring multiple parking space data of multiple available parking spaces from multiple parking lot servers 30, the cloud server 20 may perform a parking space negotiation procedure according to the preference data and the multiple parking space data to select one of the multiple parking space data (step S13) ).

In an embodiment, the parking space data of each parking space includes multiple parking space elements. The aforementioned parking space element may be relevant information of the parking lot to which the parking space belongs (such as parking lot code, brand or location), parking rate, parking space type, parking space size, vehicle weight limit, parking period, applicable discount plan or parking period, etc. . The cloud server 20 compares each preference condition of the preference data with each parking space element of each parking space data to determine the most suitable parking space data.

Then, the cloud server 20 generates a parking space assignment instruction according to the most suitable parking space data and the identification data of the parking instruction, and sends the generated parking space assignment instruction to the parking lot server 30 that provides the parking space information to reserve the available parking space (step S14) . After receiving the aforementioned parking space assignment instruction, the parking lot server 30 may assign the parking space data indicated by the parking space assignment instruction to the identification data indicated by the parking space assignment instruction, that is, assign the corresponding available parking space to the corresponding vehicle 10 or user.

In one embodiment, after the parking lot server 30 assigns the parking space data to any identification data, it can change the parking space status of the parking space to an occupied parking space to avoid repeatedly assigning the same parking space to two pieces of identification data.

Furthermore, since it is possible to avoid repeatedly assigning the same parking space to two pieces of identification data, the present invention can correctly negotiate, assign, and reserve available parking spaces when receiving multiple parking commands from multiple automatic vehicles, and can simultaneously satisfy a large number of automatic vehicles. Parking demand.

In addition, after completing the parking space negotiation process, the cloud server 20 can also generate parking space guidance information according to the corresponding parking space data, and send the parking space guidance information to the on-board computer 100 so that the on-board computer 100 executes according to the received parking space guidance information The automatic driving procedure moves from the exit position to the available parking space corresponding to the parking space information and completes the automatic parking (step S15).

In an embodiment, the parking space guidance information may record the entrance location of the parking lot to which the available parking space belongs, approach/exit methods (such as manual verification or electronic fence), parking lot map information, the location of the available car in the parking lot, from Inbound navigation route from parking lot entrance to available parking space, outbound navigation route from available parking space to parking lot exit, etc.

The aforementioned automatic driving procedure based on the relevant location information to reach the parking lot and automatic parking based on the parking lot map information are common technologies in the technical field, and will not be described here.

The invention can save the parking action for the user and save the time required for parking (the time between 30 minutes and 60 minutes as shown in FIG. 1).

Please refer to FIG. 2, FIG. 3 and FIG. 4 together. FIG. 4 is a flowchart of the available parking space search procedure according to the second embodiment of the present invention. Compared with the automatic parking method shown in FIG. 3, the available parking space search procedure executed in step S12 of the automatic parking method of this embodiment includes the following steps.

The cloud server 20 obtains the position of each parking lot from the parking lot server 30, and calculates the moving distance from the drop-off position to each parking lot based on the calculated drop-off position and the position of each parking lot. Next, the cloud server 20 determines whether the moving distance of the drop-off position and each parking lot is not greater than the preset search distance (step S20).

If the moving distance between the drop-off location and any parking lot is not greater than the preset search distance, the cloud server 20 further queries the corresponding parking lot server 30 whether there is an available parking space in this parking lot (step S21).

If there are available parking spaces in this parking lot, the cloud server 20 further obtains the parking space information of all available parking spaces and stores them in the storage device of the cloud server 20 (step S22). Next, the cloud server 20 executes step S13.

If the cloud server 20 determines in step S20 that all moving distances are greater than the preset search distance, or in step S21 determines that all matching parking lots have no available parking spaces, it means that there are no matching available parking spaces in the preset search range, the cloud server 20 can generate a non-compliant parking space notification, and send the non-compliant parking space notification to the user mobile device 13 or the in-vehicle computer 100 (step S23).

In one embodiment, the present invention further provides roaming functions. The aforementioned roaming function mainly enables the vehicle 10 to automatically drive on the road in a planned manner to wait for the user to pick up the car.

Specifically, the cloud server 20 determines in step S20 that all moving distances are greater than the preset search distance, or in step S21 determines that all eligible parking lots have no available parking spaces and can be automatically executed (or the user receives no matching in step S23) After the parking space is notified, the roaming procedure is manually executed (step S24).

During the execution of the roaming procedure, the cloud server 20 plans a roaming path and sends the planned roaming path to the in-vehicle computer 100. Then, the vehicle-mounted computer 100 controls the vehicle 10 to move along the roaming path according to the roaming path (that is, autonomous driving along the roaming path).

In an embodiment, during the roaming movement of the vehicle 10, the cloud server 20 can continuously receive the latest vehicle position from the on-board computer 100, and continue to execute the aforementioned available parking space search process according to the latest vehicle position (step S12) and The aforementioned parking space negotiation procedure (step S13), and when acquiring the parking space information of any available parking space (step S14), and notifies the vehicle 10 to go to parking (step S15). With this, the present invention can greatly reduce the probability of the vehicle 10 consuming excessive fuel due to roaming.

The roaming function of the present invention can prevent the vehicle 10 from being forced to suspend the no-parking area due to the inability to obtain available parking spaces, thereby causing users to violate traffic rules and be punished.

Please refer to FIG. 2, FIG. 3 and FIG. 5 at the same time. FIG. 5 is a flowchart of the parking space negotiation procedure according to the third embodiment of the present invention. Compared with the automatic parking method shown in FIG. 3, the parking space negotiation procedure executed in step S13 of the automatic parking method of this embodiment includes the following steps.

The cloud server 20 first selects one of the plurality of parking space data of the plurality of available parking spaces obtained through the parking space search process (step S30, such as selecting the first parking space data).

Next, the cloud server 20 compares the preference data with the selected parking space data to determine whether the two are consistent (step S31). In an embodiment, the cloud server 20 compares each preference condition of the preference data with the same type of parking space elements of the parking space data, and determines this when all the parking space elements of the selected parking space data meet all corresponding preference conditions The parking space information conforms to the preference information, but not limited to this.

In one embodiment, the cloud server 20 determines that the selected parking space data meets the preference data when the number of parking space elements meeting the preference condition reaches a certain number (eg, three parking space elements meet or more than half of the parking space elements match).

If the cloud server 20 determines that the selected parking space data matches the preference data, it retains the selected parking space data (step S32). Otherwise, the cloud server 20 filters out the selected parking space data (step S33).

Next, the cloud server 20 determines whether all the parking space data obtained through the parking space search process have been compared (step S34).

If all the parking space data are compared, the cloud server 20 selects one of the corresponding parking space data (that is, the parking space data retained in step S32) to execute the subsequent automatic parking step (step S35). Then step S14 is executed.

In one embodiment, the user can set priorities for multiple preference conditions (eg, parking space size has the highest priority, rate priority has the second priority, and parking space type has the lowest priority). When there are multiple parking spaces at the same time When the data matches the preference data, the cloud server 20 will select according to the priority (such as selecting the parking space data with the largest parking space size).

If the comparison of any parking space data is completed, the cloud server 20 executes steps S30 to S34 again to select another parking space data (such as selecting the second parking space data), and determines whether the selected parking space data meets the preference data.

The invention can determine the available parking space that best meets the user's expectation through the parking space negotiation procedure, and can improve the user experience.

In an embodiment, the preference data and the parking space data can be represented in a functional form to speed up the comparison. Take the function o(i)=(distance, rate, parking brand, parking space type) as an example. If the preference information set by the user is o(1)=(1000,100,4,1), that is, the moving distance (ie, the distance between the parking lot and the drop-off location) is less than 1000 meters, and the rate is less than 100 yuan each time, the parking lot The brand is the fourth brand, and the parking type is the first type (such as flat parking spaces). The available parking space information is A(1)=(1300,50,4,1), A(2)=(1500,30,4,1), A(3)=(900,80,4,2 ), A(4)=(700,80,4,1) and A(5)=(500,100,4,1). The cloud server 20 can filter the parking space data A(1) and A(2) whose distances do not match after executing the available parking space search process, and can filter the parking space data A(3) whose parking space types do not match after performing the parking space negotiation process. Finally, the cloud server 20 selects one of the matching parking space information A(4) and A(5) (such as selecting the parking space information A(5) with the smallest moving distance, or selecting the cheapest parking space information A(4) )), and make a parking reservation to the parking lot server 30 and a parking guide to the vehicle 10 according to the parking space information A (4).

In an embodiment, when all the parking space data do not match the preference data, the cloud server 20 selects the closest parking space data in step S35 to perform the subsequent automatic parking step. For example, the preference data o(2)=(1000,300,2,1). The available parking space data are A(5)=(100,500,2,1), A(6)=(1000,30,4,2), A(7)=(900,80,4,2), A(8)=(1000,80,3,2) and A(9)=(500,70,3,2). After executing the available parking space search process and the parking space negotiation process, the cloud server 20 will detect that all the parking space data A(5) to A(9) do not match the preference data (only three parking space elements of parking space data A(5) match, Parking Information (A(6) to A(9) only have two parking space elements). At this time, the cloud server 20 can select the parking space data A(5) that best matches (such as the maximum number of matching parking space elements), and makes a parking space reservation to the parking lot server 30 and the vehicle 10 based on the parking space data A(5) Carry out parking guidance.

In this way, when all available parking spaces do not meet the user's expectations, the present invention can still select the best available parking space for automatic parking, and can avoid the vehicle 10 suspending the parking prohibited area, thereby avoiding the user from violating traffic rules and being punished.

Please refer also to FIG. 6 for a flow chart of the automatic car pickup according to the fourth embodiment of the present invention. The present invention further provides an automatic car pickup function, which can automatically move the vehicle 10 from the available parking space to the car pickup position where the user is located.

First, the user can operate the user mobile device 13 to issue a car picking instruction to the cloud server 20 to activate the automatic car picking function of the present invention. In one embodiment, the car picking instruction includes identification data and the car picking position (ie, the location of the user mobile device 13).

Next, the cloud server 20 determines whether a car pickup instruction is received from the user mobile device 13 (step S40). If the cloud server 20 does not receive any car pickup instruction, it will continue to make the judgment.

If the cloud server 20 receives any car pickup instruction, it analyzes the received parking instruction to obtain identification data and car pickup position, and executes a settlement procedure based on the identification data to automatically pay the parking fee this time (step S41).

Next, the cloud server 20 recognizes the corresponding on-board computer 100 according to the identification data, and sends the vehicle pickup position to the vehicle 10 so that the vehicle 10 executes the automatic driving procedure to move to the vehicle pickup position (step S42).

In this way, the present invention can effectively realize the automatic car pickup function, and can save the car pickup action and the time required for the car pickup (ie, the time required to move to the parking lot and pay the parking fee) for the user.

Please also refer to FIG. 7 for a flowchart of an automatic parking method according to a fifth embodiment of the present invention. The invention further provides an automatic completion service function and a service completion sequence planning function can. The aforementioned auto-complete service function can control the vehicle 10 to automatically complete services (such as a delivery service, a collection service, a refueling service, or a car wash service, etc.) while the user is not using the vehicle 10. In addition, when the vehicle 10 has multiple services to be completed, the aforementioned function of planning the service completion sequence can strategically plan the optimal completion sequence of the multiple services. Moreover, when the vehicle 10 completes multiple services according to the planned recommended sequence, the time it takes to wait and move will be the least. The automatic parking method of this embodiment includes the following steps.

First, the cloud server 20 determines whether a parking instruction is received from the user's mobile device 13 or the vehicle-mounted computer 100 of the vehicle 10 (step S500).

If the cloud server 20 receives any parking instruction, step S509 to step S513 are executed. Steps S509 to S513 in this embodiment correspond to steps S11 to S15 shown in FIG. 3, respectively, and the details of their execution will not be repeated here.

If the cloud server 20 does not receive any parking instruction, it further determines whether a service demand instruction is received from the user mobile device 13 or the vehicle-mounted computer 100 of the vehicle 10 (step S501).

Specifically, the aforementioned service demand instruction may include identification data, the position of the vehicle 10 (ie, the drop-off position), and the achievement information of multiple services, and is used to specify one or more services. The user can operate the user mobile device 13 or the in-vehicle computer 100 to select multiple services, and set the achievement information of each service to generate a service demand instruction and send it to the cloud server 20. The aforementioned achievement information may include the service location of the service and/or the achievement conditions (such as reaching a time limit, staying time, or accepting a specific operation).

Taking the delivery service or the collection service as an example, the arrival time can be recorded for the arrival information (such as 5 minutes). The vehicle 10 can carry the delivery to the target location and wait 5 minutes for the local staff to receive or send the mail. Taking the gas service or the car wash service as an example, the achievement information may record the location of the gas station or the car wash station, and record the conditions for achieving the service (eg, the completion button of the in-vehicle computer 100 is pressed). The vehicle 10 can be moved to the position of a gas station or a car wash station by performing an automatic driving procedure, and then employees can perform fuel or car wash. After completing the fueling or car washing, the employee can press the completion button of the on-board computer 100 for the on-board computer 100 to understand that the service has been reached.

If the cloud server 20 does not receive any service demand instruction, step S500 is executed again.

If the cloud server 20 receives any service demand command, it can set scheduling conditions according to the service demand command (step S502). The foregoing scheduling conditions may include the service to be achieved and the achievement information.

The cloud server 20 obtains historical waiting data and waiting factors of multiple services specified by the service demand instruction from the database 200. In an embodiment, the aforementioned historical waiting data may include designated historical waiting time values for different services in the past (for example, each day in the past year), or statistical results of the aforementioned multiple historical waiting time values.

In addition, the aforementioned multiple waiting factors are factors that may affect the specified waiting time of multiple services (such as whether it is a holiday, the number of users of each service, or the weather status, etc.).

Next, the cloud server 20 calculates a plurality of predicted waiting time values for different designated service points in the future according to the acquired historical waiting data and the plurality of waiting factors (step S504). In an embodiment, the cloud server 20 uses a statistical method to predict a plurality of complex prediction wait time values for different time points in the future based on multiple historical wait time values and multiple wait factors in the historical wait data.

The cloud server 20 obtains a plurality of movement time values required to move from the drop-off position to the service position of each service and to move from the service position of each service to the service position of another service (step S505). In an embodiment, the cloud server 20 is connected to the traffic server 32. The traffic server 32 is used to provide historical traffic information, real-time traffic information or predicted traffic information. The cloud server 20 calculates the plurality of movement time values according to the road condition information.

The cloud server 20 determines one or more suggested sequences of multiple services according to scheduling conditions, multiple travel time values, and multiple predicted latency values (step S506).

Then, the cloud server 20 can generate service guide information for each service according to the recommended order, identification data, and service completion information, and send the recommended order and service guide information for each service to the in-vehicle computer 100 so that the in-vehicle computer 100 can The received service guide information executes an automatic driving procedure to sequentially move to each service location and achieve service (step S507).

In addition, the cloud server 20 is also connected to a plurality of service servers 31, which are used to manage different services. Cloud server 20

The predicted arrival time corresponding to each service can be calculated according to the recommended order, and a service reservation instruction can be generated based on each predicted arrival time and identification data, and the generated service instruction can be sent to the corresponding service server 31 to complete each service for each prediction Reservation of arrival time (step S508).

The proposed sequence automatically planned by the present invention can effectively save the user's waiting time and moving time, and provide users with efficient use of multiple services.

The above is only a preferred specific example of the present invention, and the patent scope of the present invention is not limited by this, so all equivalent changes in applying the content of the present invention are included in the scope of the present invention in the same way. Bright.

S10-S15: Automatic parking steps

Claims (7)

An automatic parking method based on parking space negotiation includes the following steps: a) establishing a connection with a vehicle-mounted computer on a cloud server and a vehicle; b) when receiving a parking instruction from a user mobile device or the vehicle-mounted computer Obtaining a preference data corresponding to an identification data of the parking instruction; c) executing a usable parking space search procedure according to the parking position of the parking instruction and a preset search distance to obtain the number of multiple parking lots from at least one parking lot server Multiple parking space data of available parking spaces; d) perform a parking space negotiation procedure based on the preference data and the multiple parking space data to select one of the multiple parking space data; e) send a according to the parking space data and the identification data A parking space assignment instruction to the parking lot server that provides the parking space data so that the parking lot server assigns the parking space data to the identification data; f) transmitting a parking space guidance information to the on-board computer according to the parking space data to enable the on-board computer Execute an automatic driving procedure based on the parking space guidance information to control the vehicle to move from the disembarking position to the available parking space corresponding to the parking space data; g) upon receiving a service demand instruction from the user mobile device or the vehicle Obtain a scheduling condition when the service demand command includes the identification data and the drop-off location and specify multiple services; h) obtain a historical wait data and multiple waiting factors for the multiple services; i) wait based on the history Data and the plurality of waiting factors to calculate a plurality of predicted waiting time values of the plurality of services at different time points; j) obtaining a service position moved from the drop-off position to each of the services and moving from the service position of each of the services to Multiple movement time values required by the service location of another service; k) determining a recommended order based on the scheduling conditions, the movement time values, and the predicted waiting time values; and l) Send a service guide information of each service to the on-board computer according to the recommended order so that the on-board computer controls the vehicle to execute the automatic driving procedure according to each service guide information to sequentially move to each of the services The service location; wherein, the available parking space search procedure includes the following steps: m1) calculating a moving distance between the drop-off location and each parking lot; m2) querying the at least one parking lot server for any of the parking lot Available parking spaces; m3) Obtain the parking space information of the available parking spaces when any of the moving distances is not greater than the preset search distance and the parking lot corresponding to the moving distances has the available parking spaces; m4) When all the moving distances are greater than the Plan a roaming path and send the roaming path to the vehicle-mounted computer when the preset search distance or all of the parking spaces have no available parking spaces so that the vehicle-mounted computer controls the vehicle to move along the roaming path; and m5) at the vehicle along the During the movement of the roaming path, a vehicle position is received from the in-vehicle computer, and the vehicle position is used as the drop-off position to execute the available parking space search process again. The automatic parking method based on parking space negotiation as described in claim 1, wherein the available parking space search procedure further includes a step m6) when all the moving distances are greater than the preset search distance or all the parking lots have no available parking spaces Notification of compliance with the parking space to the user's mobile device or the on-board computer. The automatic parking method based on parking space negotiation as described in claim 1, wherein the parking space negotiation procedure includes the following steps: n1) comparing multiple preference conditions of the preference data with multiple parking space elements of each of the parking space data; n2) A plurality of parking space elements of the parking space data meet the parking space data when the multiple preference conditions are met; and n3) select one of the multiple parking space data that match. The automatic parking method based on parking space negotiation as described in claim 3, wherein the step n3) is to obtain a moving distance between the drop-off location and the parking lot corresponding to each corresponding parking space data, and select the minimum moving distance Of the parking space. The automatic parking method based on parking space negotiation as described in claim 3, wherein the step n3) is to select the parking space information with the cheapest rate. The automatic parking method based on parking space negotiation as described in claim 1, further comprising the following steps: o1) When the cloud server receives a car picking instruction from the user device, a settlement is performed based on an identification data of the car picking instruction The procedure is to automatically pay the parking fee for this time; and o2) Transmit a vehicle pick-up position of the vehicle pick-up instruction to the vehicle so that the vehicle executes the automatic driving procedure to move to the vehicle pick-up position. The automatic parking method based on parking space negotiation as described in claim 1, which further includes a step p) calculating a predicted arrival time corresponding to each service according to the recommended order, and sending according to each predicted arrival time and the identification data A service reservation instruction is sent to a service server corresponding to each service to complete the reservation of the service at the predicted arrival time.

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