WO2023072101A1 - 一种车辆控制方法、装置及系统 - Google Patents

一种车辆控制方法、装置及系统 Download PDF

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Publication number
WO2023072101A1
WO2023072101A1 PCT/CN2022/127465 CN2022127465W WO2023072101A1 WO 2023072101 A1 WO2023072101 A1 WO 2023072101A1 CN 2022127465 W CN2022127465 W CN 2022127465W WO 2023072101 A1 WO2023072101 A1 WO 2023072101A1
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WIPO (PCT)
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area
vehicle
parking
information
target vehicle
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PCT/CN2022/127465
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English (en)
French (fr)
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张竞
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华为技术有限公司
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Publication of WO2023072101A1 publication Critical patent/WO2023072101A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas

Definitions

  • the present application relates to the technical field of automatic driving, in particular to a vehicle control method, device and system.
  • Embodiments of the present application provide a vehicle control method, device, and system, which help reduce the probability of fatigue driving of vehicle drivers and improve traffic safety by flexibly scheduling parking space resources for vehicles.
  • the embodiment of the present application provides a vehicle control method, which can be applied to a vehicle control device.
  • the vehicle control device can be an independent device, a chip or a component in the device, or software, which can be Deployed on the cloud, or roadside equipment, or remote server, or local server, etc., this application does not limit the product form and deployment method of the vehicle control device.
  • the method may include: acquiring status information of the target vehicle; determining a first area according to the status information, wherein the first area includes an alternative parking area of the target vehicle, and the target vehicle arrives at the first area The difference between the moment of time and the first moment is the first duration, and the first duration is less than or equal to the first threshold value; the first parking space information is obtained, and the first parking space information is used to indicate the usage status of the parking spaces in the first area ; According to the state information of the target vehicle and the first parking space information, determine the first parking information, the first parking information is used to indicate the free parking space in the first area; send the first parking space to the target vehicle 1 Parking information.
  • the vehicle control device can plan and schedule the parking space resources for the target vehicle according to the status information of the target vehicle, so that the target vehicle can drive to an idle parking space in the first area to stop and rest before the driving reaches the specified threshold.
  • This method can flexibly plan and dispatch parking space resources for the target vehicle, which can help reduce the probability of driver fatigue driving of the target vehicle and improve traffic safety.
  • the first area may not be limited to one area
  • the vacant parking space in the first area is not limited to one parking space
  • the purpose of scheduling the parking space resources in the first area for the target vehicle is not limited to be for the vehicle driver to stop and rest , for example, it can also be used for vehicle maintenance, supplementary energy (such as dispatching charging piles, gas stations, or stores, etc.) and the like.
  • this solution may be applied in a highway scene, and the first area may be a high-speed service area that the target vehicle can travel to.
  • the vehicle needs to keep driving at a high speed within a predetermined speed range, and the vehicle cannot stop at will. It can only drive to a service area to stop and rest when passing through a certain service area.
  • the setting of high-speed service areas is usually deployed according to the actual route of the expressway. It cannot guarantee that the vehicle can find a service area where it can stay when the continuous operation reaches the upper limit of the specified operating time. It is inevitable that the driver of the vehicle will be fatigued.
  • the target vehicle can drive to the first area in advance to stop and rest before the driving reaches the threshold, thereby reducing the probability of driver fatigue driving and improving traffic safety sex.
  • the vehicle control device acts as a central console, which can perform unified management and scheduling of vehicles in the fleet to be operated in the corresponding site, such as Working vehicles arrange parking spaces for troubleshooting, parking spaces for supplementary energy, parking spaces for parking and waiting, etc., so as to eliminate the influence of various interference factors that affect the orderly operation of the working vehicles in a timely manner, help the fleet to operate in an orderly manner, and help It is used to improve the overall operating efficiency of the fleet and greatly reduce the cost of manual operation.
  • this solution can also be applied to parking space management in an autonomous driving scenario.
  • the upper limit of the running time of the vehicle may be different from the upper limit of the driving time of the driver, and the upper limit of the running time of the self-driving vehicle may not be a fixed threshold, which is not limited in the embodiment of the present application.
  • the running time of the vehicle will be accumulated at the moment when the vehicle starts running.
  • the running time of the vehicle under automatic driving mode is also included.
  • the vehicle control device can also formulate an automatic driving strategy for the vehicle, so that the driver can control the vehicle in the allowed driving mode based on the automatic driving strategy.
  • the road section is automatically driven, so that the vehicle can drive to the first area before or after the manual driving reaches the upper limit of the specified running time, so as to achieve the purpose of vehicle scheduling.
  • the above example scenarios are only examples of the application scenarios of the embodiments of the present application without any limitation, and the embodiments of the present application are also applicable to other scenarios where it is not convenient for the vehicle to stop and rest at any time, such as vehicle marathon rally, or team work, etc. .
  • the vehicle control method of the embodiment of the present application can also be applied to other scenarios involving vehicle resource scheduling, and the resources to be scheduled can also be replaced with other resources except free parking spaces, which will not be described here.
  • the first area may be a parking area associated with the planned route of the target vehicle; or, the first area may be a parking area associated with the target vehicle in the second The parking area passed by based on the current driving route during the duration.
  • the vehicle control device may select an alternative parking area from the parking area associated with the planned route of the target vehicle, or the parking area passed by the target vehicle based on the current driving route within the second time period, to Carry out parking planning for the target vehicle, so that the target vehicle can decide whether to stop for a rest in advance and where to stop for a rest according to the parking planning suggestion of the vehicle control device, so as to reduce the probability of fatigue driving of the driver of the target vehicle and improve traffic safety.
  • the vehicle control The device can regard the area 1, the area 2, and the area 3 as alternative parking areas for the target vehicle, and the first parking information can indicate the free parking spaces in the area 1, area 2, and area 3, and the target vehicle can start from the area. 1. Select an area from Area 2 and Area 3 as the target parking area, and drive to the target parking area to stop and rest, so as to avoid the fatigue of the driver of the target vehicle.
  • the first duration is an estimated duration obtained according to the state information of the target vehicle, and the first parking information is also used to indicate the first duration.
  • the vehicle control device can estimate the first time length required for the target vehicle to reach the first area according to the state information of the target vehicle, and use the first time length as the possible Referring to the entry, the first parking information can indicate the first duration for the target vehicle side to decide whether to stop in advance for a rest and where to stop for a rest based on the first duration, so as to reduce the probability of the driver of the target vehicle driving fatigued and improve traffic safety .
  • the first area includes area 1, area 2, and area 3, and the area 1, area 2, and area 3 can all satisfy the condition that the target vehicle stops and rests before the specified fatigue driving duration upper limit, if estimated
  • the first time required for the target vehicle to reach area 1 is 2 hours (hour, abbreviated as h)
  • the estimated first time required for the target vehicle to reach area 2 is 1.5h
  • the estimated time for the target vehicle to arrive at The first duration required for area 3 is 3h.
  • the first parking information may indicate that the first durations corresponding to area 1, area 2, and area 3 are 2h, 1.5h, and 3h respectively.
  • the area 3 with the required first time length can be selected as the target parking area, or when the current running time is long (for example, when 2h), select the area 1 or area 2 that requires a shorter first duration (for example, 1.5h or 2h) as the target parking area, and drive to the target parking area to stop and rest, so as to avoid the fatigue driving of the target vehicle driver.
  • the state information includes position information and speed information of the target vehicle
  • the method further includes: acquiring road condition information associated with a driving route of the target vehicle; According to the road condition information, the position information, and the speed information, estimate a first probability that the target vehicle reaches the first area at a second moment, where the second moment is the target vehicle
  • the first parking information is also used to indicate the first probability at the time when the first area is expected to arrive.
  • the vehicle control device can comprehensively consider the road condition information associated with the driving route of the target vehicle, the position information and the speed information of the target vehicle, and estimate that the target vehicle arrives at the first area on time (for example, at the second moment) and indicate the first probability in the first parking information, so that the target vehicle can decide whether to stop for a rest in advance and where to stop for a rest according to the first probability, so as to reduce the probability of fatigue driving of the target vehicle driver and improve traffic safety.
  • a larger value of the first probability indicates a greater possibility of the target vehicle reaching the first area on time
  • a smaller value of the first probability indicates a lower possibility of the target vehicle reaching the first area on time.
  • the "first probability” is only a parameter representation in the embodiment of the present application to characterize whether the target vehicle can drive to the first area on time, and is not limited by any means.
  • the "first probability” can be used.
  • a risk value replaces the "first probability”
  • the "first risk value” can be used to indicate the possibility that the target vehicle can drive to the first area on time.
  • a larger first risk value indicates a lower possibility of the target vehicle arriving at the first area on time
  • a smaller first risk value indicates a greater possibility of the target vehicle arriving at the first area on time.
  • the "probability” in the embodiments of the present application can be replaced by "risk value", hereinafter It is no longer necessary to distinguish and repeat them one by one.
  • the first area includes an alternative parking area for the first vehicle, or includes a parking area where the second vehicle stays
  • the method further includes: according to the first The status information of the vehicle and/or the status information of the second vehicle updates the usage status of the parking spaces in the first area, and the first parking information is also used to indicate the number of free parking spaces in the first area.
  • the vehicle control device when the vehicle control device performs parking planning for the target vehicle, it also needs to comprehensively consider the occupancy of other vehicles (such as the first vehicle or the second vehicle) to the free parking spaces in the first area, and update the first area in time
  • the use status of the parking spaces in order to reduce the possibility that there are no available free parking spaces when the target vehicle arrives in the first area, or the number of free parking spaces in the first area is not updated in time, so that the target vehicle does not consider driving into this area to stop and rest possibility.
  • updating the usage status of the parking spaces in the first area includes: estimating the status information of the target vehicle and the status information of the first vehicle.
  • the vehicle control device may update the usage status of the vacant parking spaces in the first area by estimating the probability that other vehicles will change the occupancy of the vacant parking spaces in the first area.
  • the method further includes: according to the second probability and/or the third probability, predicting that there will be no time when the target vehicle arrives at the first area.
  • a fourth probability of a free parking space, the first parking information is also used to indicate the fourth probability.
  • the vehicle control device can predict the probability that there will be no vacant parking spaces when the target vehicle arrives in the first area by estimating the probability that other vehicles will change the occupancy of the vacant parking spaces in the first area.
  • the fourth probability and indicate the fourth probability in the first parking information, so that the target vehicle can decide whether to stop for a rest in advance and where to stop for a rest according to the fourth probability, so as to reduce the probability of fatigue driving of the target vehicle driver and improve traffic safety sex.
  • the greater the value of the fourth probability the greater the possibility that there will be no vacant parking spaces when the target vehicle arrives at the first area
  • the smaller the value of the fourth probability the greater the possibility that there will be no parking spaces when the target vehicle arrives at the first area. The less likely it is that there will be no free parking spaces.
  • the "fourth probability” is only a parameter expression in the embodiment of the present application that indicates whether there is no free parking space when the target vehicle arrives at the first area, and is not limited in any way.
  • the "fourth risk value” may be used instead of the "fourth probability”
  • the "fourth risk value” may be used to indicate the possibility that there will be no vacant parking spaces when the target vehicle arrives at the first area.
  • a larger fourth risk value indicates a greater possibility that there will be no vacant parking spaces when the target vehicle arrives at the first area
  • a smaller fourth risk value indicates a lower possibility that the target arrives at the first area on time.
  • the method further includes: receiving a parking space allocation request from the target vehicle; in response to the parking space allocation request, according to the first parking space information and the target vehicle The type of the vehicle, assigning a first parking space to the target vehicle, the first parking space being a free parking space in the first area; sending first indication information to the management node in the first area, the first indication information used to indicate that the target vehicle occupies the first parking space; sending a parking space allocation response message to the target vehicle, where the parking space allocation response information is used to indicate the first parking space.
  • the vehicle control device can respond to the target vehicle's parking space allocation request to schedule parking space resources for the target vehicle, and instruct the target vehicle to travel to the first parking space allocated to the target vehicle.
  • the vehicle control device can reserve (or reserve, lock, etc.) an idle parking space for the target vehicle, so as to ensure that the target vehicle can drive to the first parking space before the upper limit of the specified running time, and reduce the target vehicle's inability to park. Possibility of finding a parking space and thus fatigue driving.
  • the target vehicle may specify a parking space
  • the parking space allocation request may carry the information of the parking space specified by the target vehicle, such as the identification of the parking area to which it belongs, the identification of the parking space, etc.
  • the server responds to the
  • the parking space allocation request may reserve a designated parking space for the target vehicle as the first parking space.
  • the parking space allocation request may not specify a parking space, and the server may perform unified parking space resource scheduling to allocate the first parking space for the target vehicle.
  • the embodiment of the present application does not limit the specific implementation of this.
  • the method further includes: receiving a parking space update request from the target vehicle; in response to the parking space update request, negotiating with a third vehicle to exchange the third vehicle and the allocated parking space of the target vehicle to obtain update information of the parking space; and send the update information of the parking space to the target vehicle.
  • the vehicle control device can realize the function of instant communication between the target vehicle and other vehicles (such as the third vehicle), provide a communication path for the target vehicle and other vehicles, and realize the allocated information between the target vehicle and other vehicles.
  • the change of parking spaces improves the flexibility of parking space allocation.
  • This solution can provide a new way of scheduling parking space resources for vehicle users with urgent needs (such as vehicle formation users), and at the same time, it can improve the efficiency of fleet operations and reduce operating costs.
  • the method further includes: sending a parking space exchange request to the target vehicle according to the parking space update request from the fourth vehicle, and the parking space exchange request is used to indicate that the exchange The allocated parking spaces of the target vehicle and the fourth vehicle; receiving the parking space exchange response information from the target vehicle, the parking space exchange response information is used to confirm the exchange of the allocated parking spaces of the target vehicle and the fourth vehicle.
  • the target vehicle can also be used as the dispatched party, and the vehicle control device can realize the function of instant communication between the target vehicle and other vehicles (such as the fourth vehicle), and provide Exchange routes, realize the change of allocated parking spaces between other vehicles and the target vehicle, and improve the flexibility of parking space allocation.
  • the vehicle control device can realize the function of instant communication between the target vehicle and other vehicles (such as the fourth vehicle), and provide Exchange routes, realize the change of allocated parking spaces between other vehicles and the target vehicle, and improve the flexibility of parking space allocation.
  • the embodiment of the present application provides a vehicle control method, which can be implemented by a vehicle control device associated with the target vehicle.
  • the vehicle control device can be the vehicle-mounted terminal (or called vehicle-machine , center console, in-car audio-visual entertainment devices, etc.).
  • the method may include: sending status information of the target vehicle to a server; receiving first parking information from the server, wherein the first parking information is obtained according to the status information of the target vehicle and first parking space information, the The first parking space information is used to indicate the usage status of the parking space in the first area, the first area includes the alternative parking area of the target vehicle, and the time when the target vehicle arrives at the first area is the same as the time of the first time.
  • the difference is a first duration, the first duration is less than or equal to a first threshold, the first parking information is used to indicate free parking spaces in the first area; and the first parking information is output.
  • the vehicle control device on the vehicle side can report the state information of the target vehicle to the server, so that the server can plan and dispatch the parking space resources for the target vehicle according to the state information of the target vehicle, so that the target vehicle can reach the specified parking space when driving.
  • This method can flexibly plan and dispatch parking space resources for the target vehicle, which can help reduce the probability of driver fatigue driving of the target vehicle and improve traffic safety.
  • the first area may not be limited to one area, and the free parking spaces in the first area are not limited to one parking space.
  • the first area is a parking area associated with the planned route of the target vehicle; Parking areas traveled through based on the current driving route.
  • the first area indicated by the first parking information may include the parking area associated with the planned route of the target vehicle, or the parking area that the target vehicle passes through based on the current driving route within the second duration, and the target The vehicle control device on the vehicle side can decide whether to stop in advance for a rest and where to stop for a rest according to each alternative parking area indicated by the first parking information, so as to reduce the probability of fatigue driving of the driver of the target vehicle and improve traffic safety.
  • the first duration is an estimated duration obtained according to the state information of the target vehicle, and the first parking information is also used to indicate the first duration.
  • the first parking information can indicate the first duration associated with the first area
  • the vehicle control device on the target vehicle side can decide whether the target vehicle should stop early for a rest and where to park based on the first duration Rest to reduce the probability of fatigue driving of the driver of the target vehicle and improve traffic safety.
  • the state information includes position information and speed information of the target vehicle
  • the first parking information is also used to indicate a first probability
  • the first probability is The probability that the target vehicle arrives at the first area on time at the second moment
  • the first probability is estimated based on the road condition information associated with the driving route of the target vehicle, the position information and the speed information
  • the second moment is the moment when the target vehicle is expected to arrive at the first area.
  • the first parking information can indicate the first probability
  • the vehicle control device on the target vehicle side can decide whether the target vehicle stops for a rest in advance and where to stop for a rest according to the first probability, so as to reduce the target
  • the probability of driver fatigue driving improves traffic safety.
  • the larger the value of the first probability the greater the possibility that the target vehicle will reach the first area on time at the second moment, and the smaller the value of the first probability, the greater the probability that the target vehicle will reach the first area on time at the second moment. less likely.
  • the first parking information is further used to indicate the number of free parking spaces in the first area, where the usage status of the parking spaces in the first area is based on the first The status information of the vehicle and/or the status information of the second vehicle are updated, and the first area includes an alternative parking area for the first vehicle, or includes a parking area where the second vehicle stays.
  • the first parking information can indicate the number of free parking spaces in the first area
  • the vehicle control device on the target vehicle side can combine the changes in the number of free parking spaces in the first area to decide whether the target vehicle is ahead of schedule. Stop for a rest and where to stop for a rest, so as to reduce the probability of fatigue driving of the driver of the target vehicle and improve traffic safety.
  • the usage status of the parking spaces in the first area is updated according to the status information of the first vehicle and/or the status information of the second vehicle, including: The usage state of the free parking space in the first area is updated according to the first probability and/or the second probability, wherein the first probability is estimated according to the state information of the target vehicle and the state information of the first vehicle The probability that the first vehicle arrives at a free parking space in the first area before the target vehicle, and the third probability is predicted according to the state information of the target vehicle and the state information of the second vehicle. An estimated probability that the second vehicle will leave the first area before the target vehicle travels to the first area.
  • the use status of the free parking spaces in the first area indicated by the first parking information is combined with the occupancy of other vehicles (such as the first vehicle or the second vehicle) to the parking spaces in the first area Estimated.
  • the first parking information is further used to indicate a fourth probability
  • the fourth probability is estimated according to the second probability and/or the third probability , the probability that there is no free parking space when the target vehicle arrives at the first area.
  • the first parking information may also indicate the probability that the target vehicle has no free parking spaces when it reaches the first area, so that the vehicle control device on the target vehicle side decides whether to stop in advance for a rest according to the probability And where to stop to rest, in order to reduce the probability of fatigue driving of the driver of the target vehicle and improve traffic safety.
  • the method further includes: sending a parking space allocation request to the server; receiving parking space allocation response information from the server, where the parking space allocation response information is used to indicate the first A parking space, the first parking space is a free parking space in the first area, and the first parking space is allocated by the server according to the first parking space information and the type of the target vehicle.
  • the vehicle control device on the target vehicle side can request the server to reserve (or reserve or lock) a free parking space for the target vehicle, so as to ensure that the target vehicle can drive before the specified upper limit of running time Arrive at the first parking space and stop to rest, reducing the possibility that the target vehicle cannot find a parking space and thus fatigue driving.
  • the method further includes: sending a parking space update request to the server; receiving parking space update information from the server, the parking space update information according to the parking space update request obtained by exchanging the allocated parking spaces of the third vehicle and the target vehicle through negotiation with the third vehicle.
  • the vehicle control device on the target vehicle side may request the server to replace the allocated parking space for the target vehicle, so as to improve the flexibility of parking space allocation.
  • This solution can provide a new way of scheduling parking space resources for vehicle users with urgent needs (such as vehicle formation users), and at the same time, it can improve the efficiency of fleet operations and reduce operating costs.
  • the method further includes: receiving a parking space exchange request from the server, where the parking space exchange request is used to indicate to exchange the allocated vehicles of the target vehicle and the fourth vehicle. a parking space; sending a parking space exchange response message to the server, where the parking space exchange response message is used to confirm the exchange of the allocated parking spaces of the target vehicle and the fourth vehicle.
  • the vehicle control device on the target vehicle side can exchange the allocated parking spaces with other vehicles (such as the fourth vehicle) according to the parking space exchange request from the server, so as to improve the allocation of parking spaces. flexibility.
  • the embodiment of the present application provides a vehicle control device, including: an acquisition unit, configured to acquire status information of the target vehicle, the status information including the running time; a processing unit, configured to determine the first An area, wherein the first area includes an alternative parking area for the target vehicle, the difference between the moment when the target vehicle arrives at the first area and the first moment is a first duration, and the first duration less than or equal to the first threshold; the acquisition unit is also used to acquire the first parking space information, the first parking space information is used to indicate the use state of the parking space in the first area; the processing unit is also used to The state information and the first parking space information determine the first parking information, the first parking information is used to indicate the free parking space in the first area; the communication unit is used to send the first parking space to the target vehicle information.
  • the first area is a parking area associated with the planned path of the target vehicle; Parking areas traveled through based on the current driving route.
  • the first duration is an estimated duration obtained according to the state information of the target vehicle, and the first parking information is also used to indicate the first duration.
  • the state information includes position information and speed information of the target vehicle
  • the acquiring unit is configured to: acquire road condition information associated with a driving route of the target vehicle
  • the processing unit is used for: according to the road condition information, the position information and the speed information, estimate the first probability that the target vehicle arrives at the first area on time at the second moment, wherein the The second moment is the moment when the target vehicle is expected to arrive at the first area, and the first parking information is also used to indicate the first probability.
  • the first area includes an alternative parking area for the first vehicle, or includes a parking area where the second vehicle stays
  • the processing unit is configured to:
  • the status information of a vehicle and/or the status information of the second vehicle updates the usage status of the parking spaces in the first area
  • the first parking information is also used to indicate the number of free parking spaces in the first area.
  • the processing unit is configured to: estimate that the first vehicle is ahead of the The second probability that the target vehicle reaches the free parking space in the first area; according to the state information of the target vehicle and the state information of the second vehicle, it is estimated that the second vehicle arrives at the vacant parking space when the target vehicle travels A third probability of leaving the first area before the first area; according to the second probability and/or the third probability, updating the usage status of the vacant parking spaces in the first area.
  • the processing unit is configured to: according to the second probability and/or the third probability, estimate when the target vehicle arrives at the first area A fourth probability of no free parking space, the first parking information is also used to indicate the fourth probability.
  • the communication unit is configured to: receive a parking space allocation request from the target vehicle; the second processing unit is configured to: the processing unit responds to the According to the parking space allocation request, according to the first parking space information and the type of the target vehicle, allocate a first parking space for the target vehicle, the first parking space is a free parking space in the first area; the communication unit uses In: sending first indication information to the management node in the first area, where the first indication information is used to indicate that the target vehicle occupies the first parking space; sending parking space allocation response information to the target vehicle, the The parking space allocation response information is used to indicate the first parking space.
  • the communication unit is configured to: receive a parking space update request from the target vehicle; the processing unit is configured to communicate with a third vehicle in response to the parking space update request. Negotiating and exchanging the allocated parking spaces of the third vehicle and the target vehicle to obtain updating information of the parking spaces; the communication unit is configured to send the updating information of the parking spaces to the target vehicle.
  • the communication unit is configured to send a parking space exchange request to the target vehicle according to the parking space update request from the fourth vehicle, and the parking space exchange request is used to instruct the exchange The allocated parking spaces of the target vehicle and the fourth vehicle; receiving the parking space exchange response information from the target vehicle, the parking space exchange response information is used to confirm the exchange of the allocated parking spaces of the target vehicle and the fourth vehicle.
  • the embodiment of the present application provides a vehicle control device, including: a communication unit, configured to send status information of a target vehicle to a server; and receive first parking information from the server, wherein the first parking The information is obtained according to the state information of the target vehicle and the first parking space information, the first parking space information is used to indicate the usage state of the parking space in the first area, the first area includes an alternative parking area for the target vehicle, and the The difference between the time when the target vehicle arrives at the first area and the first time is a first duration, the first duration is less than or equal to a first threshold, and the first parking information is used to indicate the free parking spaces in the first area ; An output unit, configured to output the first parking information.
  • the first area is a parking area associated with the planned route of the target vehicle; Parking areas traveled through based on the current driving route.
  • the first duration is an estimated duration obtained according to the state information of the target vehicle, and the first parking information is also used to indicate the first duration.
  • the state information includes position information and speed information of the target vehicle
  • the first parking information is also used to indicate a first probability
  • the first probability is The probability that the target vehicle arrives at the first area on time at the second moment
  • the first probability is estimated based on the road condition information associated with the driving route of the target vehicle, the position information and the speed information
  • the second moment is the moment when the target vehicle is expected to arrive at the first area.
  • the first parking information is further used to indicate the number of free parking spaces in the first area, where the usage status of the parking spaces in the first area is based on the first The status information of the vehicle and/or the status information of the second vehicle are updated, and the first area includes an alternative parking area for the first vehicle, or includes a parking area where the second vehicle stays.
  • the usage status of the parking spaces in the first area is updated according to the status information of the first vehicle and/or the status information of the second vehicle, including: The usage state of the free parking space in the first area is updated according to the first probability and/or the second probability, wherein the first probability is estimated according to the state information of the target vehicle and the state information of the first vehicle The probability that the first vehicle arrives at a free parking space in the first area before the target vehicle, and the third probability is predicted according to the state information of the target vehicle and the state information of the second vehicle. An estimated probability that the second vehicle will leave the first area before the target vehicle travels to the first area.
  • the first parking information is further used to indicate a fourth probability
  • the fourth probability is estimated according to the second probability and/or the third probability , the probability that there is no free parking space when the target vehicle arrives at the first area.
  • the communication unit is further configured to: send a parking space allocation request to the server; receive parking space allocation response information from the server, and the parking space allocation response information is used for Indicating a first parking space, the first parking space is a free parking space in the first area, and the first parking space is allocated by the server according to the first parking space information and the type of the target vehicle.
  • the communication unit is further configured to: send a parking space update request to the server; receive parking space update information from the server, the parking space update information is based on the parking space
  • the update request is obtained by exchanging the allocated parking spaces of the third vehicle and the target vehicle through negotiation with the third vehicle.
  • the communication unit is further configured to: receive a parking space exchange request from the server, where the parking space exchange request is used to indicate the exchange of the target vehicle and the fourth vehicle.
  • the parking space has been allocated; sending a parking space exchange response message to the server, where the parking space exchange response message is used to confirm the exchange of the allocated parking spaces of the target vehicle and the fourth vehicle.
  • the embodiment of the present application provides a vehicle control device, including: a processor and a memory; the memory stores a program; the processor is used to execute the program stored in the memory, so that the device realizes the above-mentioned
  • a vehicle control device including: a processor and a memory; the memory stores a program; the processor is used to execute the program stored in the memory, so that the device realizes the above-mentioned
  • an embodiment of the present application provides a vehicle control device, including: a processor and a memory; the memory stores a program; the processor is used to execute the program stored in the memory, so that the device realizes the above-mentioned
  • a vehicle control device including: a processor and a memory; the memory stores a program; the processor is used to execute the program stored in the memory, so that the device realizes the above-mentioned
  • the embodiment of the present application provides a vehicle control system, including: the vehicle control device according to the above third aspect and any possible implementation manner of the third aspect, and, the above fourth aspect and any of the fourth aspects A vehicle control device described in a possible implementation manner.
  • the vehicle control system may further include: a smart device associated with the vehicle and/or an in-vehicle application running on the vehicle.
  • the embodiment of the present application provides a computer-readable storage medium, the computer-readable medium stores program code, and when the program code is run on the computer, the computer executes the above-mentioned first aspect and the first The method described in any possible implementation manner of the second aspect; or, when the program code is run on a computer, the computer is made to execute the method described in the second aspect and any possible implementation manner of the second aspect.
  • the embodiment of the present application provides a computer program product, which, when the computer program product is run on a computer, causes the computer to execute the method described in the above-mentioned first aspect and any possible implementation manner of the first aspect , or execute the second aspect and the method described in any possible implementation manner of the second aspect.
  • an embodiment of the present application provides a chip system, the chip system includes a processor, configured to call a computer program or a computer instruction stored in a memory, so that the processor performs the first aspect and any of the first aspect.
  • the processor is coupled to the memory through an interface.
  • the chip system further includes a memory, where computer programs or computer instructions are stored.
  • the embodiment of the present application provides a processor, the processor is used to call a computer program or a computer instruction stored in the memory, so that the processor executes the above first aspect and any possible implementation manner of the first aspect The method described above, or perform the method described in the second aspect and any possible implementation manner of the second aspect.
  • Figure 1a shows a schematic diagram of an application scenario applicable to an embodiment of the present application
  • Figure 1b shows a system architecture diagram applicable to the embodiment of the present application
  • FIG. 2 shows a schematic flow chart of a vehicle control method in an embodiment of the present application
  • FIG. 3 shows a schematic flow chart of a vehicle control method in an embodiment of the present application
  • Fig. 4 shows a schematic diagram of outputting the first parking information on the user interface
  • FIG. 5 shows a schematic flow chart of a vehicle control method in an embodiment of the present application
  • FIG. 6 shows a schematic flow chart of a vehicle control method according to an embodiment of the present application
  • FIG. 7 shows a schematic diagram of a vehicle control device according to an embodiment of the present application.
  • FIG. 8 shows a schematic diagram of a vehicle control device according to an embodiment of the present application.
  • Fig. 9 shows a schematic diagram of a vehicle control device according to an embodiment of the present application.
  • Parking spaces generally refer to parking spaces, which can be used for long-term or temporary parking of vehicles.
  • Common parking stalls are divided into two classes, and a class is the parking stalls located in a special parking area (such as a parking lot or an expressway service area, etc.), and a class is the parking stalls positioned on the side of the road.
  • the parking spaces on some roadsides are time-sensitive, and the parking spaces can be used for parking during certain periods of time, and can be used for passing through during certain periods of time.
  • the relevant laws and regulations stipulate that when the vehicle is in the manual driving mode, the driver can continuously drive the vehicle for an upper limit (for example, 4 hours) or stop and rest for a lower limit (for example, 20 minutes). The driver will be punished next time.
  • the vehicle when the vehicle is in the automatic driving mode, it also needs to stop when the vehicle has been running continuously for a predetermined period of time, so as to avoid failures caused by overheating of vehicle components. Therefore, in order to ensure traffic safety, it is very necessary for the vehicle to drive into the vacant parking space in the parking area before the continuous running time reaches the upper limit specified in the relevant laws and regulations to stop and rest.
  • the vehicle cannot stop casually due to scene restrictions. If the vehicle cannot reach the vacant parking space in the parking area after the continuous operation reaches the upper limit of the specified operating time, the driver will not be able to stop for a rest, which will inevitably lead to fatigue driving of the vehicle driver, posing potential traffic safety hazards.
  • production scenarios such as ports, mines, and closed industrial parks, or in autonomous driving scenarios, there will also be scheduling of parking space resources for work vehicles or autonomous vehicles in the fleet, such as vehicle maintenance, energy supplementation, etc. Otherwise, Operation efficiency or travel efficiency may be affected. Therefore, how to plan parking for vehicles is still an important problem that needs to be solved urgently.
  • the embodiment of the present application proposes a vehicle control method, device and system, which plan and schedule parking space resources for the target vehicle according to the status information of the target vehicle, so that the target vehicle can drive to the first threshold before the target vehicle reaches the specified threshold. Park and rest in the vacant parking space in the first area.
  • This method can flexibly schedule parking space resources for the target vehicle, which can help reduce the probability of fatigue driving of the target vehicle driver and improve traffic safety.
  • this method can arrange parking spaces for troubleshooting, energy supplementation, parking and waiting for the working vehicles in the fleet, so as to eliminate the influence of various interference factors that affect the orderly operation of the working vehicles in time , help the fleet to operate in an orderly manner, help to improve the overall operating efficiency of the fleet, and greatly reduce the cost of manual operations.
  • this method can realize parking space management in an autonomous driving scenario.
  • the first area may not be limited to one area
  • the vacant parking space in the first area is not limited to one parking space
  • the purpose of scheduling the parking space resources in the first area for the target vehicle is not limited to be for the vehicle driver to stop and rest , for example, it can also be used for vehicle maintenance, supplementary energy (such as dispatching charging piles, gas stations, or stores, etc.) and the like.
  • this solution may be applied in a highway scene, and the first area may be a high-speed service area that the target vehicle can travel to.
  • the vehicle needs to keep driving at a high speed within a predetermined speed range, and the vehicle cannot stop at will. It can only drive to a service area to stop and rest when passing through a certain service area.
  • the setting of high-speed service areas is usually deployed according to the actual route of the expressway. It cannot guarantee that the vehicle can find a service area where it can stay when the continuous operation reaches the upper limit of the specified operating time. It is inevitable that the driver of the vehicle will be fatigued.
  • the target vehicle can drive to the first area in advance to stop and rest before the driving reaches the threshold, thereby reducing the probability of driver fatigue driving and improving traffic safety sex.
  • the method and the device are based on the same technical conception. Since the principle of solving the problem of the method and the device is similar, the implementation of the device and the method can be referred to each other, and the repetition will not be repeated.
  • the vehicle control scheme of the embodiment of the present application will be described in detail by taking the expressway scene and the purpose of traffic safety as examples. It should be understood that the vehicle control scheme is also applicable to the ports, mines, and closed industries mentioned above. Production scenarios such as industrial parks or autonomous driving scenarios, etc.
  • the vehicle control scheme in the embodiment of the present application can be applied to the Internet of Vehicles, such as vehicle-to-everything (V2X), long-term evolution-vehicle (LTE-V), vehicle - Vehicles (vehicle to vehicle, V2V), etc.
  • V2X vehicle-to-everything
  • LTE-V long-term evolution-vehicle
  • V2V vehicle - Vehicles
  • the other devices include but are not limited to: vehicle-mounted terminals, vehicle-mounted controllers, vehicle-mounted modules, vehicle-mounted modules, vehicle-mounted components, vehicle-mounted chips, vehicle-mounted units, vehicle-mounted radars, or vehicle-mounted cameras.
  • a vehicle-mounted module implements the vehicle control method provided by the present application.
  • the control scheme in the embodiment of the present application can also be used in other intelligent terminals with mobile control functions other than vehicles, or be set in other intelligent terminals with mobile control functions other than vehicles, or set in the Among the components of the smart terminal.
  • the smart terminal may be a smart transportation device, a smart home device, a robot, and the like. For example, it includes but is not limited to smart terminals or controllers, chips, radars or cameras and other sensors in the smart terminals, and other components.
  • At least one refers to one or more, and “multiple” refers to two or more.
  • And/or describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the contextual objects are an “or” relationship.
  • At least one of the following” or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • At least one item (piece) of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.
  • ordinal numerals such as “first” and “second” mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the priority or importance of multiple objects.
  • first parking space, the second parking space, and the third parking space are only for distinguishing different parking spaces, rather than representing the differences in priority or importance of these three parking spaces.
  • Fig. 1a shows a schematic diagram of an application scenario to which the embodiment of the present application is applicable.
  • the vehicle 100 and the server 200 may be included, and the vehicle 100 and the server 200 may communicate through a network.
  • Computing platform 150 may include at least one processor 151 that may execute instructions 153 stored in a computer-readable medium such as memory 152 .
  • computing platform 150 may also be a plurality of computing devices that control individual components or subsystems of vehicle 100 in a distributed manner.
  • the processor 151 may be any conventional processor, such as a central processing unit (central processing unit, CPU).
  • the processor 151 may also include, for example, an image processor (graphic process unit, GPU), a field programmable gate array (field programmable gate array, FPGA), a system on chip (system on chip, SOC), an ASIC ( application specific integrated circuit, ASIC) or their combination.
  • memory 152 may also store data such as road maps, route information, the vehicle's position, direction, speed, and other such vehicle data, among other information. Such information may be used by vehicle 100 and computing platform 150 during operation of vehicle 100 in autonomous, semi-autonomous, and/or manual modes.
  • the above-mentioned vehicle 100 may be a car, truck, motorcycle, bus, boat, plane, helicopter, lawn mower, recreational vehicle, playground vehicle, construction equipment, tram, golf cart, train, etc.
  • the embodiments of the present application do not make special limitations.
  • the application scenario shown in FIG. 1a may further include a server 200 .
  • the server 200 can issue the first parking information to the vehicle 100
  • the first parking information can indicate the parking planning suggestion provided for the vehicle 100
  • the vehicle 100 can decide whether to stop in advance for a rest according to the first parking information And where to stop to rest, in order to reduce the probability of fatigue driving of the driver of the target vehicle and improve traffic safety.
  • the server 200 may also be implemented by a virtual machine.
  • Fig. 1b shows a system architecture diagram applicable to the embodiment of the present application.
  • the system may include: at least one vehicle 100, a server 200, and a management node 300 of the parking area. It should be understood that this is only an illustration of the devices that may be included in the system without any limitation.
  • the system may also include an upper layer application 130 (such as an application running on the vehicle terminal of the vehicle 100), Roadside unit (roadside unit, RSU), etc.
  • RSU Roadside unit
  • the number of various devices that can be included in the system is not limited to one.
  • any vehicle 100 in the at least one vehicle 100 can interact with the server 200, and send its own status information and/or parking space resource scheduling requests (such as parking space allocation requests, parking space update requests, etc.) to the server 200 ), for the server 200 to plan and schedule parking space resources for the vehicle 100 based on the state information and/or the parking space resource scheduling request.
  • the status information may include but not limited to at least one of the vehicle's position information, speed, heading angle, continuous running time (for example, including the moment when the vehicle is started, the continuous running time of the vehicle, etc.), and the planned route.
  • the management node 300 of the parking area is a node that manages the parking space resources of the parking area.
  • the management node 300 can be an independent device, or it can be a chip or a component in the device, or it can be software, and it can be deployed on the cloud, or on the roadside device, or on a remote server, or on a local server.
  • the product form and deployment method of the management node are not limited.
  • the management node 300 may be a part of the server 200, and is configured to implement a management function of parking space resources in a parking area.
  • the dotted line in FIG. 1 b shows the management node 300 only means that the management node 300 is an optional node.
  • the management nodes 300 corresponding to different parking areas can communicate with the server 200 to exchange the usage status information of the parking spaces in the parking areas they manage.
  • the server 200 can be used as a vehicle control device in the cloud, and can be used to provide any vehicle 100 with the service/function of scheduling parking space resources.
  • the server 200 can obtain the status information of any vehicle 100, and obtain the use status information of the parking space in the alternative parking area from the management node 300 of the alternative parking area associated with the vehicle 100, so as to park the vehicle 100
  • Space resource planning to provide a parking rest planning proposal for the vehicle 100, or reserve a free parking space for the vehicle 100 according to the needs of the vehicle 100, so as to schedule parking space resources for the vehicle 100.
  • the server 200 can also provide instant messaging connections between different vehicles, and can be used to provide services/functions for exchanging parking space resources between different vehicles.
  • the parking space resource scheduling service can be implemented by corresponding units/modules in the server 200, for example, the server 200 can include an acquisition module 201, a processing module 202, and a communication module 203, and the acquisition module 201 can use to obtain the state information of the target vehicle.
  • the processing module 202 can be used to perform parking space resource scheduling for the target vehicle according to the state information of the target vehicle. For example, according to the status information of the target vehicle, it is determined the alternative parking area that the target vehicle can reach within a specified time, and according to the usage status of the parking space in the alternative parking area, the parking plan is carried out for the target vehicle, and the first parking information is formulated.
  • a parking information can be used to indicate the parking suggestion planned by the server 200 for the target vehicle.
  • the communication module 203 can send the first parking information to the target vehicle.
  • the communication module 203 may receive a parking space resource scheduling request (such as a parking space allocation request, a parking space update request, etc.) from the target vehicle, and the processing module 202 may execute a parking space resource scheduling process in response to the parking space resource scheduling request, such as responding
  • the parking space allocation request allocates a free first parking space to the target vehicle, or exchanges allocated parking spaces with other vehicles (eg, the third vehicle) in response to the parking space update request.
  • the communication module 203 can also return the parking space resource scheduling result to the target vehicle.
  • the acquisition module 201, the processing module 202 and the communication module 203 mentioned here may be different modules, or two modules, or one module, or some module functions may also be deployed in upper-layer applications or other
  • the embodiment of the present application does not limit each service provided by the server 200 and the specific implementation manner of each service.
  • various modules in the server 200 can communicate with each other and perform information transmission, so as to ensure the realization of relevant functions of the vehicle control device.
  • the processing module 202 can inquire about the state information of the target vehicle or the usage status of the parking space in the alternative parking area from the acquisition module 201, and based on the queried information, perform parking planning or parking space resource scheduling for the target vehicle to obtain the corresponding parking space. Planning information or parking resource scheduling results.
  • the communication module 203 can query the parking planning information or the parking space resource scheduling result of the target vehicle from the acquisition module, and send the parking planning information or the parking space resource scheduling result to the target vehicle.
  • the connection between the acquisition module 201, the processing module 202, and the communication module 203 only indicates that these modules communicate with each other, and does not limit the communication methods and information transmission between different modules. directions and the specific information transmitted.
  • the server 200 flexibly plans and schedules parking space resources for at least one vehicle 100, so that the vehicle can drive to the first area before the vehicle reaches the specified threshold. Free parking spaces to park and rest.
  • This method can flexibly schedule parking space resources for vehicles, which can help reduce the probability of driver fatigue driving and improve traffic safety.
  • the server 200 may be presented in various product forms.
  • the server may be a single server, or may refer to a server cluster composed of multiple servers.
  • the server can be a local server.
  • the server may specifically be a cloud server, and may also be called a cloud, a cloud, a cloud server, a cloud controller, or an Internet of Vehicles server.
  • a cloud server is a general term for devices or devices with data processing capabilities, such as physical devices such as hosts or processors, virtual devices such as virtual machines or containers, and chips or integrated circuits.
  • the server 200 may also be a roadside device, or a chip or a component in the roadside device.
  • the vehicle 100 may be any vehicle, including but not limited to a production vehicle, a general-type vehicle, a special-type vehicle, etc., and may be a passenger car, a truck, or the like.
  • the vehicle 100 can register with the server 200 so as to obtain the above-mentioned various services provided by the server 200 .
  • the above-mentioned services provided by the server 200 for the vehicle 100 can be presented in various forms on the vehicle 100 side, such as voice services, interface display services, navigation services, automatic driving services, query services, voice broadcast services, etc., the embodiment of the present application None of this is limited.
  • the vehicle 100 can also report related information to the server 200 , such as vehicle status information, so that the server 200 can plan and dispatch parking spaces for multiple vehicles in a unified manner based on the status information reported by the vehicle 100 .
  • the vehicle 100 may be a vehicle in a fully manual driving mode, or a vehicle in a fully automatic driving mode, or the vehicle 100 may be configured as a vehicle in a partially automatic driving mode.
  • a vehicle in a partially automatic driving mode for example, means that the vehicle 100 can control itself while in the automatic driving mode, and can determine the current state of the vehicle and the surrounding environment through human operation, and determine at least one other condition in the surrounding environment. possible behavior of the vehicle, and control the vehicle 100 based on the determined information.
  • the vehicle 100 may be set to operate without human interaction.
  • the at least one vehicle may include: vehicles of different vehicle types, or vehicles of different operation types, or vehicles of different task priorities, or vehicles in different driving modes
  • the system may specifically include multiple different vehicles, which is not limited in this embodiment of the present application.
  • vehicle 100 may also be placed or installed with vehicle-mounted equipment for information processing and information interaction, such as a vehicle-mounted telematics processor (telematics box, T-Box), the T-Box can Communicate with RSUs.
  • vehicle-mounted equipment such as a vehicle-mounted telematics processor (telematics box, T-Box)
  • T-Box vehicle-mounted telematics processor
  • RSUs remote system
  • various terminal devices are located on the vehicle (for example, placed in the vehicle or installed in the vehicle), they can all be considered as on-board devices, and the on-board devices can also be considered as on-board units (OBU).
  • OBU on-board units
  • the server 200 may interface upwardly with upper-layer applications.
  • the upper layer application may be an application program or software.
  • the upper layer application can be installed and run on the user equipment (which can be a cloud device or a terminal device or the vehicle 100), and the driver can configure the server 200 through the upper layer application, including but not limited to authorizing the function of the server 200 , access rights, issuing tasks, or control instructions, etc.
  • the server 200 can perform unified parking space resource scheduling for related vehicles and parking areas according to the authorization results, tasks, or control instructions obtained from upper-layer applications, and other information that can be obtained by itself, so as to reduce the traffic between different vehicles. Conflicts, while improving traffic safety.
  • the above-mentioned user equipment may be any suitable electronic equipment, including but not limited to smart equipment associated with the vehicle 100, such as smart phones, tablet computers, or wearable equipment, etc., and may also be a vehicle-mounted terminal of the vehicle 100, etc. .
  • the user equipment may have a user interface (user interface, UI), which may be used to display first parking information, including but not limited to the number of free parking spaces in the first area indicated by the first parking information, the number of free parking spaces in the first area, At least one of the first probability, the fourth probability, or the first duration.
  • UI user interface
  • the user interface can also be a touch screen, and the driver can realize the aforementioned related authorization configuration or other operations by touching the user interface; or, the user equipment can also be associated with other input devices, such as a microphone, etc., through these input device, the driver can configure, deliver tasks (such as navigation tasks) to the server 200 via an upper-layer application, and details will not be repeated here.
  • the driver can realize the aforementioned related authorization configuration or other operations by touching the user interface; or, the user equipment can also be associated with other input devices, such as a microphone, etc., through these input device, the driver can configure, deliver tasks (such as navigation tasks) to the server 200 via an upper-layer application, and details will not be repeated here.
  • the server 200 can plan and schedule parking space resources for the vehicle 100, so that the vehicle 100 can reach the specified threshold before , can drive to the free parking space in the first area to stop and rest.
  • This method can flexibly plan and dispatch parking space resources for the target vehicle, which can help reduce the probability of driver fatigue driving of the target vehicle and improve traffic safety.
  • the specific implementation of the vehicle control method in the embodiment of the present application will be described in detail below in conjunction with the method flow chart.
  • Fig. 2 shows a schematic flowchart of a vehicle control method according to an embodiment of the present application.
  • the method can be realized cooperatively by the server 200 shown in FIG. 1a and FIG. 1b and the target vehicle, wherein the target vehicle can be the vehicle 100 in FIG. 1a or any vehicle 100 in FIG. 1b.
  • the embodiment of the present application may also represent the other vehicles as the first vehicle, the second vehicle, and the third vehicle in different method steps.
  • the vehicle or the fourth vehicle, etc., the first vehicle, the second vehicle, the third vehicle or the fourth vehicle, etc. may cooperate with the server 200 and the target vehicle to implement the vehicle control method of the embodiment of the present application.
  • the vehicle control method may include the following steps:
  • S210 The server acquires state information of the target vehicle.
  • the target vehicle is a vehicle that needs to perform parking space resource planning and scheduling.
  • the target vehicle can be any vehicle that starts running and is driving (for example, the speed is greater than 0 Km/h).
  • the server may obtain from the target vehicle information required for planning and scheduling parking space resources for the target vehicle, such as status information of the target vehicle.
  • the state information of the target vehicle includes at least one of the following information: position information, heading angle information, speed information, continuous running time (for example, including the time when the vehicle starts running, the running time of the vehicle, etc.), and the planned path.
  • the location information of the target vehicle can be used to locate the current location of the target vehicle, and can also be used to determine the road and/or lane where the target vehicle is located, so as to determine the current driving route of the target vehicle.
  • the heading angle of the target vehicle can be used to determine the driving direction of the target vehicle, and the heading angle information can also be used together with the position information to determine the driving direction of the target vehicle on the current road and/or lane (it can be understood that if the vehicle is located at For a one-way (only allowing a single direction of travel) road or lane, the state information of the vehicle may not include the heading angle information.
  • the continuous running time of the target vehicle can be used to evaluate the remaining available running time of the target vehicle.
  • the speed information of the target vehicle can be used for predicting Estimate the time required for the target vehicle to travel to the alternative parking area, the probability of arriving at the alternative parking area on time at the second moment, the probability that other vehicles are limited to the target vehicle to reach the same alternative parking area, and stay in the alternative parking area The probability of other vehicles driving away before the target vehicle arrives at the alternative parking area, etc.
  • the planned route of the target vehicle can be used to indicate the planned route of the target vehicle, and the planned route can include, for example, the first road where the current position of the target vehicle is located , the planned road in the downstream direction of the first road (that is, the planned road to be driven), and/or the passed road in the upstream direction of the first road.
  • the way for the server to obtain the status information of the target vehicle may include but not limited to: the target vehicle actively reports the status information, the server requests the target vehicle to obtain the status information, and the server communicates with a third party (for example, via association with the target vehicle). smart device, via RSU, etc.) to obtain the status information of the target vehicle.
  • the server may acquire the state information of the target vehicle in real time or periodically, which is not limited in this embodiment of the present application.
  • the arrow from the target vehicle to the server shown in FIG. 2 only indicates that the state information is the state information of the target vehicle, and does not limit the specific implementation manner in which the server obtains the state information of the target vehicle.
  • the target vehicle may be configured with at least one mode, and the at least one mode may be associated with an information interaction mode between the target vehicle and the server.
  • an information interaction mode between the target vehicle and the server.
  • active mode otherwise called request mode
  • automatic mode response mode
  • the target vehicle can actively send its own state information to the server when it needs the server to plan and schedule parking space resources for it, so as to request the server to provide parking space for the target vehicle.
  • Resource planning and scheduling After obtaining user authorization, in the automatic mode, the target vehicle can send its own state information to the server in real time or periodically according to the information reporting mechanism associated with the automatic mode, so that the server can actively provide
  • the target vehicle performs parking space resource planning and scheduling.
  • the server can send a parking space resource planning and scheduling request to the target vehicle, and the target vehicle can feed back its own status information or other response information to the server according to the parking space resource planning and scheduling request from the server.
  • S220 The server determines the first area according to the status information of the target vehicle.
  • the first area includes an alternative parking area for the target vehicle, wherein the difference between the moment when the target vehicle arrives at the first area and the first moment is a first duration, and the first duration is less than or equal to the first duration a threshold.
  • the first position is used to represent the position of the target vehicle at the first moment, and the first moment and the first position may have different interpretations.
  • the first moment may be the moment when the target vehicle starts running
  • the first location may be the location where the target vehicle starts running.
  • the first moment is the real-time moment when the target vehicle is driving, for example, the moment when status information is reported
  • the first location is the location of the target vehicle at the first moment.
  • the continuous running time of the vehicle from the moment of start-up operation shall not exceed a predetermined threshold (for example, represented as the second threshold), otherwise the driver of the vehicle will drive with fatigue, regardless of the driver on the vehicle or the components of the vehicle Errors may occur, such as driver fatigue and inattention, unable to concentrate on driving, vehicle components overheating and malfunctioning, posing potential traffic safety hazards. Therefore, in the above first understanding, the first threshold is equal to the second threshold, and in the above second understanding, the first threshold is smaller than the second threshold.
  • a predetermined threshold for example, represented as the second threshold
  • the start-up time of the target vehicle is 8:00am
  • the upper limit (i.e. the second threshold) of the vehicle driver’s fatigue driving time is 4h
  • the estimated first duration is 4h, indicating that the target The vehicle needs to arrive at the free parking space in the first area before 12:00am to stop and rest
  • the estimated first time duration is 2h (less than 4h), which means that the target vehicle needs to arrive before 12:00am
  • the first duration may be an estimated duration obtained according to the state information of the target vehicle.
  • the state information used for estimating the first duration may include but not limited to the starting running time or running duration of the target vehicle, which will be described in detail below in conjunction with the embodiments.
  • the state information of the target vehicle may include the first moment or other time parameters associated with the first moment, and the implementation of the first moment or other time parameters in the embodiment of the present application does not Do limited.
  • the other time parameter may be the running time corresponding to the target vehicle at the first moment.
  • the running time corresponding to the target vehicle is 2h.
  • the state information of the target vehicle may contain various types of information.
  • the server may determine the first area in at least one way according to the state information of the target vehicle. The at least one manner is described below with an example.
  • the state information of the target vehicle includes a planned route of the target vehicle, and the first area may be a parking area associated with the planned route of the target vehicle.
  • the server can obtain the information of the parking area associated with the planned route according to the planned route of the target vehicle, and determine the candidate parking areas of the target vehicle according to other state information of the target vehicle and the information of the parking area.
  • the parking area is the first area.
  • the planned path of the target vehicle may include, for example, the first position of the target vehicle at the first moment, the destination position, and the planned route to travel from the first position to the destination position.
  • the target vehicle The state information of can also include the first moment.
  • the server may determine the information of at least one parking area near the road that the target vehicle may pass by when driving along the planned route, such as the identification of the parking area, the location information of the parking area, etc. according to the planned route.
  • the server may determine an alternative parking area of the target vehicle in the at least one parking area as the first area according to the first position, speed, planned route of the target vehicle, and location information of the at least one parking area.
  • the candidate parking area of the target vehicle needs to meet the following first condition: the difference between the time when the target vehicle arrives at the parking area (for example, denoted as the second time) and the first time can be less than or equal to the first threshold . That is to say, if a certain parking area in the at least one parking area satisfies the above-mentioned first condition, the parking area can be used as an alternative parking area for the target vehicle; Alternative parking areas (only relative to the first moment). There may be multiple candidate parking areas in the at least one parking area, and the server may use some or all of the multiple candidate parking areas as the first area.
  • Example 2 The target vehicle does not provide a planned path, and the state information of the target vehicle includes at least one of the target vehicle's position information, heading angle information, speed information, start-up running time, or elapsed running time.
  • the first area can be The parking area that the target vehicle passes through based on the current driving route within the second time period.
  • the second duration is less than or equal to the first duration.
  • the server may, for example, determine the first road on which the target vehicle is located according to the position information and heading angle information of the target vehicle, and determine that the target vehicle is based on the current All parking areas that the driving route may pass through.
  • the road topological relationship information may be used to indicate, for example, roads associated with the first road, including a second road located in the upstream direction of the first road and associated with the first road, and/or, located in the first A third road downstream of the road and associated with the first road.
  • the road topological relationship information may be stored in the server, or may be obtained from other devices (such as management nodes corresponding to traffic departments). The embodiment of the present application does not limit the way of obtaining the road topological relationship information.
  • the road topological relationship information may also include relevant attribute information of the above-mentioned first road, second road, and third road, such as road identification, road length information, and the like.
  • the server can determine the candidate parking area of the target vehicle in these parking areas as the first area.
  • the candidate parking area of the target vehicle needs to meet the following second condition: the difference between the time when the target vehicle arrives at the parking area (for example, denoted as the third time) and the first time can be less than or equal to the first threshold . That is to say, if one of the parking areas that the target vehicle may pass through based on the current driving route satisfies the above-mentioned second condition, the parking area can be used as an alternative parking area for the target vehicle; if not, Then the parking area cannot be used as an alternative parking area for the target vehicle (only relative to the first moment). There may be multiple candidate parking areas in all parking areas that the target vehicle may pass through based on the current driving route, and the server may use some or all of the multiple candidate parking areas as the first area.
  • the first condition and the second condition may represent the same condition, and the second moment and the third moment may have the same meaning, which is not limited in this embodiment of the present application.
  • S230 The server obtains the first parking space information.
  • the first parking space information is used to indicate the usage state of the parking space in the first area, for example, the parking space is in any state of free state, use state, or reservation state.
  • the idle state indicates that the parking space is not used or reserved by other vehicles, that is, neither other parking spaces stay in the parking space nor other vehicles reserve to use the parking space.
  • the usage status indicates that the parking space is used by other vehicles, that is, there is a vehicle staying in the parking space.
  • the reservation status indicates that the parking space is reserved for use by other vehicles, or reserved for other vehicles, allocated for other vehicles, reserved/locked by other vehicles, etc. It should be understood that the reserved parking space cannot be used or reserved by another vehicle before it is unlocked. Therefore, in a possible implementation, the reserved status of the parking space can be equivalently regarded as a part of the usage status of the parking space. kind.
  • the first parking space information may be represented by any one of at least one representation manner.
  • the first parking space information may include, for example, the total number of parking spaces in the first area and the number of parking spaces in the above-mentioned various states.
  • the total number of parking spaces in the first area is 100, among which, 30 parking spaces are in idle state, 50 parking spaces are in use state, and 20 parking spaces are in reservation state, the first parking space information can be expressed as: total-100; free- 30; use - 50; make an appointment - 20.
  • the first parking space information may include, for example, identifications of all parking spaces in the first area and the status of each parking space.
  • the identification of the N parking spaces in the first area is numbered 1-N (N is an integer greater than or equal to 1), and the first parking space information can be expressed as: 1-used, 2-used, 3-free, 4-reserved, 5 Free, 6-Appointment..., 10-Used.
  • the first parking space information may only include the status of free parking spaces in the first area, for example, the total number of parking spaces in the first area is 100, of which 30 parking spaces are in an idle state, and the first The information of a parking space can be expressed as: free-30. It can be understood that this is only an illustration of the representation of the first parking space information without any limitation. In other embodiments, the first parking space information may be represented in other ways, which will not be repeated here.
  • the server may, for example, directly obtain the first parking space information from the management node in the first area, or, for example, the server may also obtain the first parking space information according to the usage of the parking space obtained from the management node in the first area,
  • the embodiment of the present application does not limit the manner of obtaining the first parking space information.
  • the parking space usage obtained by the server from the management node in the first area may include at least one of the following situations:
  • Scenario A The parking space usage at the current moment
  • Scenario B The situation where the vacant parking space is reserved by other vehicles at the current moment
  • Scenario C Whether the vehicle in the currently used parking space is in a short-term parking state, and the time when it may leave;
  • the server can comprehensively consider the above situation A-case C, and estimate the possibility of changes in the usage status of the parking spaces in the first area, combined with the actual usage status of the parking spaces in the first area and the possibility of changes in the usage status of each parking space
  • the information of the first parking space is permanently determined.
  • the first parking space information may be used to indicate the actual usage status of the parking spaces in the first area, or it may be the estimated usage status of the parking spaces in the first area in the future, which is not discussed in this embodiment of the present application. Do limited.
  • S240 The server determines first parking information according to the state information of the target vehicle and the first parking space information.
  • the server sends the first parking information to the target vehicle.
  • the target vehicle receives first parking information from the server.
  • the first parking information may include a parking suggestion obtained by the server from planning and scheduling parking space resources for the target vehicle, and the first parking information may be used to indicate vacant parking spaces in the first area.
  • the target vehicle After the target vehicle receives the first parking information, it can decide whether to drive to a free parking space in the first area and stop for a rest according to the first parking information, so as to reduce the probability of fatigue driving of the driver of the target vehicle.
  • the server may comprehensively weigh various factors that may affect the target vehicle's arrival at the free parking space in the first area on time, and formulate the first parking information. For ease of understanding, various factors that may affect whether the target vehicle can arrive at the free parking space in the first area on time at the second moment will be illustrated below.
  • Road condition information associated with the driving route of the target vehicle including the planned route mentioned in Example 1 above and the current driving route of the vehicle mentioned in Example 2).
  • road congestion affects the time required for the target vehicle to travel to the first area, and stimulates competition conflicts among multiple vehicles including the target vehicle for free parking spaces in the same parking area.
  • road congestion will affect the time for the target vehicle to reach the first area. The more serious the road congestion, the longer it will take for the target vehicle to travel from the current location to the first area, and the risk of being able to reach the first area within the first time period bigger.
  • the more vehicles on the road the greater the possibility that these vehicles will drive to the same parking area to rest, which may cause the risk that there will be no remaining available parking spaces in the first area when the target vehicle arrives at the first area Also bigger.
  • the server can obtain the road condition information associated with the driving route of the target vehicle, and estimate the moment when the target vehicle arrives at the first area (expressed as second moment), or estimate the first duration (that is, the difference between the second moment and the first moment), or estimate the first probability that the target vehicle will arrive at the first area on time at the second moment.
  • the first parking information may also be used to indicate at least one of the second moment, the first duration, or the first probability.
  • first probability is only a parameter representation of whether the target vehicle can drive to the first area on time at the second moment in the embodiment of the present application, and it is not limited.
  • first risk value may be used instead of “first probability”
  • first risk value may be used to indicate the possibility that the target vehicle can drive to the first area on time.
  • a larger first risk value means that the target vehicle is less likely to reach the first area on time at the second time
  • a smaller first risk value means that the target vehicle is more likely to reach the first area on time at the second time .
  • the first vehicle is a vehicle other than the target vehicle
  • the first area may include an alternative parking area for the first vehicle
  • the first vehicle and the target vehicle also have the free space to enter the first area. Parking space and possibility of parking for rest.
  • the traffic congestion of the road where they are located, the driving speed, etc. if the first vehicle arrives at the first area before the target vehicle, the vacant parking space in the first area will If the number of free parking spaces is reduced by one, the risk of no parking space will increase when the target vehicle arrives at the first area. It may be that there is no free parking space in the first area because the number of free parking spaces is reduced by one, thus causing the target vehicle to be unable to park in the first area. parking.
  • the server when implementing S240, the server also needs to update the usage state of the parking space in the first area according to the state information of the first vehicle, and determine the first parking information for the target vehicle according to the updated result, and the first parking information can be used to indicate the first The number of free parking spaces in the area.
  • the server may estimate, according to the state information of the target vehicle and the state information of the first vehicle, the time at which the first vehicle arrives at a free parking space in the first area before the target vehicle. a second probability, and update the usage status of the free parking spaces in the first area based on the second probability. For example, the server may reduce the number of free parking spaces in the first area by one when the value of the second probability is greater than or equal to the first value (for example, 0.7 or other values), and when the value of the second probability is less than the first value, Keep the number of free parking spaces in the first zone constant.
  • the server may estimate, according to the state information of the target vehicle and the state information of the first vehicle, the time at which the first vehicle arrives at a free parking space in the first area before the target vehicle. a second probability, and update the usage status of the free parking spaces in the first area based on the second probability. For example, the server may reduce the number of free parking spaces in the first area by one when the value of the second probability is greater than or equal to the first value
  • the second vehicle is a vehicle other than the target vehicle
  • the first area may include a parking area where the second vehicle is currently staying.
  • the second vehicle may leave the first area before the target vehicle travels to the first area, so that the number of free parking spaces in the first area will be increased by one, and the target vehicle will drive The risk of no parking space will be reduced when arriving at the first area, and it may also cause a certain parking area that the target vehicle will pass through to change from the original no vacant parking space to the vacant parking space due to the addition of one to the number of free parking spaces, which can be used as The first zone of the target vehicle.
  • the server when implementing S240, the server also needs to update the usage state of the parking space in the first area according to the state information of the second vehicle, and determine the first parking information for the target vehicle according to the updated result, and the first parking information can be used to indicate the first The number of free parking spaces in the area.
  • the server may estimate the third probability that the second vehicle will leave the first area before the target vehicle arrives at the first area according to the state information of the target vehicle and the state information of the second vehicle, and based on The third probability updates the usage status of the free parking spaces in the first area. For example, the server may set the number of free parking spaces in the first area to increase by one when the value of the third probability is greater than or equal to the second value (such as 0.7 or other values), and when the value of the third probability is less than the second value, Keep the number of free parking spaces in the first zone constant.
  • the server may estimate the third probability that the second vehicle will leave the first area before the target vehicle arrives at the first area according to the state information of the target vehicle and the state information of the second vehicle, and based on The third probability updates the usage status of the free parking spaces in the first area. For example, the server may set the number of free parking spaces in the first area to increase by one when the value of the third probability is greater than or equal to the second value (such as 0.7 or other values), and when the value
  • the server may base on the above three factors At least one of them is integrated to perform parking space resource planning and scheduling for the target vehicle. For example, the server may update the usage status of the vacant parking spaces in the first area according to the above-mentioned second probability and/or the above-mentioned third probability. Alternatively, the server may estimate a fourth probability that there are no free parking spaces when the target vehicle arrives in the first area according to the second probability and/or the third probability, and the first parking information may also be used to indicate the fourth probability. In other embodiments, the server may also comprehensively measure other factors, which will not be repeated here.
  • the above-mentioned step of updating the usage status of the parking spaces in the first area according to the status information of the first vehicle and/or the status information of the second vehicle may also be performed in S230, that is, the first parking space information It is estimated based on the parking space usage obtained from the management node in the first area.
  • the server may directly use the estimated first parking space information to plan and schedule parking space resources for the target vehicle.
  • the execution timing of the step of the usage state of the parking space in an area is not limited.
  • the server performs parking space resource planning and scheduling for the target vehicle according to the status information of the target vehicle and the first parking space information to obtain the first parking information, which can be used to indicate at least one of the following information : the first duration, the first probability, the number of free parking spaces in the first area, or the fourth probability.
  • the target vehicle may output the first parking information.
  • the driver can decide whether to stop for a rest in advance and which alternative parking area to park for a rest according to at least one item of information indicated by the first parking information.
  • the target vehicle can select an area from the area 1, area 2, and area 3 as the target parking area, and drive to The target parking area is parked for a rest.
  • the target vehicle can make a parking decision based on the first duration of each area.
  • the priority order of area 1, area 2 or area 3 is as follows: area 2 > area 1 > area 3 ) to select the area with the highest priority as the target parking area, and drive to the target parking area to stop and rest, so as to avoid the fatigue driving of the driver of the target vehicle.
  • the first parking information indicates that the first area includes area 1, area 2, and area 3, the target vehicle travels to area 1, area 2 and area 3 on time (according to the second moment when the target vehicle is expected to arrive at each first area).
  • the first probabilities of areas 2, 3, and 3 are 0.6, 0.9, and 0.8 respectively, and the target vehicle can also make a parking decision based on the first probabilities corresponding to each area. For example, select the area with the highest probability from Area 1, Area 2 or Area 3 as the target parking area, and drive to the target parking area to stop and have a rest, so as to avoid the driver of the target vehicle from driving fatigued.
  • the target vehicle can also be combined with The first time length corresponding to area 1 and area 2 determines the target parking area, for example, the area with a smaller value of the first time length in area 1 and area 2 is selected as the target parking area.
  • the target vehicle can also make a parking decision based on the fourth probability corresponding to each area, for example, select the area with the lowest probability of the first four from area 1, area 2 or area 3 as the target parking area, and drive to the target parking area Stop and rest in the area to avoid fatigue driving of the driver of the target vehicle.
  • the target vehicle can also be combined with The first time length corresponding to area 1 and area 2 determines the target parking area, for example, the area with a smaller value of the first time length in area 1 and area 2 is selected as the target parking area.
  • the target vehicle can comprehensively make a parking decision according to the first parking information, so that the target vehicle can drive to a free parking space in the first area to stop and rest before the driving reaches the specified threshold.
  • This method can flexibly plan and dispatch parking space resources for the target vehicle, which can help reduce the probability of driver fatigue driving of the target vehicle and improve traffic safety.
  • the target vehicle outputs the first parking information by displaying the first parking information through a man-machine interface, or outputting the first parking information by voice, or by man-machine
  • the interactive interface and voice output the first parking information, and the embodiment of the present application does not limit the output mode of the first parking information.
  • the server may be used to uniformly manage the parking spaces in the parking area.
  • the target vehicle may also actively request the server to allocate a parking space for the target vehicle.
  • the target vehicle may send a parking space allocation request to the server, and the parking space allocation request may carry status information of the target vehicle, such as the first location of the target vehicle, the current running time, and the like.
  • the server may allocate the first parking space to the target vehicle according to the first parking space information and the type of the target vehicle, and the first parking space is a vacant parking space in the first area.
  • the server may send a parking space allocation response message to the target vehicle, and the parking space allocation response message may be used to indicate the first parking space.
  • the server may also send first indication information to the management node in the first area, where the first indication information is used to indicate that the target vehicle occupies the first parking space.
  • the type of the target vehicle may refer to vehicle type, user level, scheduling priority, etc.
  • the server may provide different types of services for the vehicle, for example, parking planning
  • the suggestion service the service of actively requesting the allocation of parking spaces, the instant messaging service between vehicles, etc. will be described in detail below, and will not be repeated here.
  • the management node in the first area can reserve (or call reservation, lock, etc.) the first parking space for the target vehicle, and the first parking space is occupied, and other vehicles other than the target vehicle will not be able to occupy or use the first parking space.
  • One parking space Subsequently, after the target vehicle cancels occupying the first parking space or the target vehicle uses the first parking space and drives away, the state of the first parking space can be changed to an idle state, and the server can schedule parking space resources for other vehicles, Allocate this first parking space for other vehicles.
  • the server can also allocate and reserve parking spaces for other vehicles, for example, allocate the second parking space for the third vehicle, or allocate the third parking space for the fourth vehicle.
  • the server can also allocate and reserve parking spaces for other vehicles, for example, allocate the second parking space for the third vehicle, or allocate the third parking space for the fourth vehicle.
  • the server can also realize the function of instant communication between the target vehicle and other vehicles (such as the third vehicle), or between other vehicles (such as the fourth vehicle) and the target vehicle.
  • the vehicle and other vehicles (including the third vehicle or the fourth vehicle) provide communication channels to realize the change of the allocated parking spaces between the target vehicle and other vehicles, and improve the flexibility of parking space allocation.
  • the target vehicle may send a parking space update request to the server.
  • the server may receive the parking space update request from the target vehicle, and in response to the parking space update request, negotiate with the third vehicle to exchange the allocated parking spaces of the third vehicle and the target vehicle.
  • the server may obtain the parking space update information according to the parking space exchange response information from the third vehicle, and send the parking space update information to the target vehicle. If the third vehicle refuses to exchange the allocated parking spaces of the target vehicle and the third vehicle, the server may negotiate with the fifth vehicle to exchange the allocated parking spaces of the fifth vehicle and the target vehicle.
  • the fourth vehicle may send a parking space update request to the server.
  • the server may receive the parking space update request from the fourth vehicle, and send a parking space exchange request to the target vehicle according to the parking space update request, and the parking space exchange request may be used to instruct to exchange the allocated parking spaces of the target vehicle and the fourth vehicle.
  • the target vehicle may send a parking space exchange response message to the server.
  • the parking space exchange response information can be used to confirm the allocated parking spaces of the exchange target vehicle and the fourth vehicle, and the server can obtain the parking space update information according to the parking space exchange response information, and send the parking space to the fourth vehicle Update information.
  • the parking space exchange response message can be used to refuse to exchange the allocated parking spaces of the target vehicle and the fourth vehicle. Further, the server can select the sixth vehicle and negotiate with the sixth vehicle to exchange the fourth vehicle and the fourth vehicle. Allocated parking spaces for six vehicles.
  • the type of the target vehicle can be interpreted in various ways, for example, it can indicate the vehicle type, user level, scheduling priority, etc. of the target vehicle.
  • the server can provide different types of services for vehicles according to different user levels:
  • the server can provide parking planning suggestion service, service of specifying reserved parking space, instant communication service between vehicles, etc. for vehicles.
  • the server can set a corresponding user level or scheduling priority for the vehicle according to different vehicle types. For example, for private passenger vehicles, the server can set a low level or low dispatch priority for the vehicle, and for special operation vehicles (such as ambulances, fire trucks, etc.), the server can set a high level or high dispatch priority for the vehicle, For a vehicle in the vehicle formation, the server may set a medium level or a medium priority for the vehicle.
  • the server allocates parking spaces for multiple vehicles, it can consider the current running time of each vehicle, the distance from the alternative parking area, the road condition information associated with the driving route, the weather conditions, and the type of each vehicle, etc. Vehicles allocate parking spaces to accommodate as many vehicles as possible.
  • the server can not only plan the parking space resource for the vehicle, reduce the risk of the vehicle driver's continuous driving overtime, but also provide the parking space designation/allocation service for the vehicle, and provide different types of parking space reservation services for the vehicle , increase the probability of available parking spaces when the vehicle is parked, reduce the risk that the vehicle cannot find an available parking space within the specified continuous operation time, and improve the flexibility of parking space resource planning and scheduling.
  • FIG. 3 is a schematic flowchart of a vehicle control method according to an embodiment of the present application.
  • the server is used to provide the target vehicle with a planning suggestion service for parking space resources.
  • each step mentioned below is only an example of the steps that the method may include and is not limiting. During specific implementation, some optional steps may not be performed, and some steps may be executed in an exchanged order. The present application The embodiment does not limit this.
  • the method may include the following steps:
  • S301 The target vehicle reports the navigation planning route or destination information to the server.
  • S301 is an optional step.
  • the server can provide the target vehicle with better parking planning suggestions according to the navigation planning route.
  • the server can provide parking planning suggestions for the target vehicle according to all the alternative parking areas that the vehicle may pass through based on the current driving route.
  • the server can provide parking planning suggestions for the target vehicle according to all the alternative parking areas that the vehicle may pass through based on the current driving route.
  • the dotted arrow in Fig. 3 indicates that this step is an optional step.
  • the target vehicle sets a target mode, for example, the target mode may be an active mode or an automatic mode.
  • the active mode means that when the target vehicle actively requests a parking planning suggestion, the server may issue the first parking information to the target vehicle in response to the request from the target vehicle.
  • the automatic mode means that there is no need for the target active vehicle to request parking planning suggestions.
  • the server can automatically send the first parking information to the target vehicle, which can be sent periodically or when the first parking information is updated, for example, when the first area changes, When the usage state of the parking space in the first area changes, etc.
  • S303 The target vehicle reports the starting and running time.
  • the driver when the target vehicle starts running, the driver can report the starting running time of the target vehicle to the server by itself through the vehicle-machine application through the smart device/vehicle terminal associated with the target vehicle.
  • the driver/target vehicle can authorize the server or vehicle-machine application, so that the server or vehicle-machine application can monitor the starting authority of the target vehicle, and start timing and reporting when the target vehicle starts running.
  • the target vehicle may also report other state information of itself to the server, such as position information, heading angle, speed information, elapsed running time, and the like.
  • S304 The target vehicle sends a parking planning suggestion request (such as a parking space allocation request) to the server.
  • a parking planning suggestion request such as a parking space allocation request
  • this S304 is an optional step, which is only performed when the active mode is set in S302.
  • the dotted arrow in Fig. 3 indicates that this step is an optional step.
  • S305 The server queries the usage status information of the parking spaces in the corresponding parking areas from the management nodes of the multiple parking areas (for example, area 1 and area 2).
  • the usage state information of the parking spaces in the parking area may include at least one of the situations mentioned above, for example:
  • Scenario A The parking space usage at the current moment
  • Scenario B The situation where the vacant parking space is reserved by other vehicles at the current moment
  • Scenario C Whether the vehicle in the currently used parking space is in a short-term parking state, and the time when it may leave.
  • the server queries the road condition information associated with the driving route of the target vehicle. For example, it can be queried from the management node of the transportation department, or can be obtained from the navigation application, and this embodiment of the present application does not limit the implementation.
  • S307 The server performs parking space resource planning for the target vehicle according to the status information of the target vehicle and the inquired usage status information of the parking spaces in the parking area, and obtains first parking information.
  • the server when implementing S307, the server needs to comprehensively consider multiple information, such as:
  • the current remaining running time of the target vehicle is the difference between the second threshold and the current running time of the target vehicle
  • the second moment when the target vehicle is expected to arrive in the first area can be estimated based on the distance, speed, etc. from the current location (for example, the first location) to the first area.
  • Road condition information associated with the driving route of the target vehicle which can be used to estimate the first probability that the target vehicle will arrive at the first area on time at the second moment.
  • the number of remaining available parking spaces in the first area that is, the real-time usage of the parking spaces in the service area, is a real value.
  • the target vehicle when the target vehicle arrives at the first area, there is no risk of available parking spaces in the first area, which is expressed as the fourth probability.
  • This risk mainly considers other vehicles (such as the first vehicle) between the target vehicle and the first area. ) may drive into the vacant parking space in the first area before the target vehicle, so that the number of available parking spaces in the first area decreases, and the vehicle (such as the second vehicle) that has currently stayed in the first area may also arrive at the first area when the target vehicle arrives.
  • An area was previously driven away from the first area, causing the number of available parking spaces in the first area to increase.
  • the server sends the first parking information to the target vehicle, and the first parking information may be used to indicate a parking planning proposal prepared by the server for the target vehicle.
  • the target vehicle may receive the first parking information from the server, and output the first parking information.
  • the target vehicle may display the first parking information on the man-machine interface, as shown in FIG. 4, the first parking information may be used to indicate the first duration, the number of free parking spaces in the first area, the first probability, Fourth probability etc.
  • the driver of the target vehicle can decide whether to stop for a rest in advance and where to stop for a rest according to the first parking information, so as to reduce the probability of fatigue driving of the driver of the target vehicle and improve traffic safety.
  • the server can flexibly provide parking suggestions for the vehicle/vehicle driver based on the continuous running time of the vehicle, and avoid driving as much as possible. Driver fatigue driving, improve traffic safety.
  • FIG. 5 is a schematic flowchart of a vehicle control method according to an embodiment of the present application.
  • the server is used to provide the parking space resource allocation service for the target vehicle, wherein, the server can perform unified management for the parking spaces in multiple parking areas, and according to the parking space allocation request of the target vehicle in the multiple vehicles, provide the parking space resource allocation service for the target vehicle Reserve/allocate parking space resources to ensure that the target vehicle has an available parking space, reducing the risk that the target vehicle cannot find an available parking space within the specified continuous operation time.
  • the method may include the following steps:
  • S501 A target vehicle among multiple vehicles sends state information to a server.
  • S502 The target vehicle sends a parking space allocation request to the server.
  • S503 The server queries the usage status information of the parking spaces in the corresponding parking areas from the management nodes of the multiple parking areas.
  • S504 The server acquires road condition information associated with the driving route of the target vehicle.
  • S505 The server allocates the first parking space to the target vehicle according to the status information of the target vehicle, the usage status of the parking spaces in multiple parking areas, the road condition information associated with the driving route of the target vehicle, and the type of the target vehicle.
  • S506 The server sends first indication information to the management node in the first area, where the first indication information is used to indicate that the target vehicle occupies the first parking space.
  • S507 The server sends parking space allocation response information to the target vehicle, where the parking space allocation response information is used to indicate the first parking space.
  • FIG. 6 is a schematic flowchart of a vehicle control method according to an embodiment of the present application.
  • the server is used to provide instant messaging services between vehicles for the target vehicle, so that different vehicles can communicate with each other to realize the change of allocated parking space resources.
  • the various steps mentioned below are only examples of possible steps included in the method and are not limiting. During specific implementation, some optional steps may not be performed, and the implementation order of some steps may be exchanged. The present application The embodiment does not limit this.
  • the method may include the following steps:
  • S601 The target vehicle sends a parking space update request to the server, where the parking space update request is used to instruct replacement of the allocated parking space.
  • the parking space update request may optionally also carry the identification of the exchange object (eg, the identification of the designated vehicle or the identification of the parking space allocated to the designated vehicle).
  • the server determines a target exchange object of the target vehicle, denoted as a third vehicle, in response to the parking space update request of the target vehicle.
  • the server may randomly assign a potential exchange object to the target vehicle as the target exchange object according to the allocated parking spaces of multiple vehicles. If the target vehicle designates an exchange object in S601, the server may use the designated exchange object as the target exchange object of the target vehicle.
  • S603 The server negotiates with the third vehicle to exchange the allocated parking spaces of the third vehicle and the target vehicle, and obtains parking space update information.
  • the server may send a parking space exchange request to the target exchange object (that is, the third vehicle), and the parking space exchange request may be used to instruct to exchange the allocated parking spaces of the target vehicle and the third vehicle.
  • the parking space exchange request may carry the vehicle identification of the target vehicle and information about the allocated parking spaces of the target vehicle.
  • the third vehicle may send parking space exchange response information to the server. If the third vehicle agrees to exchange, the parking space exchange response information can be used to confirm the allocated parking spaces of the exchange target vehicle and the third vehicle, and the server can obtain the parking space update information according to the parking space exchange response information, and send the parking space update information to the target vehicle .
  • the parking space exchange response information can be used to refuse to exchange the allocated parking spaces between the target vehicle and the third vehicle.
  • the server can select other vehicles (such as the fifth vehicle), and use the same method to communicate with the third vehicle.
  • the fifth vehicle negotiates to exchange the allocated parking spaces of the target vehicle and the fifth vehicle.
  • S604 The server sends parking space update information to the target vehicle.
  • the target vehicle can also be the exchanged party of the fourth vehicle, and the server can use the same method to negotiate with the target vehicle to exchange the fourth vehicle and the The allocated parking space of the target vehicle realizes the change of the allocated parking space between the fourth vehicle and the target vehicle.
  • the server can use the same method to negotiate with the target vehicle to exchange the fourth vehicle and the The allocated parking space of the target vehicle realizes the change of the allocated parking space between the fourth vehicle and the target vehicle.
  • the server can provide the parking space between different vehicles.
  • Instant messaging function if the communication parties reach an agreement to exchange parking spaces, the server can exchange their reserved parking spaces.
  • This embodiment can be used in vehicle formations (non-following formations) scenarios to realize that parking space resources can be shared under the same fleet. It can be understood that this embodiment can also be applied to the fleet operator, and the fleet operator manages the reserved parking spaces in a unified manner, rather than the two vehicles in the fleet negotiating and exchanging the allocated parking spaces, and details will not be repeated here.
  • the embodiment of the present application also provides a vehicle control device, configured to execute the method executed by the server or the target vehicle in the above method embodiment.
  • a vehicle control device configured to execute the method executed by the server or the target vehicle in the above method embodiment.
  • the vehicle control device 700 may include: an acquisition unit 701, configured to acquire status information of the target vehicle, the status information including the running time; a processing unit 702, configured to information to determine a first area, wherein the first area includes an alternative parking area for the target vehicle, and the difference between the time when the target vehicle arrives at the first area and the first time is a first duration, the The first duration is less than or equal to the first threshold; the acquiring unit 701 is also configured to acquire first parking space information, and the first parking space information is used to indicate the usage status of the parking spaces in the first area; the processing unit 702 also uses Determine the first parking information according to the state information of the target vehicle and the first parking space information, the first parking information is used to indicate the free parking spaces in the first area; the communication unit 703 is configured to send the The target vehicle sends the first parking information.
  • an acquisition unit 701 configured to acquire status information of the target vehicle, the status information including the running time
  • a processing unit 702 configured to information to determine a first area, wherein the first area includes an alternative
  • the embodiment of the present application also provides a vehicle control device, which is used to implement the method executed by the vehicle in the above method embodiment.
  • a vehicle control device which is used to implement the method executed by the vehicle in the above method embodiment.
  • the device 800 may include: a communication unit 801, configured to send the status information of the target vehicle to the server; receive the first parking information from the server, wherein the first parking information is based on the target The state information of the vehicle and the first parking space information are obtained, the first parking space information is used to indicate the usage status of the parking space in the first area, the first area includes an alternative parking area for the target vehicle, and the target vehicle arrives at the The difference between the time in the first area and the first time is a first duration, the first duration is less than or equal to a first threshold, and the first parking information is used to indicate the free parking spaces in the first area; the output unit 802, Used to output the first parking information.
  • a communication unit 801 configured to send the status information of the target vehicle to the server; receive the first parking information from the server, wherein the first parking information is based on the target The state information of the vehicle and the first parking space information are obtained, the first parking space information is used to indicate the usage status of the parking space in the first area, the first area includes an alternative parking area
  • each functional unit in the embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
  • the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the essence of the technical solution of this application or the part that contributes to the related technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium.
  • a computer device which may be a personal computer, a server, or a network device, etc.
  • a processor processor
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
  • the apparatus 900 shown in FIG. 9 includes at least one processor 910 and a memory 920 , and optionally, may further include a communication interface 930 .
  • the memory 920 can be a volatile memory, such as a random access memory; the memory can also be a nonvolatile memory, such as a read-only memory, a flash memory, a hard disk (hard disk drive, HDD) or a solid-state drive (solid-state drive, SSD), or memory 920 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.
  • the memory 920 may be a combination of the above-mentioned memories.
  • connection medium between the processor 910 and the memory 920 is not limited in this embodiment of the present application.
  • a communication interface 930 is also included, and the processor 910 can perform data transmission through the communication interface 930 when communicating with other devices.
  • the processor 910 in FIG. 9 can invoke the computer stored in the memory 920 to execute instructions, so that the device 900 can execute the method executed by the server in any of the above method embodiments, or So that the device 900 can execute the method executed by the vehicle in any one of the above method embodiments.
  • the embodiment of the present application also relates to a system-on-a-chip, where the system-on-a-chip includes a processor, configured to call a computer program or a computer instruction stored in a memory, so that the processor executes the above method embodiment.
  • the processor is coupled to the memory through an interface.
  • the chip system further includes a memory, where computer programs or computer instructions are stored.
  • the embodiments of the present application also relate to a computer-readable storage medium, where the computer-readable medium stores program codes, and when the program codes are run on a computer, the computer is made to execute the above method embodiments.
  • the embodiment of the present application also relates to a computer program product, which causes the computer to execute the above method embodiment when the computer program product is run on a computer.
  • the embodiment of the present application also relates to a processor, the processor is used to call the computer program or computer instruction stored in the memory, so that the processor executes the above method embodiment.
  • the processor mentioned in any of the above-mentioned places can be a general-purpose central processing unit, a microprocessor, a specific ASIC, or one or more devices used to control the driving scene recognition method in the embodiment shown in FIG. 5 above. integrated circuit for program execution.
  • the memory mentioned in any of the above can be read-only memory (read-only memory, ROM) or other types of static storage devices that can store static information and instructions, random access memory (random access memory, RAM), etc.
  • embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

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Abstract

一种车辆控制方法、装置及系统，涉及自动驾驶技术领域。该方法包括：获取目标车辆的状态信息（S210）；根据所述状态信息确定第一区域（S220），其中，所述第一区域包括所述目标车辆的备选停车区域，所述目标车辆到达所述第一区域的时刻与第一时刻的差值为第一时长，所述第一时长小于等于第一阈值；获取第一车位（S230），所述第一车位信息用于指示所述第一区域的车位的使用状态；根据所述目标车辆的状态信息和所述第一车位信息，确定第一停车信息（S240），所述第一停车信息用于指示所述第一区域的空闲车位；向所述目标车辆发送所述第一停车信息（S250）。该方法可实现灵活地对车辆进行停车位资源的调度，有助于降低车辆驾驶员疲劳行驶的概率，提升交通安全性。

Description

一种车辆控制方法、装置及系统
相关申请的交叉引用
本申请要求在2021年10月26日提交中华人民共和国知识产权局、申请号为202111249567.9、申请名称为“一种车辆控制方法、装置及系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动驾驶技术领域，特别涉及一种车辆控制方法、装置及系统。
背景技术
目前，车辆已经成为人们出行、工作等必不可少的交通工具。为保障交通安全，相关法规中规定，车辆处于人工驾驶模式下，驾驶员连续驾驶车辆的时长上限(例如4小时)或停车休息的时长下限(例如20分钟)，在驾驶员违反该规定的情况下将会对驾驶员进行惩罚。同样地，车辆处于自动驾驶模式下时，也需要在车辆连续运行达到预定时长时停车，以避免车辆部件过热引发故障。
然而在一些场景中，例如高速公路场景，由于场景限制导致车辆无法随便停车。若车辆在连续运行达到规定的运行时长上限时仍无法行驶到停车位，将无法停车，不可避免地出现车辆驾驶员疲劳行驶的情况，存在交通安全隐患。因此，如何为车辆进行停车规划，仍为亟需解决的重要问题。
发明内容
本申请实施例提供了一种车辆控制方法、装置及系统，通过灵活地为车辆调度停车位资源，有助于降低车辆驾驶员疲劳行驶的概率，提升交通安全性。
第一方面，本申请实施例提供了一种车辆控制方法，该方法可应用于车辆控制装置，该车辆控制装置可以是独立设备，也可以是设备中的芯片或部件，还可以是软件，可以部署在云端、或路侧设备、或远端服务器、或本地服务器等，本申请对该车辆控制装置的产品形态以及部署方式不做限定。
该方法可以包括：获取目标车辆的状态信息；根据所述状态信息确定第一区域，其中，所述第一区域包括所述目标车辆的备选停车区域，所述目标车辆到达所述第一区域的时刻与第一时刻的差值为第一时长，所述第一时长小于等于第一阈值；获取第一车位信息，所述第一车位信息用于指示所述第一区域的车位的使用状态；根据所述目标车辆的状态信息和所述第一车位信息，确定第一停车信息，所述第一停车信息用于指示所述第一区域的空闲车位；向所述目标车辆发送所述第一停车信息。
通过上述方法，车辆控制装置可以根据目标车辆的状态信息为该目标车辆进行停车位资源的规划和调度，以便该目标车辆在行驶达到规定的阈值之前，能够行驶到第一区域的空闲车位停车休息。该方法可通过灵活地为目标车辆进行停车位资源的规划和调度，有助于降低目标车辆驾驶员疲劳行驶的概率，提升交通安全性。需要说明的是，该第一区域可 以不限于一个区域，第一区域的空闲车位也不限于一个车位，为目标车辆调度第一区域的停车位资源的目的也不限于是为了车辆驾驶员停车休息，例如还可以是用于车辆维修、补充能源(例如调度充电桩、加油站、或商店等)等。
示例地，该方案可以应用于高速公路场景中，第一区域可以为目标车辆能够行驶到达的高速服务区。一般在高速公路场景中，车辆需要在预定的速度区间内保持高速行驶，车辆不可随便停车，只能在途经某个服务区时，行驶到该服务区停车休息。然而高速服务区的设置通常按照高速公路的实际线路分区部署，无法保障车辆在连续运行达到规定的运行时长上限时即时找到可以停留的服务区，不可避免地出现车辆驾驶员疲劳行驶的情况。通过本申请实施例的车辆控制方案，通过为目标车辆进行停车规划，使得目标车辆可以在行驶达到阈值之前，提前行驶到达第一区域停留休息，从而降低车辆驾驶员疲劳行驶的概率，提升交通安全性。
示例地，该方案可以应用于港口、矿山、封闭的产业园区等生产场景中，车辆控制装置作为中控台，可以在相应的场地内对待作业的车队中的车辆进行统一管理和调度，例如为作业车辆安排用于故障检修的车位、用于补充能源的车位、用于停车等待的车位等，以便及时排除影响作业车辆有序作业的各种干扰因素的影响，帮助车队有序作业，有助于提高车队的整体作业效率，并极大地降低人工操作成本。
示例地，该方案还可以应用于自动驾驶场景下的车位管理，通过灵活地为自动驾驶车辆调度停车位资源，有助于辅助自动驾驶车辆安全行驶，提升交通安全性。其中，对于自动驾驶车辆而言，车辆的运行时长上限可以不同于驾驶员驾驶车辆的时长上限，且自动驾驶车辆的运行时长上限也可以不是固定阈值，本申请实施例对此不做限定。
可以理解的是，本申请实施例中，对于同时支持人工驾驶模式和自动驾驶模式的车辆，会在车辆启动运行时刻开始累计车辆的运行时长，若该累计运行时长内既包含车辆处于人工驾驶模式下的运行时长、又包括车辆处于自动驾驶模式下的运行时长，在根据车辆的累计运行时长为车辆规划和调度停车位资源时，还可以在该累计运行时长内减去车辆处于自动驾驶模式下的运行时长，并可以基于计算得到的人工驾驶累计时长为该车辆重新规划和调度停车位资源。在一种可选的实现方式中，对于同时支持人工驾驶模式和自动驾驶模式的车辆，车辆控制装置还可以为该车辆制定自动驾驶策略，以便驾驶员可以基于该自动驾驶策略控制车辆在允许的路段自动驾驶，以便该车辆可以在人工驾驶达到规定的运行时长上限之前或之后行驶到达第一区域，实现车辆的调度目的。
可以理解的是，上述示例场景仅是对本申请实施例应用场景的举例而非任何限定，本申请实施例同样适用于其它不便于车辆随时停车休息的场景中，例如车辆马拉松拉力赛、或车队作业等。在具体实施时，本申请实施例的车辆控制方法还可以应用于其它涉及车辆资源调度的场景中，待调度的资源也可以替换为除空闲车位以外的其它资源，在此不再赘述。
结合第一方面，在一种可能的实现方式中，所述第一区域可以为与所述目标车辆的规划路径关联的停车区域；或者，所述第一区域可以为所述目标车辆在第二时长内基于当前行车路线行驶所途经的停车区域。
通过上述方法，车辆控制装置可以在与所述目标车辆的规划路径关联的停车区域，或者所述目标车辆在第二时长内基于当前行车路线行驶所途经的停车区域中选择备选停车区域，来为所述目标车辆进行停车规划，以便目标车辆能够根据车辆控制装置的停车规划 建议决策是否提前停车休息以及去哪里停车休息，以减少目标车辆驾驶员疲劳行驶的概率，提升交通安全性。
示例地，若该第一区域包括区域1、区域2、和区域3，且该区域1、区域2、和区域3均可以满足目标车辆在规定的疲劳行驶时长上限之前停车休息的条件，车辆控制装置可以将该区域1、区域2、和区域3均作为目标车辆的备选停车区域，该第一停车信息可以指示该区域1、区域2、和区域3的空闲车位，目标车辆可以从该区域1、区域2、和区域3中选择一个区域作为目标停车区域，并驶向该目标停车区域停车休息，以避免目标车辆驾驶员疲劳行驶。
结合第一方面，在一种可能的实现方式中，所述第一时长为根据所述目标车辆的状态信息得到的预估时长，所述第一停车信息还用于指示所述第一时长。
通过上述方法，车辆控制装置可以根据目标车辆的状态信息来预估目标车辆到达第一区域所需的第一时长，并在为所述目标车辆进行停车意见规划时，以该第一时长作为可参考条目，第一停车信息可以指示该第一时长，以供目标车辆侧结合该第一时长决策是否提前停车休息以及去哪里停车休息，以减少目标车辆驾驶员疲劳行驶的概率，提升交通安全性。
示例地，该第一区域包括区域1、区域2、和区域3，且该区域1、区域2、和区域3均可以满足目标车辆在规定的疲劳行驶时长上限之前停车休息的条件，若预估的该目标车辆到达区域1所需的第一时长为2小时(hour，简写为h)，预估的该目标车辆到达区域2所需的第一时长为1.5h，预估的该目标车辆到达区域3所需的第一时长为3h，第一停车信息可以指示区域1、区域2、和区域3对应的第一时长分别为2h、1.5h、3h，目标车辆侧在结合各个区域的第一时长进行决策时，例如可以在当前已运行时长较短(例如0.5h)时，选择所需第一时长较大(例如3h)的区域3作为目标停车区域，或在当前已运行时长较长(例如2h)时，选择所需第一时长较小(例如1.5h或2h)的区域1或区域2作为目标停车区域，并驶向该目标停车区域停车休息，以避免目标车辆驾驶员疲劳行驶。
结合第一方面，在一种可能的实现方式中，所述状态信息包括所述目标车辆的位置信息和速度信息，所述方法还包括：获取与所述目标车辆的行车路线关联的路况信息；根据所述路况信息、所述位置信息和所述速度信息，预估所述目标车辆在第二时刻行驶到达所述第一区域的第一概率，其中，所述第二时刻为所述目标车辆预计到达所述第一区域的时刻，所述第一停车信息还用于指示所述第一概率。
通过上述方法，车辆控制装置可以综合考虑与所述目标车辆的行车路线关联的路况信息、目标车辆的位置信息和速度信息，来预估该目标车辆按时(例如第二时刻时)达到第一区域的第一概率，并在第一停车信息中指示该第一概率，以便目标车辆根据该第一概率决策是否提前停车休息以及去哪里停车休息，以减少目标车辆驾驶员疲劳行驶的概率，提升交通安全性。一般地，第一概率的取值越大表示目标车辆按时达到第一区域的可能性越大，第一概率的取值越小表示目标车辆按时达到第一区域的可能性越小。
可以理解的是，“第一概率”仅是本申请实施例中表征目标车辆是否能够按时行驶达到第一区域的一种参数表现形式，并非任何限定，在其它实施例中，例如可以采用“第一风险值”代替“第一概率”，该“第一风险值”可以用于指示目标车辆能够按时行驶达到第一区域的可能性。一般地，第一风险值越大表示目标车辆按时达到第一区域的可能性越小，第一风险值越小表示目标车辆按时达到第一区域的可能性越大。可以理解的，本申请实施例中的 “概率”(包括本文中述及的第一概率、第二概率、第三概率、或第四概率等)均可以替换为“风险值”，下文中将不再逐一区分和赘述。
结合第一方面，在一种可能的实现方式中，所述第一区域包括第一车辆的备选停车区域，或者包括第二车辆停留的停车区域，所述方法还包括：根据所述第一车辆的状态信息和/或所述第二车辆的状态信息，更新所述第一区域的车位的使用状态，所述第一停车信息还用于指示所述第一区域的空闲车位的数量。
通过上述方法，车辆控制装置在为目标车辆进行停车规划时，还需要综合考虑其它车辆(例如第一车辆或第二车辆)对第一区域的空闲车位的占用情况，并及时地更新第一区域的车位的使用状态，以减少目标车辆行驶到达第一区域时无可用的空闲车位的可能性，或者，第一区域的空闲车位的数量未及时更新导致目标车辆不考虑驶入该区域停车休息的可能性。
结合第一方面，在一种可能的实现方式中，更新所述第一区域的车位的使用状态，包括：根据所述目标车辆的状态信息和所述第一车辆的状态信息，预估所述第一车辆先于所述目标车辆行驶到达所述第一区域的空闲车位的第二概率；根据所述目标车辆的状态信息和所述第二车辆的状态信息，预估所述第二车辆在所述目标车辆行驶到达所述第一区域之前驶离所述第一区域的第三概率；根据所述第二概率和/或所述第三概率，更新所述第一区域的空闲车位的使用状态。
通过上述方法，作为可选的实现方式，车辆控制装置可以通过预估其它车辆对第一区域的空闲车位的占用发生变更的概率，更新所述第一区域的空闲车位的使用状态。
结合第一方面，在一种可能的实现方式中，所述方法还包括：根据所述第二概率和/或所述第三概率，预估所述目标车辆行驶到达所述第一区域时无空闲车位的第四概率，所述第一停车信息还用于指示所述第四概率。
通过上述方法，作为可选的实现方式，车辆控制装置可以通过预估其它车辆对第一区域的空闲车位的占用发生变更的概率，预估目标车辆行驶到达所述第一区域时无空闲车位的第四概率，并在第一停车信息中指示该第四概率，以便目标车辆根据该第四概率决策是否提前停车休息以及去哪里停车休息，以减少目标车辆驾驶员疲劳行驶的概率，提升交通安全性。一般地，第四概率的取值越大表示目标车辆行驶到达所述第一区域时无空闲车位的可能性越大，第四概率的取值越小表示目标车辆行驶到达所述第一区域时无空闲车位的可能性越小。
可以理解的是，同第一概率相似，“第四概率”仅是本申请实施例中表征目标车辆行驶到达所述第一区域时是否无空闲车位的一种参数表现形式，并非任何限定。在其它实施例中，例如可以采用“第四风险值”代替“第四概率”，该“第四风险值”可以用于指示目标车辆行驶到达所述第一区域时无空闲车位的可能性。一般地，第四风险值越大表示目标车辆行驶到达所述第一区域时无空闲车位的可能性越大，第四风险值越小表示目标按时达到第一区域的可能性越小。
结合第一方面，在一种可能的实现方式中，所述方法还包括：接收来自所述目标车辆的车位分配请求；响应于所述车位分配请求，根据所述第一车位信息和所述目标车辆的类型，为所述目标车辆分配第一车位，所述第一车位为所述第一区域的空闲车位；向所述第一区域的管理节点发送第一指示信息，所述第一指示信息用于指示所述目标车辆占用所述第一车位；向所述目标车辆发送车位分配响应信息，所述车位分配响应信息用于指示所述 第一车位。
通过上述方法，车辆控制装置可以响应于目标车辆的车位分配请求为该目标车辆调度停车位资源，并指示该目标车辆行驶到达该目标车辆分配的第一车位。由此，车辆控制装置可以为该目标车辆预留(或者说预订、锁定等)空闲车位，以确保该目标车辆在规定的运行时长上限之前能够行驶到达该第一车位停车休息，减少目标车辆无法找到停车位从而疲劳行驶的可能性。
可以理解的是，本申请实施例中，目标车辆可以指定停车位，该车位分配请求中可以携带目标车辆指定的停车位的信息，例如所属的停车区域的标识、车位标识等，服务器响应于该车位分配请求，可以为该目标车辆预订指定的停车位作为该第一车位。或者，该车位分配请求可以未指定停车位，服务器可以进行统一的停车位资源调度，来为该目标车辆分配第一车位，本申请实施例对此具体实现方式不做限定。
结合第一方面，在一种可能的实现方式中，所述方法还包括：接收来自所述目标车辆的车位更新请求；响应于所述车位更新请求，与第三车辆协商交换所述第三车辆和所述目标车辆的已分配车位，获得车位更新信息；向所述目标车辆发送所述车位更新信息。
通过上述方法，车辆控制装置可以在目标车辆和其它车辆(例如第三车辆)之间实现即时通信的功能，为该目标车辆和其它车辆提供交流途经，实现目标车辆与其它车辆之间的已分配车位的变更，提升停车位分配的灵活性。该方案能够为需求紧急的车辆用户(例如车辆编队用户)提供一种新的停车位资源调度途经，同时能提升车队运营的效率，降低运营成本。
结合第一方面，在一种可能的实现方式中，所述方法还包括：根据来自第四车辆的车位更新请求，向所述目标车辆发送车位交换请求，所述车位交换请求用于指示交换所述目标车辆和第四车辆的已分配车位；接收来自所述目标车辆的车位交换响应信息，所述车位交换响应信息用于确认交换所述目标车辆和第四车辆的已分配车位。
通过上述方法，该目标车辆也可以作为被调度方，车辆控制装置可以在该目标车辆与其它车辆(例如第四车辆)之间实现即时通信的功能，为该第四车辆和目标车辆之间提供交流途经，实现其它车辆与目标车辆之间的已分配车位的变更，提升停车位分配的灵活性。
第二方面，本申请实施例提供了一种车辆控制方法，该方法可由目标车辆关联的车辆控制装置实现，示例地，该车辆控制装置可以为所述目标车辆的车载终端(或者称为车机、中控台、车内影音娱乐装置等)。
该方法可以包括：向服务器发送目标车辆的状态信息；接收来自所述服务器的第一停车信息，其中，所述第一停车信息根据所述目标车辆的状态信息和第一车位信息得到，所述第一车位信息用于指示第一区域的车位的使用状态，所述第一区域包括所述目标车辆的备选停车区域，所述目标车辆行驶到达所述第一区域的时刻与第一时刻的差值为第一时长，所述第一时长小于等于第一阈值，所述第一停车信息用于指示所述第一区域的空闲车位；输出所述第一停车信息。
通过上述方法，车辆侧的车辆控制装置可以向服务器上报目标车辆的状态信息，以便服务器根据目标车辆的状态信息为该目标车辆进行停车位资源的规划和调度，以便该目标车辆在行驶达到规定的阈值之前，能够行驶到第一区域的空闲车位停车休息。该方法可通过灵活地为目标车辆进行停车位资源的规划调度，有助于降低目标车辆驾驶员疲劳行驶的概率，提升交通安全性。需要说明的是，该第一区域可以不限于一个区域，第一区域的空 闲车位也不限于一个车位。
结合第二方面，在一种可能的实现方式中，所述第一区域为与所述目标车辆的规划路径关联的停车区域；或者，所述第一区域为所述目标车辆在第二时长内基于当前行车路线行驶所途经的停车区域。
通过上述方法，第一停车信息指示的第一区域可以包括与所述目标车辆的规划路径关联的停车区域，或者所述目标车辆在第二时长内基于当前行车路线行驶所途经的停车区域，目标车辆侧的车辆控制装置可以根据第一停车信息指示的各个备选停车区域，决策是否提前停车休息以及去哪里停车休息，以减少目标车辆驾驶员疲劳行驶的概率，提升交通安全性。
结合第二方面，在一种可能的实现方式中，所述第一时长为根据所述目标车辆的状态信息得到的预估时长，所述第一停车信息还用于指示所述第一时长。
通过上述方法，作为可选的实现方式，第一停车信息可以指示第一区域关联的第一时长，目标车辆侧的车辆控制装置可以结合该第一时长决策目标车辆是否提前停车休息以及去哪里停车休息，以减少目标车辆驾驶员疲劳行驶的概率，提升交通安全性。
结合第二方面，在一种可能的实现方式中，所述状态信息包括所述目标车辆的位置信息和速度信息，所述第一停车信息还用于指示第一概率，所述第一概率为所述目标车辆在第二时刻按时行驶到达所述第一区域的概率，所述第一概率根据与所述目标车辆的行车路线关联的路况信息、所述位置信息和所述速度信息预估得到，所述第二时刻为所述目标车辆预计到达所述第一区域的时刻。
通过上述方法，作为可选的实现方式，第一停车信息可以指示第一概率，目标车辆侧的车辆控制装置可以根据该第一概率决策目标车辆是否提前停车休息以及去哪里停车休息，以减少目标车辆驾驶员疲劳行驶的概率，提升交通安全性。一般地，第一概率的取值越大表示目标车辆在第二时刻按时达到第一区域的可能性越大，第一概率的取值越小表示目标车辆在第二时刻按时达到第一区域的可能性越小。
结合第二方面，在一种可能的实现方式中，所述第一停车信息还用于指示所述第一区域的空闲车位的数量，其中，所述第一区域的车位的使用状态根据第一车辆的状态信息和/或第二车辆的状态信息更新得到，所述第一区域包括第一车辆的备选停车区域，或者包括第二车辆停留的停车区域。
通过上述方法，作为可选的实现方式，第一停车信息可以指示第一区域的空闲车位的数量，目标车辆侧的车辆控制装置可以结合第一区域的空闲车位的数量变更，决策目标车辆是否提前停车休息以及去哪里停车休息，以减少目标车辆驾驶员疲劳行驶的概率，提升交通安全性。
结合第二方面，在一种可能的实现方式中，所述第一区域的车位的使用状态根据所述第一车辆的状态信息和/或所述第二车辆的状态信息更新得到，包括：所述第一区域的空闲车位的使用状态根据第一概率和/或第二概率更新得到，其中，所述第一概率为根据所述目标车辆的状态信息和所述第一车辆的状态信息预估的、所述第一车辆先于所述目标车辆行驶到达所述第一区域的空闲车位的概率，所述第三概率为根据所述目标车辆的状态信息和所述第二车辆的状态信息预估的、所述第二车辆在所述目标车辆行驶到达所述第一区域之前驶离所述第一区域的概率。
通过上述方法，作为可选的实现方式，第一停车信息所指示的第一区域的空闲车位的 使用状态是结合其它车辆(例如第一车辆或第二车辆)对第一区域的车位的占用情况预估的。
结合第二方面，在一种可能的实现方式中，所述第一停车信息还用于指示第四概率，所述第四概率为根据所述第二概率和/或所述第三概率预估的、所述目标车辆行驶到达所述第一区域时无空闲车位的概率。
通过上述方法，作为可选的实现方式，第一停车信息还可以指示目标车辆行驶到达所述第一区域时无空闲车位的概率，以便目标车辆侧的车辆控制装置根据该概率决策是否提前停车休息以及去哪里停车休息，以减少目标车辆驾驶员疲劳行驶的概率，提升交通安全性。
结合第二方面，在一种可能的实现方式中，所述方法还包括：向所述服务器发送车位分配请求；接收来自所述服务器的车位分配响应信息，所述车位分配响应信息用于指示第一车位，所述第一车位为所述第一区域的空闲车位，所述第一车位是所述服务器根据所述第一车位信息和所述目标车辆的类型分配的。
通过上述方法，作为可选的实现方式，目标车辆侧的车辆控制装置可以请求服务器为目标车辆预留(或者说预定或锁定)空闲车位，以确保该目标车辆在规定的运行时长上限之前能够行驶到达该第一车位停车休息，减少目标车辆无法找到停车位从而疲劳行驶的可能性。
结合第二方面，在一种可能的实现方式中，所述方法还包括：向所述服务器发送车位更新请求；接收来自所述服务器的车位更新信息，所述车位更新信息根据所述车位更新请求与第三车辆协商交换所述第三车辆和所述目标车辆的已分配车位得到。
通过上述方法，作为可选的实现方式，目标车辆侧的车辆控制装置可以请求服务器为目标车辆更换已分配的停车位，提升停车位分配的灵活性。该方案能够为需求紧急的车辆用户(例如车辆编队用户)提供一种新的停车位资源调度途经，同时能提升车队运营的效率，降低运营成本。
结合第二方面，在一种可能的实现方式中，所述方法还包括：接收来自所述服务器的车位交换请求，所述车位交换请求用于指示交换所述目标车辆和第四车辆的已分配车位；向所述服务器发送车位交换响应信息，所述车位交换响应信息用于确认交换所述目标车辆和第四车辆的已分配车位。
通过上述方法，作为可选的实现方式，目标车辆侧的车辆控制装置可以根据来自服务器的车位交换请求，与其它车辆(例如第四车辆)之间进行已分配车位的交换，提升停车位分配的灵活性。
第三方面，本申请实施例提供了一种车辆控制装置，包括：获取单元，用于获取目标车辆的状态信息，所述状态信息包括运行时长；处理单元，用于根据所述状态信息确定第一区域，其中，所述第一区域包括所述目标车辆的备选停车区域，所述目标车辆到达所述第一区域的时刻与第一时刻的差值为第一时长，所述第一时长小于等于第一阈值；所述获取单元还用于获取第一车位信息，所述第一车位信息用于指示所述第一区域的车位的使用状态；处理单元还用于根据所述目标车辆的状态信息和所述第一车位信息，确定第一停车信息，所述第一停车信息用于指示所述第一区域的空闲车位；通信单元，用于向所述目标车辆发送所述第一停车信息。
结合第三方面，在一种可能的实现方式中，所述第一区域为与所述目标车辆的规划路 径关联的停车区域；或者，所述第一区域为所述目标车辆在第二时长内基于当前行车路线行驶所途经的停车区域。
结合第三方面，在一种可能的实现方式中，所述第一时长为根据所述目标车辆的状态信息得到的预估时长，所述第一停车信息还用于指示所述第一时长。
结合第三方面，在一种可能的实现方式中，所述状态信息包括所述目标车辆的位置信息和速度信息，所述获取单元用于：获取与所述目标车辆的行车路线关联的路况信息；所述处理单元用于：根据所述路况信息、所述位置信息和所述速度信息，预估所述目标车辆在第二时刻按时行驶到达所述第一区域的第一概率，其中，所述第二时刻为所述目标车辆预计到达所述第一区域的时刻，所述第一停车信息还用于指示所述第一概率。
结合第三方面，在一种可能的实现方式中，所述第一区域包括第一车辆的备选停车区域，或者包括第二车辆停留的停车区域，所述处理单元用于：根据所述第一车辆的状态信息和/或所述第二车辆的状态信息，更新所述第一区域的车位的使用状态，所述第一停车信息还用于指示所述第一区域的空闲车位的数量。
结合第三方面，在一种可能的实现方式中，所述处理单元用于：根据所述目标车辆的状态信息和所述第一车辆的状态信息，预估所述第一车辆先于所述目标车辆行驶到达所述第一区域的空闲车位的第二概率；根据所述目标车辆的状态信息和所述第二车辆的状态信息，预估所述第二车辆在所述目标车辆行驶到达所述第一区域之前驶离所述第一区域的第三概率；根据所述第二概率和/或所述第三概率，更新所述第一区域的空闲车位的使用状态。
结合第三方面，在一种可能的实现方式中，所述处理单元用于：根据所述第二概率和/或所述第三概率，预估所述目标车辆行驶到达所述第一区域时无空闲车位的第四概率，所述第一停车信息还用于指示所述第四概率。
结合第三方面，在一种可能的实现方式中，所述通信单元用于：接收来自所述目标车辆的车位分配请求；所述第二处理单元用于：所述处理单元用于响应于所述车位分配请求，根据所述第一车位信息和所述目标车辆的类型，为所述目标车辆分配第一车位，所述第一车位为所述第一区域的空闲车位；所述通信单元用于：向所述第一区域的管理节点发送第一指示信息，所述第一指示信息用于指示所述目标车辆占用所述第一车位；向所述目标车辆发送车位分配响应信息，所述车位分配响应信息用于指示所述第一车位。
结合第三方面，在一种可能的实现方式中，所述通信单元用于：接收来自所述目标车辆的车位更新请求；所述处理单元用于响应于所述车位更新请求，与第三车辆协商交换所述第三车辆和所述目标车辆的已分配车位，获得车位更新信息；所述通信单元用于向所述目标车辆发送所述车位更新信息。
结合第三方面，在一种可能的实现方式中，所述通信单元用于根据来自第四车辆的车位更新请求，向所述目标车辆发送车位交换请求，所述车位交换请求用于指示交换所述目标车辆和第四车辆的已分配车位；接收来自所述目标车辆的车位交换响应信息，所述车位交换响应信息用于确认交换所述目标车辆和第四车辆的已分配车位。
第四方面，本申请实施例提供了一种车辆控制装置，包括：通信单元，用于向服务器发送目标车辆的状态信息；接收来自所述服务器的第一停车信息，其中，所述第一停车信息根据所述目标车辆的状态信息和第一车位信息得到，所述第一车位信息用于指示第一区域的车位的使用状态，所述第一区域包括目标车辆的备选停车区域，所述目标车辆到达所述第一区域的时刻与第一时刻的差值为第一时长，所述第一时长小于等于第一阈值，所述 第一停车信息用于指示所述第一区域的空闲车位；输出单元，用于输出所述第一停车信息。
结合第四方面，在一种可能的实现方式中，所述第一区域为与所述目标车辆的规划路径关联的停车区域；或者，所述第一区域为所述目标车辆在第二时长内基于当前行车路线行驶所途经的停车区域。
结合第四方面，在一种可能的实现方式中，所述第一时长为根据所述目标车辆的状态信息得到的预估时长，所述第一停车信息还用于指示所述第一时长。
结合第四方面，在一种可能的实现方式中，所述状态信息包括所述目标车辆的位置信息和速度信息，所述第一停车信息还用于指示第一概率，所述第一概率为所述目标车辆在第二时刻按时行驶到达所述第一区域的概率，所述第一概率根据与所述目标车辆的行车路线关联的路况信息、所述位置信息和所述速度信息预估得到，所述第二时刻为所述目标车辆预计到达所述第一区域的时刻。
结合第四方面，在一种可能的实现方式中，所述第一停车信息还用于指示所述第一区域的空闲车位的数量，其中，所述第一区域的车位的使用状态根据第一车辆的状态信息和/或第二车辆的状态信息更新得到，所述第一区域包括第一车辆的备选停车区域，或者包括第二车辆停留的停车区域。
结合第四方面，在一种可能的实现方式中，所述第一区域的车位的使用状态根据所述第一车辆的状态信息和/或所述第二车辆的状态信息更新得到，包括：所述第一区域的空闲车位的使用状态根据第一概率和/或第二概率更新得到，其中，所述第一概率为根据所述目标车辆的状态信息和所述第一车辆的状态信息预估的、所述第一车辆先于所述目标车辆行驶到达所述第一区域的空闲车位的概率，所述第三概率为根据所述目标车辆的状态信息和所述第二车辆的状态信息预估的、所述第二车辆在所述目标车辆行驶到达所述第一区域之前驶离所述第一区域的概率。
结合第四方面，在一种可能的实现方式中，所述第一停车信息还用于指示第四概率，所述第四概率为根据所述第二概率和/或所述第三概率预估的、所述目标车辆行驶到达所述第一区域时无空闲车位的概率。
结合第四方面，在一种可能的实现方式中，所述通信单元还用于：向所述服务器发送车位分配请求；接收来自所述服务器的车位分配响应信息，所述车位分配响应信息用于指示第一车位，所述第一车位为所述第一区域的空闲车位，所述第一车位是所述服务器根据所述第一车位信息和所述目标车辆的类型分配的。
结合第四方面，在一种可能的实现方式中，所述通信单元还用于：向所述服务器发送车位更新请求；接收来自所述服务器的车位更新信息，所述车位更新信息根据所述车位更新请求与第三车辆协商交换所述第三车辆和所述目标车辆的已分配车位得到。
结合第四方面，在一种可能的实现方式中，所述通信单元还用于：接收来自所述服务器的车位交换请求，所述车位交换请求用于指示交换所述目标车辆和第四车辆的已分配车位；向所述服务器发送车位交换响应信息，所述车位交换响应信息用于确认交换所述目标车辆和第四车辆的已分配车位。
第五方面，本申请实施例提供了一种车辆控制装置，包括：处理器和存储器；所述存储器存储程序；所述处理器用于执行所述存储器所存储的程序，以使所述装置实现上述第一方面以及第一方面任一可能实现方式所述的方法。
第六方面，本申请实施例提供了一种车辆控制装置，包括：处理器和存储器；所述存 储器存储程序；所述处理器用于执行所述存储器所存储的程序，以使所述装置实现上述第二方面以及第二方面任一可能实现方式所述的方法。
第七方面，本申请实施例提供了一种车辆控制系统，包括：如上述第三方面以及第三方面任一可能实现方式所述的车辆控制装置，和，上述第四方面以及第四方面任一可能实现方式所述的车辆控制装置。
结合第七方面，在一种可能的实现方式中，所述车辆控制系统还可以包括：与车辆关联的智能设备和/或运行在所述车辆的车机应用。
第八方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读介质存储有程序代码，当所述程序代码在计算机上运行时，使得计算机执行上述第一方面以及第一方面任一可能实现方式所述的方法；或者，当所述程序代码在计算机上运行时，使得计算机执行上述第二方面以及第二方面任一可能实现方式所述的方法。
第九方面，本申请实施例提供了一种计算机程序产品，当所述计算机程序产品在计算机上运行时，使得所述计算机执行上述第一方面以及第一方面任一可能实现方式所述的方法，或执行上述第二方面以及第二方面任一可能实现方式所述的方法。
第十方面，本申请实施例提供了一种芯片系统，该芯片系统包括处理器，用于调用存储器中存储的计算机程序或计算机指令，以使得该处理器执行上述第一方面以及第一方面任一可能实现方式所述的方法，或执行上述第二方面以及第二方面任一可能实现方式所述的方法。
结合第十方面，在一种可能的实现方式中，该处理器通过接口与存储器耦合。
结合第十方面，在一种可能的实现方式中，该芯片系统还包括存储器，该存储器中存储有计算机程序或计算机指令。
第十一方面，本申请实施例提供了一种处理器，该处理器用于调用存储器中存储的计算机程序或计算机指令，以使得该处理器执行上述第一方面以及第一方面任一可能实现方式所述的方法，或执行上述第二方面以及第二方面任一可能实现方式所述的方法。
本申请实施例在上述各方面提供的实现的基础上，还可以进行进一步组合以提供更多实现。上述第二方面至第十一方面中任一方面中的任一可能设计可以达到的技术效果，可以相应参照上述第一方面或第二方面中任一方面中的任一可能设计可以达到的技术效果描述，重复之处不予论述。
附图说明
图1a示出了本申请实施例适用的应用场景的示意图；
图1b示出了本申请实施例适用的系统架构图；
图2示出了本申请实施例的车辆控制方法的流程示意图；
图3示出了本申请实施例的车辆控制方法的流程示意图；
图4示出了在用户界面输出第一停车信息的示意图；
图5示出了本申请实施例的车辆控制方法的流程示意图；
图6示出了本申请实施例的车辆控制方法的流程示意图；
图7示出了本申请实施例的车辆控制装置的示意图；
图8示出了本申请实施例的车辆控制装置的示意图；
图9示出了本申请实施例的车辆控制装置的示意图。
具体实施方式
车位一般指停车位，可用于车辆的长期或临时停车。常见的停车位分为两类，一类是位于专门的停车区域(例如停车场、或高速公路服务区等)内的车位，一类是位于路侧的车位。部分路侧的车位具有时效性，该车位部分时段可用于停车，部分时段可用于通行。
为保障交通安全，相关法规中规定，车辆处于人工驾驶模式下，驾驶员连续驾驶车辆的时长上限(例如4小时)或停车休息的时长下限(例如20分钟)，在驾驶员违反该规定的情况下将会对驾驶员进行惩罚。同样地，车辆处于自动驾驶模式下时，也需要在车辆连续运行达到预定时长时停车，以避免车辆部件过热引发故障。因此，为保障交通安全，车辆连续运行时长达到相关法律法规中规定的时长上限之前驶入停车区域的空闲车位停车休息十分必要。
然而在一些场景中，例如高速公路场景，由于场景限制导致车辆无法随便停车。若车辆在连续运行达到规定的运行时长上限时仍无法行驶到停车区域的空闲车位，驾驶员将无法停车休息，不可避免地出现车辆驾驶员疲劳行驶的情况，存在交通安全隐患。又例如，在港口、矿山、封闭的产业园区等生产场景中或者自动驾驶场景中等，车队中的作业车辆或者自动驾驶车辆也会存在停车位资源调度的情况，例如车辆检修、补充能源等，否则可能会影响作业效率或出行效率。因此，如何为车辆进行停车规划，仍为亟需解决的重要问题。
本申请实施例提出一种车辆控制方法、装置及系统，根据目标车辆的状态信息为该目标车辆进行停车位资源的规划和调度，以便该目标车辆在行驶达到规定的阈值之前，能够行驶到第一区域的空闲车位停车休息。该方法可通过灵活地为目标车辆调度停车位资源，有助于降低目标车辆驾驶员疲劳行驶的概率，提升交通安全性。或者，该方法可以为车队中的作业车辆安排用于故障检修的车位、用于补充能源的车位、用于停车等待的车位等，以便及时排除影响作业车辆有序作业的各种干扰因素的影响，帮助车队有序作业，有助于提高车队的整体作业效率，并极大地降低人工操作成本。或者，该方法可以实现自动驾驶场景下的车位管理，通过灵活地为自动驾驶车辆调度停车位资源，有助于辅助自动驾驶车辆安全行驶，提升交通安全性。需要说明的是，该第一区域可以不限于一个区域，第一区域的空闲车位也不限于一个车位，为目标车辆调度第一区域的停车位资源的目的也不限于是为了车辆驾驶员停车休息，例如还可以是用于车辆维修、补充能源(例如调度充电桩、加油站、或商店等)等。
示例地，该方案可以应用于高速公路场景中，第一区域可以为目标车辆能够行驶到达的高速服务区。一般在高速公路场景中，车辆需要在预定的速度区间内保持高速行驶，车辆不可随便停车，只能在途经某个服务区时，行驶到该服务区停车休息。然而高速服务区的设置通常按照高速公路的实际线路分区部署，无法保障车辆在连续运行达到规定的运行时长上限时即时找到可以停留的服务区，不可避免地出现车辆驾驶员疲劳行驶的情况。通过本申请实施例的车辆控制方案，通过为目标车辆进行停车规划，使得目标车辆可以在行驶达到阈值之前，提前行驶到达第一区域停留休息，从而降低车辆驾驶员疲劳行驶的概率，提升交通安全性。
其中，方法和装置是基于同一技术构思的，由于方法及装置解决问题的原理相似，因此装置与方法的实施可以相互参见，重复之处不再赘述。下文中，将以高速公路场景以及交通安全目的为例，对本申请实施例的车辆控制方案进行详细介绍，应理解的是，该车辆 控制方案同样适用于前文述及的港口、矿山、封闭的产业园区等生产场景或自动驾驶场景等。
需要说明的是，本申请实施例中的车辆控制方案可以应用于车联网，如车-万物(vehicle to everything，V2X)、车间通信长期演进技术(long term evolution-vehicle，LTE-V)、车辆-车辆(vehicle to vehicle，V2V)等。例如可以应用于具有驾驶移动功能的车辆，或者车辆中具有驾驶移动功能的其它装置。该其它装置包括但不限于：车载终端、车载控制器、车载模块、车载模组、车载部件、车载芯片、车载单元、车载雷达或车载摄像头等其他传感器，车辆可通过该车载终端、车载控制器、车载模块、车载模组、车载部件、车载芯片、车载单元、车载雷达或车载摄像头，实施本申请提供的车辆控制方法。当然，本申请实施例中的控制方案还可以用于除了车辆之外的其它具有移动控制功能的智能终端，或设置在除了车辆之外的其它具有移动控制功能的智能终端中，或设置于该智能终端的部件中。该智能终端可以为智能运输设备、智能家居设备、机器人等。例如包括但不限于智能终端或智能终端内的控制器、芯片、雷达或摄像头等其它传感器、以及其它部件等。
需要说明的是，本申请实施例中“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a,b,或c中的至少一项(个)，可以表示：a,b,c,a和b,a和c,b和c,或a和b和c，其中a,b,c可以是单个，也可以是多个。
以及，除非有特别说明，本申请实施例提及“第一”、“第二”等序数词是用于对多个对象进行区分，不用于限定多个对象的优先级或者重要程度。例如，第一车位、第二车位、和第三车位，只是为了区分不同的车位，而不是表示这三个车位的优先级或者重要程度等的不同。
为了便于理解，下面结合附图及实施例进行介绍。
图1a示出了本申请实施例适用的应用场景的示意图。在该应用场景中，可以包括车辆100和服务器200，车辆100和服务器200可以通过网络通信。
车辆100的部分或所有功能受计算平台150控制。计算平台150可包括至少一个处理器151，处理器151可以执行存储在例如存储器152这样的计算机可读介质中的指令153。在一些实施例中，计算平台150还可以是采用分布式方式控制车辆100的个体组件或子系统的多个计算设备。处理器151可以是任何常规的处理器，诸如中央处理单元(central processing unit，CPU)。替选地，处理器151还可以包括诸如图像处理器(graphic process unit，GPU)，现场可编程门阵列(field programmable gate array，FPGA)、片上系统(system on chip，SOC)、专用集成芯片(application specific integrated circuit，ASIC)或它们的组合。
除了指令153以外，存储器152还可存储数据，例如道路地图、路线信息，车辆的位置、方向、速度以及其它这样的车辆数据，以及其他信息。这种信息可在车辆100在自主、半自主和/或手动模式中操作期间被车辆100和计算平台150使用。
应理解，图1a中车辆的结构不应理解为对本申请实施例的限制。
可选地，上述车辆100可以为轿车、卡车、摩托车、公共汽车、船、飞机、直升飞机、 割草机、娱乐车、游乐场车辆、施工设备、电车、高尔夫球车、火车等，本申请实施例不做特别的限定。
另外，如图1a所示的应用场景中还可以包括服务器200。本申请实施例中，服务器200可以在为车辆100下发第一停车信息，该第一停车信息可以指示为车辆100提供的停车规划建议，车辆100可以根据该第一停车信息决策是否提前停车休息以及去哪里停车休息，以减少目标车辆驾驶员疲劳行驶的概率，提升交通安全性。
一个实施例中，该服务器200还可以通过虚拟机来实现。
图1b示出了本申请实施例适用的系统架构图。参阅图1b所示，该系统中可以包括：至少一个车辆100、服务器200以及停车区域的管理节点300。应理解，此处仅是对该系统中可以包含的装置的示例说明而非任何限定，可选地，该系统中还可以包括上层应用130(例如运行在车辆100的车载终端上的应用)、路侧单元(road side unit，RSU)等。并且，该系统中可包含的各种装置的数量不限于一个。
其中，所述至少一个车辆100中的任一车辆100可以与所述服务器200交互，并向所述服务器200发送自身的状态信息和/或车位资源调度请求(例如车位分配请求、车位更新请求等)，以供所述服务器200基于该状态信息和/或车位资源调度请求，为车辆100进行停车位资源规划和调度。示例地，该状态信息可以包括但不限于车辆的位置信息、速度、航向角、连续运行时间(例如包括车辆启动时刻、车辆连续运行时长等)、和规划路径等中的至少一项。
停车区域的管理节点300为对停车区域的车位资源进行管理的节点。其中，该管理节点300可以为独立设备，也可以是设备中的芯片或部件，还可以是软件，可以部署在云端、或路侧设备、或远端服务器、或本地服务器等，本申请实施例对该管理节点的产品形态以及部署方式不做限定。在一种可能的实现方式中，该管理节点300可以为服务器200的一部分，用于实现对停车区域的车位资源的管理功能。其中，图1b中以虚线示出该管理节点300仅表示该管理节点300为可选节点。
可以理解的是，本申请实施例中，停车区域可以包括一个或多个，相应的管理节点300可以为一个或多个。也就是说，可以由一个管理节点300实现对一个或多个停车区域的车位资源的管理，也可以是由不同的管理节点300分别实现对不同停车区域的车位资源管理。不同的停车区域对应的管理节点300均可与服务器200通信，以交互自身所管理的停车区域的车位的使用状态信息。
服务器200可以作为云端的车辆控制装置，可用于为任一个车辆100提供停车位资源调度的服务/功能。其中，该服务器200可以获取任一车辆100的状态信息，以及从该车辆100关联的备选停车区域的管理节点300处获取备选停车区域的车位的使用状态信息，来为该车辆100进行停车位资源规划，以为车辆100提供停车休息规划建议方案，或根据车辆100的需求为车辆100预订空闲车位，以为车辆100调度停车位资源。该服务器200也可以在不同车辆之间提供即时通信连接，可用于为不同车辆之间提供交换停车位资源的服务/功能。
在一种可能的实现方式中，该停车位资源调度服务可以由服务器200中的相应单元/模块实现，例如服务器200可以包括获取模块201、处理模块202和通信模块203，该获取模块201可以用于获取目标车辆的状态信息。该处理模块202可以用于根据目标车辆的状态信息为该目标车辆进行停车位资源调度。例如根据目标车辆的状态信息确定目标车辆 在规定的时间内能够行驶到达的备选停车区域，以及根据备选停车区域的车位的使用状态为目标车辆进行停车规划，制定第一停车信息，该第一停车信息可用于指示服务器200为目标车辆规划的停车建议。该通信模块203可以向目标车辆发送该第一停车信息。又例如，该通信模块203可以接收来自目标车辆的车位资源调度请求(例如车位分配请求、车位更新请求等)，该处理模块202可以响应于该车位资源调度请求执行车位资源调度过程，例如响应于车位分配请求为目标车辆分配空闲的第一车位，或者响应于车位更新请求与其它车辆(例如第三车辆)之间进行已分配车位互换。该通信模块203还可以向目标车辆返回车位资源调度结果。
应理解，此处述及的获取模块201、处理模块202和通信模块203可以是不同的模块，也可以是两个模块，也可以是一个模块，或者部分模块功能也可以部署在上层应用或其他系统中，本申请实施例对于服务器200提供的各个服务以及各个服务的具体实现方式不做限定。
其中，服务器200内的各个模块之间可以相互通信并进行信息传输，以保障车辆控制装置的相关功能实现。例如处理模块202可以从获取模块201查询目标车辆的状态信息或备选停车区域的车位的使用状态等信息，并基于所查询到的信息为目标车辆进行停车规划或车位资源调度，得到相应的停车规划信息或车位资源调度结果。通信模块203可以从获取模块查询到目标车辆的停车规划信息或车位资源调度结果，并将停车规划信息或车位资源调度结果发送给目标车辆。需要说明的是，图1b中，获取模块201、处理模块202、通信模块203之间的连线，仅表示这些模块之间是信息互通的，并不限定不同模块之间的通信方式、信息传输方向以及所传输的具体信息。
由此，在上述各个装置或模块的协同控制下，服务器200通过灵活地对至少一个车辆100进行停车位资源的规划和调度，以便车辆在行驶达到规定的阈值之前，能够行驶到第一区域的空闲车位停车休息。该方法可通过灵活地为车辆调度停车位资源，有助于降低车辆驾驶员疲劳行驶的概率，提升交通安全性。
可以理解的是，在具体实施时，该服务器200可以呈现为多种不同的产品形态。示例地，该服务器可以是单个服务器，也可以是指由多个服务器构成的服务器集群。该服务器可以是本地服务器。在车联网领域中，该服务器具体可以是云服务器，也可称为云、云端、云端服务器、云端控制器或车联网服务器等。云服务器是对具有数据处理能力的设备或器件的统称，诸如可以包括主机或处理器等实体设备，也可以包括虚拟机或容器等虚拟设备，还可以包括芯片或集成电路。在一种可选的实现方式中，该服务器200还可以是路侧设备，或者是路侧设备中的芯片或部件。
车辆100可以是任意车辆，包括但不限于生产车辆、普通工种车辆、特殊工种车辆等，可以是乘用车、货车等。车辆100可以在服务器200进行注册，以便获取服务器200提供的上述各项服务。服务器200为车辆100提供的上述服务在车辆100端，可以通过多种形式呈现，例如可以是语音服务、界面显示服务、导航服务、自动驾驶服务、查询服务、语音播报服务等，本申请实施例对此均不作限定。车辆100还可以向服务器200上报相关信息，例如车辆的状态信息，以使得服务器200可以基于车辆100上报的状态信息对多个车辆进行统一停车位规划和调度。
其中，车辆100可以是处于完全人工驾驶模式的车辆，或完全自动驾驶模式的车辆，或者，车辆100可以配置为部分地自动驾驶模式的车辆。其中，部分地自动驾驶模式的车 辆，例如是指，车辆100可以在处于自动驾驶模式中同时控制自身，并且可以通过人为操作来确定车辆以及周边环境的当前状态，确定周边环境中的至少一个其它车辆的可能行为，并基于所确定的信息控制车辆100。在车辆100处于完全自动驾驶模式中时，可以将车辆100置为在没有和人交互的情况下操作。应理解，在上述系统中包括至少一个车辆的情况下，所述至少一个车辆中可以包括：不同车辆类型的车辆、或不同作业类型的车辆、或不同任务优先级的车辆、或处于不同驾驶模式的车辆，换言之，系统中具体可以包括多种不同的车辆，本申请实施例对此不作限定。
在一种可选的实现方式中，车辆100上还可以放置或安装有用于进行信息处理和信息交互的车载设备，例如车载远程信息处理器(telematics box，T-Box)，该T-Box可以与RSU进行通信。或者，各种终端设备，如果位于车辆上(例如放置在车辆内或安装在车辆内)，都可以认为是车载设备，车载设备也可以认为是车载单元(on board unit，OBU)。
在一种可选的实现方式中，服务器200可以向上对接上层应用。示例的，该上层应用可以是应用程序或软件。其中，该上层应用可以安装和运行在用户设备(可以是云端设备或终端设备或车辆100)上，驾驶员可以通过该上层应用对服务器200进行配置，包括但不限于授权所述服务器200的功能、访问权限、下发任务、或控制指令等。进一步地，服务器200可以根据从上层应用获得授权结果、任务、或控制指令等，并利用自身可以获得的其它信息，对相关车辆以及停车区域进行统一的车位资源调度，以减少不同车辆之间的冲突，同时提升交通安全性。
可以理解的是，上述用户设备可以是任何合适的电子设备，包括但不限于与车辆100关联的智能设备，例如智能手机、平板电脑、或可穿戴设备等，也可以是车辆100的车载终端等。该用户设备可以具有用户界面(user interface，UI)，可用于显示第一停车信息，包括但不限于该第一停车信息所指示的第一区域的空闲车位、第一区域的空闲车位的数量、第一概率、第四概率、或第一时长等中的至少一项。该用户界面也可以是触摸屏幕，驾驶员可以通过对所述用户界面的触摸操作实现前述的相关授权配置或其它操作；或者，该用户设备还可以关联其他输入装置，例如麦克风等，通过这些输入装置，驾驶员可以经由上层应用向所述服务器200进行配置、任务(例如导航任务)下发等，在此不再赘述。
基于图1a所示的应用场景或图1b所示的系统架构以及本申请实施例的车辆控制方法，服务器200可以对车辆100进行停车位资源的规划和调度，以便车辆100行驶达到规定的阈值之前，能够行驶到第一区域的空闲车位停车休息。该方法可通过灵活地为目标车辆进行停车位资源的规划和调度，有助于降低目标车辆驾驶员疲劳行驶的概率，提升交通安全性。为了便于理解，下面结合方法流程图对本申请实施例的车辆控制方法的具体实现进行详细介绍。
图2示出了本申请实施例的车辆控制方法的流程示意图。其中，该方法可由图1a和图1b所示的服务器200和目标车辆协同实现，其中，该目标车辆可以为图1a中的车辆100或图1b中的任一车辆100。可以理解的是，在涉及目标车辆以外的其它车辆的情况下，为便于区分，本申请实施例还可以在不同的方法步骤中，将该其它车辆表示为第一车辆、第二车辆、第三车辆或第四车辆等，该第一车辆、第二车辆、第三车辆或第四车辆等可以与服务器200以及目标车辆协同实现本申请实施例的车辆控制方法。
参阅图2所示，该车辆控制方法可以包括以下步骤：
S210：服务器获取目标车辆的状态信息。
本申请实施例中，目标车辆是需要进行停车位资源规划和调度的车辆。
一般地，该目标车辆可以为任一个启动运行并处于行车(例如时速大于0Km/h)的状态)的车辆。服务器在获得该目标车辆的授权后，可以从所述目标车辆获取为该目标车辆进行停车位资源规划和调度所需的信息，例如目标车辆的状态信息。
示例地，该目标车辆的状态信息包括以下至少一种信息：位置信息、航向角信息、速度信息、连续运行时间(例如包括车辆启动运行时刻、车辆已运行时长等)、和规划路径等。其中，目标车辆的位置信息可用于定位该目标车辆的当前位置，也可以用于确定目标车辆所在的道路和/或车道，以便确定该目标车辆的当前行车路线。目标车辆的航向角可用于确定目标车辆的行驶方向，该航向角信息也可以与该位置信息共同用于确定目标车辆在当前道路和/或车道上的行驶方向(可以理解的是，若车辆位于单行(仅允许单一行驶方向通行)道路或车道，车辆的状态信息可以不包括航向角信息。目标车辆的连续运行时间可用于评估目标车辆的剩余可用运行时长。目标车辆的速度信息可以用于预估该目标车辆行驶至备选停车区域所需的时长、在第二时刻按时到达该备选停车区域的概率、其它车辆限于目标车辆行驶到达同一备选停车区域的概率、停留在备选停车区域的其它车辆在目标车辆行驶到达该备选停车区域之前驶离的概率等。目标车辆的规划路径可用于指示该目标车辆的规划路线，该规划路线例如可以包括目标车辆当前位置所在的第一道路、该第一道路的下游方向的规划道路(即规划的待行驶道路)、和/或该第一道路的上游方向的已途经的道路。
示例地，服务器获取目标车辆的状态信息的方式，可以包括但不限于：目标车辆主动上报该状态信息、服务器向目标车辆请求获取该状态信息、服务器通过第三方通信方式(例如经由与目标车辆关联的智能设备、经由RSU等)获取目标车辆的状态信息。其中，服务器可以实时地或周期性地获取目标车辆的状态信息，本申请实施例对此不做限定。需要说明的是，图2中示出的从所述目标车辆指向服务器的箭头仅表示该状态信息是目标车辆的状态信息，并不限定该服务器获取目标车辆的状态信息的具体实现方式。
一种可选的实现方式中，目标车辆可以配置至少一种模式，所述至少一种模式可以关联目标车辆与服务器之间的信息交互方式。例如，例如主动模式(或者称为请求模式)或自动模式或响应模式。其中，在获得用户授权后，在主动模式下，目标车辆可以在需要服务器为其进行停车位资源规划和调度时，主动向该服务器发送自身的状态信息，以请求服务器为该目标车辆进行停车位资源规划和调度。在获得用户授权后，在自动模式下，目标车辆可以按照自动模式关联的信息上报机制，实时地或周期性地向该服务器发送自身的状态信息，以便该服务器根据目标车辆上报的状态信息主动为该目标车辆进行停车位资源规划和调度。在响应模式下，服务器可以向目标车辆发送车位资源规划和调度请求，目标车辆可以根据来自服务器的该车位资源规划和调度请求，向服务器反馈自身的状态信息或其它响应信息。
S220：服务器根据目标车辆的状态信息确定第一区域。
本申请实施例中，该第一区域包括目标车辆的备选停车区域，其中，目标车辆到达该第一区域的时刻与第一时刻的差值为第一时长，所述第一时长小于等于第一阈值。
需要说明的是，本申请实施例中，以第一位置表示目标车辆在第一时刻所处的位置，该第一时刻和以及第一位置可以有不同的理解。例如，在第一种理解中，该第一时刻可以 为目标车辆启动运行的时刻，第一位置可以为目标车辆启动运行时刻所在的位置。在第二种理解中，该第一时刻为目标车辆行车过程中的实时时刻，例如上报状态信息的时刻，该第一位置为目标车辆过程中在第一时刻所在的位置。根据本申请实施例的车辆控制方法，车辆从启动运行时刻开始连续运行时长不得超过预定阈值(例如表示为第二阈值)，否则车辆驾驶员将疲劳行驶，无论车辆上的驾驶员还是车辆的部件均可能出错，例如驾驶员疲劳驾驶而注意力不集中无法专注行驶、车辆部件过热而故障，存在交通安全隐患。故而，在上述第一种理解中，该第一阈值等于该第二阈值，在上述第二种理解中，该第一阈值小于该第二阈值。
例如，假设目标车辆的启动运行时刻为8:00am，车辆驾驶员疲劳行驶的时长上限(即第二阈值)为4h，若第一时刻为8:00am，则预计第一时长为4h，表示目标车辆需要在12:00am之前行驶到达第一区域的空闲车位停车休息；若第一时刻为10:00am，则预计第一时长为2h(小于4h)，表示目标车辆需要在12:00am之前行驶到达第一区域的空闲车位停车休息。
可以理解的是，本申请实施例中，该第一时长可以为根据目标车辆的状态信息得到的预估时长。预估该第一时长时所使用的状态信息可以包括但不限于该目标车辆的起始运行时刻或已运行时长，下文中将结合实施例进行详细介绍。
可以理解的是，在具体实施时，目标车辆的状态信息可以包括该第一时刻或与该第一时刻关联的其它时间参数，本申请实施例对该第一时刻或其它时间参数的实现方式不做限定。例如，该其它时间参数可以为目标车辆在第一时刻时对应的已运行时长。比如，在上述实施例中，在目标车辆的启动运行时刻为8:00am、第一时刻为8:00am的情况下，第一时刻对应的已运行时长为0，目标车辆的启动运行时刻为8:00am、第一时刻为10:00am的情况下，第一时刻对应的已运行时长为2h。
本申请实施例中，目标车辆的状态信息所包含的信息可以有多种，实施S220时，服务器可以根据目标车辆的状态信息，通过至少一种方式确定第一区域。下面对该至少一种方式进行示例说明。
示例1：目标车辆的状态信息包括目标车辆的规划路径，该第一区域可以为与所述目标车辆的规划路径关联的停车区域。
实施S220时，服务器可以根据目标车辆的规划路径，获取该规划路径关联的停车区域的信息，并根据目标车辆的其它状态信息以及该停车区域的信息确定目标车辆的备选停车区域，这些备选停车区域即为第一区域。
具体实施时，目标车辆的规划路径例如可以包括该目标车辆在第一时刻所处的第一位置、目的地位置、以及从该第一位置至该目的地位置所需行驶的规划路线，目标车辆的状态信息还可以包括该第一时刻。S220中，服务器可以根据该规划路线，确定目标车辆按照该规划路径行驶时所可能途经道路附近的至少一个停车区域的信息，例如停车区域的标识、停车区域的位置信息等。服务器可以根据目标车辆所在的第一位置、速度、规划路线以及该所述至少一个停车区域的位置信息，在该至少一个停车区域中确定目标车辆的备选停车区域作为该第一区域。
其中，在示例1中，目标车辆的备选停车区域需要满足以下第一条件：目标车辆到达该停车区域的时刻(例如表示为第二时刻)与第一时刻的差值能够小于等于第一阈值。也就是说，若该至少一个停车区域中的某一个停车区域满足上述第一条件，该停车区域可以 作为该目标车辆的备选停车区域，若不满足，则该停车区域不能作为该目标车辆的备选停车区域(仅相对于第一时刻而言)。该至少一个停车区域中的备选停车区域可以为多个，服务器可以将该多个备选停车区域中的部分或全部作为该第一区域。
示例2：目标车辆未提供规划路径，目标车辆的状态信息包括该目标车辆的位置信息、航向角信息、速度信息、启动运行时刻或已运行时长等中的至少一项，该第一区域可以为目标车辆在第二时长内基于当前行车路线行驶所途经的停车区域。所述第二时长小于等于第一时长。
实施S220时，服务器例如可以根据该目标车辆的位置信息和航向角信息确定目标车辆所在的第一道路，并根据该第一道路以及该第一道路对应的道路拓扑关系信息，确定目标车辆基于当前行车路线行驶所可能途经的所有停车区域。
其中，该道路拓扑关系信息例如可以用于指示与该第一道路关联的道路，包括位于该第一道路的上游方向且与该第一道路关联的第二道路，和/或，位于该第一道路的下游方向且与该第一道路关联的第三道路。服务器中可以保存有该道路拓扑关系信息，也可以从其它装置(例如交通部门对应的管理节点)获取该道路拓扑关系信息，本申请实施例对该道路拓扑关系信息的获取方式不做限定。在一种可选的实现方式中，该道路拓扑关系信息还可以包括上述第一道路、第二道路以及第三道路的相关属性信息，例如道路标识、道路长度信息等。
进一步地，该服务器可以根据目标车辆的速度信息、启动运行时刻或已运行时长、道路长度信息、所有停车区域的位置信息等，在这些停车区域中确定目标车辆的备选停车区域作为该第一区域。
其中，在示例2中，目标车辆的备选停车区域需要满足以下第二条件：目标车辆到达该停车区域的时刻(例如表示为第三时刻)与第一时刻的差值能够小于等于第一阈值。也就是说，若该目标车辆基于当前行车路线行驶所可能途经的所有停车区域中，某一个停车区域满足上述第二条件，该停车区域可以作为该目标车辆的备选停车区域，若不满足，则该停车区域不能作为该目标车辆的备选停车区域(仅相对于第一时刻而言)。该目标车辆基于当前行车路线行驶所可能途经的所有停车区域中的备选停车区域可以为多个，服务器可以将该多个备选停车区域中的部分或全部作为该第一区域。
需要说明的是，在上述示例1和示例2中，第一条件和第二条件可以表示同一条件，第二时刻和第三时刻可以具有相同含义，本申请实施例对此不作限定。
S230：服务器获取第一车位信息。
本申请实施例中，第一车位信息用于指示第一区域的车位的使用状态，例如车位处于空闲状态、使用状态、或预约状态等中的任一状态。其中，空闲状态表示车位未被其它车辆使用或预约使用，即，既没有其它车位停留在该车位，也没有其它车辆预约使用该车位。使用状态表示该车位被其它车辆使用，即存在某个车辆停留在该车位。预约状态表示该车位被其它车辆预约使用，或者说为其它车辆预留、为其它车辆分配、被其它车辆预订/锁定等。应理解，处于预约状态的车位在未被解锁之前不可再被另外的车辆使用或预约使用，因此，在一种可能的实现方式中，车位的预约状态可以等效视为车位的使用状态的一种。
本申请实施例中，该第一车位信息可以采用至少一种表示方式中的任一种方式表示。
在一种可能的实现方式中，该第一车位信息例如可以包括第一区域的车位总数量、处于上述各种状态的车位的数量。例如，第一区域的车位总数量为100个，其中，30个车位 处于空闲状态，50个车位处于使用状态、20个车位处于预约状态，第一车位信息可以表示为：总-100；空闲-30；使用-50；预约-20。在另一种可能的实现方式中，该第一车位信息例如可以包括第一区域的全部车位的标识以及各个车位所处的状态。例如第一区域的N个车位的标识为编号1-N(N为大于等于1的整数)，第一车位信息可以表示为：1-使用，2-使用，3-空闲，4-预约，5空闲，6-预约……，10-使用。在又一种可能的实现方式中，该第一车位信息可以仅包括第一区域的空闲车位的状态，例如，第一区域的车位总数量为100个，其中，30个车位处于空闲状态，第一车位信息可以表示为：空闲-30。可以理解的是，此处仅是对该第一车位信息的表示方式的示例说明而非任何限定，在其它实施例中，第一车位信息可以采用其它方式表示，在此不再赘述。
实施S230时，服务器例如可以从第一区域的管理节点直接获取该第一车位信息，或者，该服务器例如也可以根据从该第一区域的管理节点获得的车位使用情况得到该第一车位信息，本申请实施例对该第一车位信息的获取方式不做限定。
示例地，服务器从第一区域的管理节点获得的车位使用情况可以包括以下至少一种情形：
情形A：当前时刻的车位使用情况；
情形B：当前时刻空闲车位被其它车辆预约的情况；
情形C：当前已使用车位上的车辆是否处于短暂停车状态，以及可能驶离的时间；
服务器可以综合考虑上述情形A-情形C，并预估第一区域的车位的使用状态发生变化的可能性，结合该第一区域的车位的真实的使用状态以及各个车位的使用状态发生变化的可能性确定该第一车位信息。
也就是说，该第一车位信息可以用于指示第一区域的车位的真实的使用状态，也可以为预估的该第一区域的车位在未来时刻的使用状态，本申请实施例对此不做限定。
S240：服务器根据所述目标车辆的状态信息和所述第一车位信息，确定第一停车信息。
S250：服务器向所述目标车辆发送所述第一停车信息。相应地，目标车辆接收来自所述服务器的第一停车信息。
本申请实施例中，所述第一停车信息可以包括服务器为目标车辆进行停车位资源规划和调度得到的停车建议，该第一停车信息可以用于指示第一区域的空闲车位。目标车辆接收到该第一停车信息后，可以根据该第一停车信息决策是否行驶到达该第一区域的空闲车位并停车休息，以减少目标车辆驾驶员疲劳行驶的概率。
其中，具体实施S240时，该服务器可以综合衡量各种可能影响目标车辆按时到达第一区域的空闲车位的因素，来制定给第一停车信息。为了便于理解，下面对各种可能影响目标车辆是否能够在第二时刻按时到达第一区域的空闲车位的因素进行示例说明。
(1)与目标车辆的行车路线(包括前文示例1中述及的规划路线和示例2中述及的车辆的当前行车路线)关联的路况信息。
通常，道路拥堵情况会影响目标车辆行驶到达第一区域所需的时间，以及激发包括目标车辆在内的多个车辆对同一停车区域的空闲车位的竞争冲突。例如，道路拥堵会影响目标车辆到达第一区域的时间，道路拥堵情况越严重，目标车辆从当前位置行驶至第一区域所需的时间越长，能在第一时长内到达第一区域的风险越大。又例如，道路上的车辆越多，这些车辆行驶到同一停车区域休息的可能性就越大，在一定程度上可能造成目标车辆到达第一区域时，该第一区域无剩余可用停车位的风险也越大。
因此实施S240时，该服务器可以获取与所述目标车辆的行车路线关联的路况信息，并根据该路况信息、目标车辆的位置信息和速度信息，预估目标车辆到达第一区域的时刻(表示为第二时刻)，或者预估第一时长(即第二时刻与第一时刻的差值)，或者预估目标车辆在第二时刻按时行驶到达第一区域的第一概率。该第一停车信息还可以用于指示该第二时刻、第一时长、或第一概率中的至少一项。
可以理解的是，“第一概率”仅是本申请实施例中表征目标车辆是否能够在第二时刻按时行驶达到第一区域的一种参数表现形式，并非任何限定，在其它实施例中，例如可以采用“第一风险值”代替“第一概率”，该“第一风险值”可以用于指示目标车辆能够按时行驶达到第一区域的可能性。一般地，第一风险值越大表示目标车辆在第二时刻按时达到第一区域的可能性越小，第一风险值越小表示目标车辆在第二时刻按时达到第一区域的可能性越大。
(2)第一车辆是否先于目标车辆行驶到达第一区域的空闲车位，第一区域的空闲车位的数量是否会减少一个。
本申请实施例中，该第一车辆为目标车辆以外的其它车辆，第一区域可以包括该第一车辆的备选停车区域，第一车辆与该目标车辆同样具备驶入该第一区域的空闲车位并停车休息的可能性。其中，根据目标车辆与第一车辆各自所在的位置、所处的道路的交通拥堵情况、行车速度等，若第一车辆先于目标车辆行驶到达该第一区域，则该第一区域的空闲车位的数量减少一个，目标车辆行驶到达该第一区域时无停车位的风险会增大，可能会因为空闲车位的数量减少一个导致该第一区域无空闲车位，从而导致目标车辆在第一区域无法停车。
因此实施S240时，服务器还需要根据第一车辆的状态信息更新第一区域的车位的使用状态，并根据更新的结果为目标车辆确定第一停车信息，该第一停车信息可以用于指示第一区域的空闲车位的数量。
示例地，具体实施时，该服务器可以根据目标车辆的状态信息和所述第一车辆的状态信息，预估所述第一车辆先于所述目标车辆行驶到达所述第一区域的空闲车位的第二概率，并基于该第二概率更新所述第一区域的空闲车位的使用状态。例如，服务器可以在第二概率的取值大于等于第一值(例如0.7或其它数值)，设置第一区域的空闲车位的数量减少一个，在第二概率的取值小于该第一值时，保持第一区域的空闲车位的数量不变。
(3)第二车辆是否在目标车辆行驶到达第一区域之前驶离第一区域，即第一区域的空闲车位的数量是否会增加一个。
本申请实施例中，该第二车辆为目标车辆以外的其它车辆，该第一区域可以包括第二车辆当前停留在停车区域。其中，由于第二车辆的行车状态变更，该第二车辆可以会在目标车辆行驶达到第一区域之前驶离该第一区域，这样，第一区域的空闲车位的数量会加一，目标车辆行驶到达该第一区域时无停车位的风险会减小，也可能会因为空闲车位的数量加一导致目标车辆将要途经的某个停车区域从原来的无空闲车位转变为有空闲车位，从而可以作为目标车辆的第一区域。
因此实施S240时，服务器还需要根据第二车辆的状态信息更新第一区域的车位的使用状态，并根据更新的结果为目标车辆确定第一停车信息，该第一停车信息可以用于指示第一区域的空闲车位的数量。
示例地，具体实施时，该服务器可以根据目标车辆的状态信息和第二车辆的状态信息， 预估第二车辆在目标车辆行驶到达第一区域之前驶离第一区域的第三概率，并基于第三概率更新第一区域的空闲车位的使用状态。例如，服务器可以在第三概率的取值大于等于第二值(例如0.7或其它数值)，设置第一区域的空闲车位的数量增加一个，在第三概率的取值小于该第二值时，保持第一区域的空闲车位的数量不变。
需要说明的是，上述三种因素仅是对可能影响目标车辆在第二时刻按时到达第一区域的空闲车位的因素的示例说明而非任何限定，在具体实施时，服务器可以基于上述三种因素中的至少一项综合为目标车辆进行停车位资源规划和调度，例如，服务器可以根据上述第二概率和/或上述第三概率，更新第一区域的空闲车位的使用状态。或者，服务器可以根据上述第二概率和/或第三概率，预估目标车辆行驶到达第一区域时无空闲车位的第四概率，该第一停车信息还可以用于指示该第四概率。在其它实施例中，服务器还可以综合其它因素进行综合衡量，在此不再赘述。
可以理解的是，上述根据第一车辆的状态信息和/或第二车辆的状态信息更新第一区域的车位的使用状态的步骤，也可以是在S230执行的，也就是说，第一车位信息是根据从第一区域的管理节点获得的车位使用情况预估得到的。S240中，服务器可以直接使用预估得到的第一车位信息，为目标车辆进行停车位资源规划和调度，本申请实施例对根据第一车辆的状态信息和/或第二车辆的状态信息更新第一区域的车位的使用状态的步骤的执行时机不做限定。
基于以上介绍，S240中，服务器根据目标车辆的状态信息和第一车位信息为目标车辆进行停车位资源规划和调度可以得到第一停车信息，该第一停车信息可以用于指示以下至少一项信息：第一时长、第一概率、第一区域的空闲车位的数量、或第四概率。目标车辆接收到来自服务器的第一停车信息后，可以输出该第一停车信息。相应地，驾驶员可以根据该第一停车信息所指示的至少一项信息，决策是否需要提前停车休息以及去哪个备选停车区域停车休息。
例如，若该第一停车信息指示该第一区域包括区域1、区域2、和区域3，目标车辆可以从该区域1、区域2、和区域3中选择一个区域作为目标停车区域，并驶向该目标停车区域停车休息。
又例如，若该第一停车信息指示该第一区域包括区域1、区域2、和区域3，目标车辆的当前已运行时长为1h，区域1、区域2、和区域3对应的第一时长分别为2h、1.5h、3h，目标车辆可以结合各个区域的第一时长进行停车决策。例如从区域1、区域2或区域3中选择任一个区域作为目标停车区域，或者按照区域1、区域2或区域3的优先级(优先级高表明目标车辆驶入该区域可摆脱疲劳行驶的可能性大，优先级较低表明目标车辆驶入该区域可摆脱疲劳行驶的可能性小，在该实施例中，区域1、区域2或区域3的优先级排序为区域2＞区域1＞区域3)从中选择优先级最高的区域作为目标停车区域，并驶向该目标停车区域停车休息，以避免目标车辆驾驶员疲劳行驶。又例如，若该第一停车信息指示该第一区域包括区域1、区域2、和区域3，目标车辆按时(按照目标车辆预计的到达各个第一区域的第二时刻)行驶到达区域1、区域2、和区域3的第一概率分别为0.6、0.9、0.8，目标车辆还可以结合各个区域对应的第一概率进行停车决策。例如从区域1、区域2或区域3中选择第一概率最大的区域作为目标停车区域，并驶向该目标停车区域停车休息，以避免目标车辆驾驶员疲劳行驶。其中，在一种可能的实现方式中，若至少两个第一区域的第一概率相同，例如区域1、区域2对应的第一概率相同(例如均为0.9)，该目标车辆例 如还可以结合区域1、区域2对应的第一时长确定目标停车区域，例如在区域1和区域2中选择第一时长的取值较小的区域作为目标停车区域。
又例如，若该第一停车信息指示该第一区域包括区域1、区域2、和区域3，目标车辆行驶到达区域1、区域2、和区域3时无空闲车位的第四概率分别为0.3、0.5、0.4，目标车辆还可以结合各个区域对应的第四概率进行停车决策，例如从区域1、区域2或区域3中选择第一四概率最小的区域作为目标停车区域，并驶向该目标停车区域停车休息，以避免目标车辆驾驶员疲劳行驶。其中，在一种可能的实现方式中，若至少两个第一区域的第四概率相同，例如区域1、区域2对应的第四概率相同(例如均为0.3)，该目标车辆例如还可以结合区域1、区域2对应的第一时长确定目标停车区域，例如在区域1和区域2中选择第一时长的取值较小的区域作为目标停车区域。
由此，通过以上示例，目标车辆可以根据第一停车信息综合进行停车决策，以便该目标车辆在行驶达到规定的阈值之前，能够行驶到第一区域的空闲车位停车休息。该方法可通过灵活地为目标车辆进行停车位资源的规划和调度，有助于降低目标车辆驾驶员疲劳行驶的概率，提升交通安全性。
需要说明的是，本申请实施例中，目标车辆输出该第一停车信息，可以是经由人机交互界面显示该第一停车信息，也可以是通过语音输出该第一停车信息，或者通过人机交互界面和语音输出该第一停车信息，本申请实施例对该第一停车信息的输出方式不做限定。
此外，本申请实施例中，一种可能的实现方式中，服务器可以用于对停车区域的车位进行统一管理，在上述主动模式下，该目标车辆还可以主动请求服务器为目标车辆分配停车位。
示例地，目标车辆可以向服务器发送车位分配请求，该车位分配请求中可以携带目标车辆的状态信息，例如目标车辆的第一位置、当前已运行时长等。服务器可以响应于该车位分配请求，根据第一车位信息和该目标车辆的类型，为目标车辆分配第一车位，该第一车位为第一区域的空闲车位。进一步地，服务器可以向该目标车辆发送车位分配响应消息，该车位分配响应消息可用于指示该第一车位。该服务器还可以向第一区域的管理节点发送第一指示信息，该第一指示信息科用于指示该目标车辆占用该第一车位。示例地，该目标车辆的类型可以是指车辆类型、用户等级、调度优先级等，基于不同车辆类型、不同用户等级、不同调度优先级，服务器可以为车辆提供不同类型的服务，例如，停车规划建议服务、主动请求分配车位的服务、车辆间的即时通信服务等，将在下文中详述，在此暂不赘述。
由此，第一区域的管理节点即可为目标车辆预留(或称为预订、锁定等)该第一车位，第一车位处于占用状态，目标车辆以外的其它车辆将无法占用或使用该第一车位。后续，待该目标车辆取消占用该第一车位或者目标车辆使用该第一车位并驶离后，该第一车位的状态可变换为空闲状态，服务器可以在为其它车辆进行停车位资源调度时，为其它车辆分配该第一车位。可以理解的是，本申请实施例中，服务器同样可以为其它车辆分配和预留车位，例如为第三车辆分配第二车位，或为第四车辆分配第三车位，详细实现过程可参见上述描述，在此不再赘述。
另一种可能的实现方式中，服务器还可以在目标车辆和其它车辆(例如第三车辆)之间、或者其它车辆(例如第四车辆)与目标车辆之间实现即时通信的功能，为该目标车辆和其它车辆(包括第三车辆或第四车辆)提供交流途径，实现目标车辆与其它车辆之间的 已分配车位的变更，提升停车位分配的灵活性。
示例地，目标车辆可以向服务器发送车位更新请求。服务器可以接收来自目标车辆的车位更新请求，并响应于该车位更新请求，与第三车辆协商交换第三车辆和目标车辆的已分配车位。其中，若第三车辆确认交换目标车辆和第三车辆的已分配车位，服务器可以根据来自第三车辆的车位交换响应信息获得车位更新信息，并向目标车辆发送该车位更新信息。若第三车辆拒绝交换目标车辆和第三车辆的已分配车位，服务器可与第五车辆协商交换第五车辆和目标车辆的已分配车位。
或者，第四车辆可以向服务器发送车位更新请求。服务器可以接收来自第四车辆的车位更新请求，并根据该车位更新请求向目标车辆发送车位交换请求，该车位交换请求可用于指示交换该目标车辆和第四车辆的已分配车位。目标车辆可以向服务器发送车位交换响应信息。其中，若目标车辆同意交换，该车位交换响应信息可以用于确认交换目标车辆和第四车辆的已分配车位，服务器可以根据该车位交换响应信息获得车位更新信息，并向第四车辆发送该车位更新信息。若该目标车辆拒绝交换，该车位交换响应信息可以用于拒绝交换目标车辆和第四车辆的已分配车位，进一步地，服务器可以选择第六车辆，并与第六车辆协商交换第四车辆与第六车辆的已分配车位。
如前所述，目标车辆的类型可以有多种理解，例如可以指示该目标车辆的车辆类型、用户等级、调度优先级等。
以用户等级为例，服务器可以根据不同的用户等级为车辆提供不同类型的服务：
例如，a)高等级：该等级下，服务器可为车辆提供停车规划建议服务、指定预留车位的服务、车辆间的即时通信服务等。b)中等级：该等级下，服务器可为车辆提供停车规划建议服务、预留车位的服务(该预留的车位由服务器统一规划，不可指定)。c)低等级：该等级下，服务器仅可为车辆提供停车规划建议服务。
以车辆类型为例，服务器可以根据不同的车辆类型为车辆设置相应的用户等级或调度优先级。例如，对于私家乘用车辆，服务器可为该车辆设置低等级或低调度优先级，对特种作业车辆(例如救护车、消防车等)，服务器可为该车辆设置高等级或高调度优先级，对于车辆编队中的车辆，服务器可为该车辆设置中等级或中优先级。
服务器在为多个车辆统一进行车位分配时，可以考虑各个车辆当前的已运行时长、距离备选停车区域的距离、行车路线关联的路况信息、天气情况、以及各个车辆的类型等，综合为各个车辆分配停车位，尽可能多地满足多个车辆的需求。
由此，通过上述方法，服务器不仅可以为车辆进行停车位资源规划，降低车辆驾驶员连续驾驶超时的风险，还可以为车辆提供停车位的指定/分配服务，为车辆提供不同类型的车位预订服务，增大车辆停车时有可用车位的概率，降低车辆在规定的连续运行时长内无法找到可用停车位的风险，提升停车位资源规划和调度的灵活性。
为了便于理解，下面结合方法流程图对本申请实施例的车辆控制方法的实现过程进行介绍。
图3为本申请实施例的车辆控制方法的流程示意图。其中，该方法中，服务器用于为目标车辆提供停车位资源的规划建议服务。其中需要说明的是，下文中述及的各个步骤仅是该方法可能包括的步骤的示例并非限定，在具体实施时，有些可选步骤可以不执行，有些步骤之间可以调换实施顺序，本申请实施例对此不做限定。
如图3所示，该方法可以包括以下步骤：
S301：目标车辆向服务器上报导航规划路径或目的地信息。
其中，该S301为可选步骤，在执行该S301的情况下，服务器可以根据该导航规划路径为目标车辆提供更佳的停车规划建议，详细实现可参阅上文结合示例1的相关描述。在未执行该S301的情况下，服务器可根据车辆基于当前行车路线行驶所可能途经的所有备选停车区域的情况，为目标车辆提供停车规划建议，详细实现可参阅上文结合上文中示例2的相关描述，在此不再赘述。图3中虚线箭头表示该步骤为可选步骤。
S302：目标车辆设置目标模式，该目标模式例如可以为主动模式或自动模式。
其中，主动模式表示在目标车辆主动请求停车规划建议时，服务器可响应于来自目标车辆的请求，向该目标车辆下发第一停车信息。自动模式表示无需目标主动车辆请求停车规划建议，服务器可自动向目标车辆发送第一停车信息，可以周期性发送，也可以在第一停车信息发生更新时发送，例如在第一区域发生变更时、第一区域的车位的使用状态发生变更时等。
S303：目标车辆上报启动运行时刻。
其中，在主动模式下，可以在目标车辆启动运行时，由驾驶员通过与目标车辆关联的智能设备/车载终端通过车机应用自行向服务器上报该目标车辆的启动运行时刻。在自动模式下，驾驶员/目标车辆可以给服务器或车机应用授权，以便服务器或车机应用可以监测该目标车辆的启动权限，并在目标车辆启动运行时刻开始计时和上报。
在一种可能的实现方式中，该目标车辆还可以向服务器上报自身的其它状态信息，例如位置信息、航向角、速度信息、已运行时长等。
S304：目标车辆向服务器发送停车规划建议请求(例如车位分配请求)。其中，该S304为可选步骤，仅在S302中设置主动模式的情况下执行。图3中虚线箭头表示该步骤为可选步骤。
S305：服务器从多个停车区域(例如区域1、区域2)的管理节点查询相应停车区域的车位的使用状态信息。
示例地，停车区域的车位的使用状态信息可以包括前文述及的至少一种情形，例如：
情形A：当前时刻的车位使用情况；
情形B：当前时刻空闲车位被其它车辆预约的情况；
情形C：当前已使用车位上的车辆是否处于短暂停车状态，以及可能驶离的时间。
S306：服务器查询目标车辆的行车路线关联的路况信息。例如可以从交通部门的管理节点查询，也可以从导航应用获取，本申请实施例对该实现方式不做限定。
S307：服务器根据目标车辆的状态信息，所查询到的停车区域的车位的使用状态信息，为目标车辆进行停车位资源规划，得到第一停车信息。
其中，实施S307时，服务器需要综合考虑多项信息，例如：
1)、目标车辆当前的剩余可运行时长，为第二阈值与该目标车辆的当前已运行时长的差值；
2)、目标车辆预计达到第一区域的第二时刻，该第二时刻可以根据当前所在的位置(例如第一位置)到第一区域的距离、速度等预估得到。
3)、与目标车辆的行车路线关联的路况信息，该路况信息可用于预估目标车辆在第二时刻按时行驶到达所述第一区域的第一概率。
4)、第一区域的剩余可用车位的数量，即服务区停车位的实时使用情况，是真实值。
5)、目标车辆行驶到达第一区域时，该第一区域不存在可用车位的风险，表示为第四概率，该风险主要考虑位于目标车辆与第一区域之间的其它车辆(例如第一车辆)可能先于目标车辆驶入第一区域的空闲车位，使得该第一区域的可用车位的数量减少，以及当前已在第一区域停留的车辆(例如第二车辆)也可能在目标车辆到达第一区域之前驶离该第一区域，使得该第一区域的可用车位的数量增加。
S307的详细实现过程可参见上文中结合S240的相关描述，在此不再赘述。
S308：服务器向目标车辆发送第一停车信息，该第一停车信息可以用于指示服务器为该目标车辆制定的停车规划建议方案。相应地，目标车辆可以接收来自服务器的第一停车信息，并输出该第一停车信息。
示例地，目标车辆可以在人机交互界面上显示该第一停车信息，如图4所示，该第一停车信息可用于指示第一时长、第一区域的空闲车位的数量、第一概率、第四概率等。目标车辆的驾驶员可以根据该第一停车信息决策是否提前停车休息以及去哪里停车休息，以减少目标车辆驾驶员疲劳行驶的概率，提升交通安全性。
由此，通过上述方法实施例，基于车辆的连续运行时长上限对停车位资源规划和调度的需求，服务器可以基于车辆的连续运行时长，灵活地为车辆/车辆驾驶员提供停车建议，尽量避免驾驶员疲劳驾驶，提升交通安全性。
图5为本申请实施例的车辆控制方法的流程示意图。其中，该方法中，服务器用于为目标车辆提供停车位资源分配服务，其中，服务器可以为多个停车区域的车位进行统一管理，根据多个车辆中的目标车辆的车位分配请求，为目标车辆预订/分配停车位资源，确保目标车辆有可用的停车位，降低目标车辆在规定的连续运行时长内无法找到可用停车位的风险。
其中需要说明的是，下文中述及的各个步骤仅是该方法可能包括的步骤的示例并非限定，在具体实施时，有些可选步骤可以不执行，有些步骤之间可以调换实施顺序，本申请实施例对此不做限定。
如图5所示，该方法可以包括以下步骤：
S501：多个车辆中的目标车辆向服务器发送状态信息。
S502：目标车辆向服务器发送车位分配请求。
S503：服务器从多个停车区域的管理节点查询相应停车区域的车位的使用状态信息。
S504：服务器获取与目标车辆的行车路线关联的路况信息。
S505：服务器根据目标车辆的状态信息、多个停车区域的车位的使用状态、目标车辆的行车路线关联的路况信息、以及目标车辆的类型，为目标车辆分配第一车位。
S506：服务器向第一区域的管理节点发送第一指示信息，所述第一指示信息用于指示所述目标车辆占用所述第一车位。
S507：服务器向目标车辆发送车位分配响应信息，所述车位分配响应信息用于指示所述第一车位。
S501-S507的详细实现细节可参见上文中结合S210-S250的相关描述，在此不再赘述。
图6为本申请实施例的车辆控制方法的流程示意图。其中，该方法中，服务器用于为目标车辆提供车辆之间的即时通信服务，使得不同车辆之间可以通过交流，实现已分配车 位资源的变更。其中需要说明的是，下文中述及的各个步骤仅是该方法可能包括的步骤的示例并非限定，在具体实施时，有些可选步骤可以不执行，有些步骤之间可以调换实施顺序，本申请实施例对此不做限定。
如图6所示，以目标车辆请求交换已分配车位为例，该方法可以包括以下步骤：
S601：目标车辆向服务器发送车位更新请求，该车位更新请求用于指示更换已分配车位。
其中，若该目标车辆指定交换对象，该车位更新请求中可选地还可以携带交换对象的标识(例如指定的车辆的标识或已为指定车辆分配的车位的标识)。
S602：服务器响应于目标车辆的车位更新请求确定目标车辆的目标交换对象，表示为第三车辆。
其中，若目标车辆在S601未指定交换对象，服务器可以根据多个车辆的已分配车位情况，随机为该目标车辆分配潜在交换对象作为目标交换对象。若目标车辆在S601指定交换对象，则服务器可以将该指定的交换对象作为该目标车辆的目标交换对象。
S603：服务器与第三车辆协商交换所述第三车辆和所述目标车辆的已分配车位，获得车位更新信息。
其中，S603中，服务器可以向该目标交换对象(即第三车辆)发送车位交换请求，该车位交换请求可以用于指示交换所述目标车辆和第三车辆的已分配车位。示例地，该车位交换请求中可以携带目标车辆的车辆标识、以及目标车辆的已分配车位的信息。进一步地，第三车辆可以向服务器发送车位交换响应信息。若第三车辆同意交换，该车位交换响应信息可以用于确认交换目标车辆和第三车辆的已分配车位，服务器可以根据该车位交换响应信息获得车位更新信息，并向目标车辆发送该车位更新信息。若该第三车辆拒绝交换，该车位交换响应信息可以用于拒绝交换目标车辆和第三车辆的已分配车位，进一步地，服务器可以选择其它车辆(例如第五车辆)，并采用相同的方法与第五车辆协商交换目标车辆与第五车辆的已分配车位。
S604：服务器向目标车辆发送车位更新信息。
可以理解的是，目标车辆也可以作为第四车辆的被交换方，服务器可以在采用相同的方法，响应于来自第四车辆的车位更新请求，与目标车辆协商交换所述第四车辆和所述目标车辆的已分配车位，实现第四车辆与目标车辆之间的已分配车位变更，详细实现可参见图6的相关描述，在此不再赘述。
由此，通过上述方法实施例，可以比较充分地考虑到驾驶员/目标车辆可能对分配到的停车位不满意的情况、或目标车辆存在尽快停车的需求时，服务器可以提供不同车辆之间的即时通信功能，如果通信双方达成交换车位的协议，则服务器可以交换二者的预订车位。该实施例可用于车辆编队(非跟车编队)场景，实现在同一个车队下停车位资源可以共享。可以理解的是，该实施例同样可以适用于车队运营方，由车队运营方统一管理预订车位，而非车队中的两车之间自行协商交换已分配车位，在此不再赘述。
本申请实施例还提供了一种车辆控制装置，用于执行上述方法实施例中服务器或目标车辆所执行的方法，相关特征可参见上述方法实施例，在此不再赘述。
如图7所示，在一个示例中，该车辆控制装置700可以包括：获取单元701，用于获取目标车辆的状态信息，所述状态信息包括运行时长；处理单元702，用于根据所述状态 信息确定第一区域，其中，所述第一区域包括所述目标车辆的备选停车区域，所述目标车辆到达所述第一区域的时刻与第一时刻的差值为第一时长，所述第一时长小于等于第一阈值；所述获取单元701还用于获取第一车位信息，所述第一车位信息用于指示所述第一区域的车位的使用状态；所述处理单元702还用于根据所述目标车辆的状态信息和所述第一车位信息，确定第一停车信息，所述第一停车信息用于指示所述第一区域的空闲车位；通信单元703，用于向所述目标车辆发送所述第一停车信息。详细实现过程可参阅上文中的服务器实现的方法实施例，在此不再赘述。
本申请实施例还提供了一种车辆控制装置，用于执行上述方法实施例中车辆所执行的方法，相关特征可参见上述方法实施例，在此不再赘述。
如图8所示，该装置800可以包括：通信单元801，用于向服务器发送目标车辆的状态信息；接收来自所述服务器的第一停车信息，其中，所述第一停车信息根据所述目标车辆的状态信息和第一车位信息得到，所述第一车位信息用于指示第一区域的车位的使用状态，所述第一区域包括目标车辆的备选停车区域，所述目标车辆到达所述第一区域的时刻与第一时刻的差值为第一时长，所述第一时长小于等于第一阈值，所述第一停车信息用于指示所述第一区域的空闲车位；输出单元802，用于输出所述第一停车信息。详细实现过程可参阅上文中的车辆实现的方法实施例，在此不再赘述。
需要说明的是，本申请实施例中对单元的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。在本申请的实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对相关技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
在一个简单的实施例中，本领域的技术人员可以想到上述实施例中的车辆控制装置或车辆均可采用图9所示的形式。
如图9所示的装置900，包括至少一个处理器910、存储器920，可选地，还可以包括通信接口930。
存储器920可以是易失性存储器，例如随机存取存储器；存储器也可以是非易失性存储器，例如只读存储器，快闪存储器，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)、或者存储器920是能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器920可以是上述存储器的组合。
本申请实施例中不限定上述处理器910以及存储器920之间的具体连接介质。
在如图9的装置中，还包括通信接口930，处理器910在与其他设备进行通信时，可以通过通信接口930进行数据传输。
当车辆控制装置采用图9所示的形式时，图9中的处理器910可以通过调用存储器920中存储的计算机执行指令，使得装置900可以执行上述任一方法实施例中服务器执行的方法，或者使得装置900可以执行上述任一方法实施例中车辆执行的方法。
本申请实施例还涉及一种芯片系统，该芯片系统包括处理器，用于调用存储器中存储的计算机程序或计算机指令，以使得该处理器执行上述方法实施例。
在一种可能的实现方式中，该处理器通过接口与存储器耦合。
在一种可能的实现方式中，该芯片系统还包括存储器，该存储器中存储有计算机程序或计算机指令。
本申请实施例还涉及一种计算机可读存储介质，所述计算机可读介质存储有程序代码，当所述程序代码在计算机上运行时，使得计算机执行上述方法实施例。
本申请实施例还涉及一种计算机程序产品，当所述计算机程序产品在计算机上运行时，使得所述计算机执行上述方法实施例。本申请实施例还涉及一种处理器，该处理器用于调用存储器中存储的计算机程序或计算机指令，以使得该处理器执行上述方法实施例。
其中，上述任一处提到的处理器，可以是一个通用中央处理器，微处理器，特定ASIC，或一个或多个用于控制上述图5所示的实施例中的驾驶场景识别方法的程序执行的集成电路。上述任一处提到的存储器可以为只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)等。
应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然，本领域的技术人员可以对本申请实施例进行各种改动和变型而不脱离本申请实施例范围。这样，倘若本申请实施例的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (46)

  1. 一种车辆控制方法，其特征在于，所述方法包括：
    获取目标车辆的状态信息；
    根据所述状态信息确定第一区域，其中，所述第一区域包括所述目标车辆的备选停车区域，所述目标车辆到达所述第一区域的时刻与第一时刻的差值为第一时长，所述第一时长小于等于第一阈值；
    获取第一车位信息，所述第一车位信息用于指示所述第一区域的车位的使用状态；
    根据所述目标车辆的状态信息和所述第一车位信息，确定第一停车信息，所述第一停车信息用于指示所述第一区域的空闲车位；
    向所述目标车辆发送所述第一停车信息。
  2. 根据权利要求1所述的方法，其特征在于，
    所述第一区域为与所述目标车辆的规划路径关联的停车区域；或者，
    所述第一区域为所述目标车辆在第二时长内基于当前行车路线行驶所途经的停车区域。
  3. 根据权利要求1或2所述的方法，其特征在于，所述第一时长为根据所述目标车辆的状态信息得到的预估时长，所述第一停车信息还用于指示所述第一时长。
  4. 根据权利要求1-3中任一项所述的方法，其特征在于，所述状态信息包括所述目标车辆的位置信息和速度信息，所述方法还包括：
    获取与所述目标车辆的行车路线关联的路况信息；
    根据所述路况信息、所述位置信息和所述速度信息，预估所述目标车辆在第二时刻行驶到达所述第一区域的第一概率，其中，所述第二时刻为所述目标车辆预计到达所述第一区域的时刻，所述第一停车信息还用于指示所述第一概率。
  5. 根据权利要求1-4中任一项所述的方法，其特征在于，所述第一区域包括第一车辆的备选停车区域，或者包括第二车辆停留的停车区域，所述方法还包括：
    根据所述第一车辆的状态信息和/或所述第二车辆的状态信息，更新所述第一区域的车位的使用状态，所述第一停车信息还用于指示所述第一区域的空闲车位的数量。
  6. 根据权利要求5所述的方法，其特征在于，所述更新所述第一区域的车位的使用状态，包括：
    根据所述目标车辆的状态信息和所述第一车辆的状态信息，预估所述第一车辆先于所述目标车辆行驶到达所述第一区域的空闲车位的第二概率；
    根据所述目标车辆的状态信息和所述第二车辆的状态信息，预估所述第二车辆在所述目标车辆行驶到达所述第一区域之前驶离所述第一区域的第三概率；
    根据所述第二概率和/或所述第三概率，更新所述第一区域的空闲车位的使用状态。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    根据所述第二概率和/或所述第三概率，预估所述目标车辆行驶到达所述第一区域时无空闲车位的第四概率，所述第一停车信息还用于指示所述第四概率。
  8. 根据权利要求1-7中任一项所述的方法，其特征在于，所述方法还包括：
    接收来自所述目标车辆的车位分配请求；
    响应于所述车位分配请求，根据所述第一车位信息和所述目标车辆的类型，为所述目 标车辆分配第一车位，所述第一车位为所述第一区域的空闲车位；
    向所述第一区域的管理节点发送第一指示信息，所述第一指示信息用于指示所述目标车辆占用所述第一车位；
    向所述目标车辆发送车位分配响应信息，所述车位分配响应信息用于指示所述第一车位。
  9. 根据权利要求1-8中任一项所述的方法，其特征在于，所述方法还包括：
    接收来自所述目标车辆的车位更新请求；
    响应于所述车位更新请求，与第三车辆协商交换所述第三车辆和所述目标车辆的已分配车位，获得车位更新信息；
    向所述目标车辆发送所述车位更新信息。
  10. 根据权利要求1-9中任一项所述的方法，其特征在于，所述方法还包括：
    根据来自第四车辆的车位更新请求，向所述目标车辆发送车位交换请求，所述车位交换请求用于指示交换所述目标车辆和第四车辆的已分配车位；
    接收来自所述目标车辆的车位交换响应信息，所述车位交换响应信息用于确认交换所述目标车辆和第四车辆的已分配车位。
  11. 一种车辆控制方法，其特征在于，包括：
    向服务器发送目标车辆的状态信息；
    接收来自所述服务器的第一停车信息，其中，所述第一停车信息根据所述目标车辆的状态信息和第一车位信息得到，所述第一车位信息用于指示第一区域的车位的使用状态，所述第一区域包括所述目标车辆的备选停车区域，所述目标车辆行驶到达所述第一区域的时刻与第一时刻的差值为第一时长，所述第一时长小于等于第一阈值，所述第一停车信息用于指示所述第一区域的空闲车位；
    输出所述第一停车信息。
  12. 根据权利要求11所述的方法，其特征在于，
    所述第一区域为与所述目标车辆的规划路径关联的停车区域；或者，
    所述第一区域为所述目标车辆在第二时长内基于当前行车路线行驶所途经的停车区域。
  13. 根据权利要求11或12所述的方法，其特征在于，所述第一时长为根据所述目标车辆的状态信息得到的预估时长，所述第一停车信息还用于指示所述第一时长。
  14. 根据权利要求11-13中任一项所述的方法，其特征在于，所述状态信息包括所述目标车辆的位置信息和速度信息，所述第一停车信息还用于指示第一概率，所述第一概率为所述目标车辆在第二时刻行驶到达所述第一区域的概率，所述第一概率根据与所述目标车辆的行车路线关联的路况信息、所述位置信息和所述速度信息预估得到，所述第二时刻为所述目标车辆预计到达所述第一区域的时刻。
  15. 根据权利要求11-14中任一项所述的方法，其特征在于，所述第一停车信息还用于指示所述第一区域的空闲车位的数量，其中，所述第一区域的车位的使用状态根据第一车辆的状态信息和/或第二车辆的状态信息更新得到，所述第一区域包括第一车辆的备选停车区域，或者包括第二车辆停留的停车区域。
  16. 根据权利要求15所述的方法，其特征在于，所述第一区域的车位的使用状态根据所述第一车辆的状态信息和/或所述第二车辆的状态信息更新得到，包括：
    所述第一区域的空闲车位的使用状态根据第一概率和/或第二概率更新得到，其中，所述第一概率为根据所述目标车辆的状态信息和所述第一车辆的状态信息预估的、所述第一车辆先于所述目标车辆行驶到达所述第一区域的空闲车位的概率，所述第三概率为根据所述目标车辆的状态信息和所述第二车辆的状态信息预估的、所述第二车辆在所述目标车辆行驶到达所述第一区域之前驶离所述第一区域的概率。
  17. 根据权利要求16所述的方法，其特征在于，所述第一停车信息还用于指示第四概率，所述第四概率为根据所述第二概率和/或所述第三概率预估的、所述目标车辆行驶到达所述第一区域时无空闲车位的概率。
  18. 根据权利要求11-17中任一项所述的方法，其特征在于，所述方法还包括：
    向所述服务器发送车位分配请求；
    接收来自所述服务器的车位分配响应信息，所述车位分配响应信息用于指示第一车位，所述第一车位为所述第一区域的空闲车位，所述第一车位是所述服务器根据所述第一车位信息和所述目标车辆的类型分配的。
  19. 根据权利要求11-18中任一项所述的方法，其特征在于，所述方法还包括：
    向所述服务器发送车位更新请求；
    接收来自所述服务器的车位更新信息，所述车位更新信息根据所述车位更新请求与第三车辆协商交换所述第三车辆和所述目标车辆的已分配车位得到。
  20. 根据权利要求11-19中任一项所述的方法，其特征在于，所述方法还包括：
    接收来自所述服务器的车位交换请求，所述车位交换请求用于指示交换所述目标车辆和第四车辆的已分配车位；
    向所述服务器发送车位交换响应信息，所述车位交换响应信息用于确认交换所述目标车辆和第四车辆的已分配车位。
  21. 一种车辆控制装置，其特征在于，包括：
    获取单元，用于获取目标车辆的状态信息，所述状态信息包括运行时长；
    处理单元，用于根据所述状态信息确定第一区域，其中，所述第一区域包括所述目标车辆的备选停车区域，所述目标车辆到达所述第一区域的时刻与第一时刻的差值为第一时长，所述第一时长小于等于第一阈值；
    所述获取单元还用于获取第一车位信息，所述第一车位信息用于指示所述第一区域的车位的使用状态；
    所述处理单元还用于根据所述目标车辆的状态信息和所述第一车位信息，确定第一停车信息，所述第一停车信息用于指示所述第一区域的空闲车位；
    通信单元，用于向所述目标车辆发送所述第一停车信息。
  22. 根据权利要求21所述的装置，其特征在于，
    所述第一区域为与所述目标车辆的规划路径关联的停车区域；或者，
    所述第一区域为所述目标车辆在第二时长内基于当前行车路线行驶所途经的停车区域。
  23. 根据权利要求21或22所述的装置，其特征在于，所述第一时长为根据所述目标车辆的状态信息得到的预估时长，所述第一停车信息还用于指示所述第一时长。
  24. 根据权利要求21-23中任一项所述的装置，其特征在于，所述状态信息包括所述目标车辆的位置信息和速度信息，所述获取单元用于：
    获取与所述目标车辆的行车路线关联的路况信息；
    根据所述路况信息、所述位置信息和所述速度信息，预估所述目标车辆在第二时刻行驶到达所述第一区域的第一概率，其中，所述第二时刻为所述目标车辆预计到达所述第一区域的时刻，所述第一停车信息还用于指示所述第一概率。
  25. 根据权利要求21-24中任一项所述的装置，其特征在于，所述第一区域包括第一车辆的备选停车区域，或者包括第二车辆停留的停车区域，所述处理单元用于：
    根据所述第一车辆的状态信息和/或所述第二车辆的状态信息，更新所述第一区域的车位的使用状态，所述第一停车信息还用于指示所述第一区域的空闲车位的数量。
  26. 根据权利要求25所述的装置，其特征在于，所述处理单元用于：
    根据所述目标车辆的状态信息和所述第一车辆的状态信息，预估所述第一车辆先于所述目标车辆行驶到达所述第一区域的空闲车位的第二概率；
    根据所述目标车辆的状态信息和所述第二车辆的状态信息，预估所述第二车辆在所述目标车辆行驶到达所述第一区域之前驶离所述第一区域的第三概率；
    根据所述第二概率和/或所述第三概率，更新所述第一区域的空闲车位的使用状态。
  27. 根据权利要求26所述的装置，其特征在于，所述处理单元用于：
    根据所述第二概率和/或所述第三概率，预估所述目标车辆行驶到达所述第一区域时无空闲车位的第四概率，所述第一停车信息还用于指示所述第四概率。
  28. 根据权利要求21-27中任一项所述的装置，其特征在于，所述通信单元用于：
    接收来自所述目标车辆的车位分配请求；
    响应于所述车位分配请求，根据所述第一车位信息和所述目标车辆的类型，为所述目标车辆分配第一车位，所述第一车位为所述第一区域的空闲车位；
    向所述第一区域的管理节点发送第一指示信息，所述第一指示信息用于指示所述目标车辆占用所述第一车位；
    向所述目标车辆发送车位分配响应信息，所述车位分配响应信息用于指示所述第一车位。
  29. 根据权利要求21-28中任一项所述的装置，其特征在于，所述通信单元用于：
    接收来自所述目标车辆的车位更新请求；
    响应于所述车位更新请求，与第三车辆协商交换所述第三车辆和所述目标车辆的已分配车位，获得车位更新信息；
    向所述目标车辆发送所述车位更新信息。
  30. 根据权利要求21-29中任一项所述的装置，其特征在于，所述通信单元用于：
    根据来自第四车辆的车位更新请求，向所述目标车辆发送车位交换请求，所述车位交换请求用于指示交换所述目标车辆和第四车辆的已分配车位；
    接收来自所述目标车辆的车位交换响应信息，所述车位交换响应信息用于确认交换所述目标车辆和第四车辆的已分配车位。
  31. 一种车辆控制装置，其特征在于，包括：
    通信单元，用于向服务器发送目标车辆的状态信息；接收来自所述服务器的第一停车信息，其中，所述第一停车信息根据所述目标车辆的状态信息和第一车位信息得到，所述第一车位信息用于指示第一区域的车位的使用状态，所述第一区域包括目标车辆的备选停 车区域，所述目标车辆到达所述第一区域的时刻与第一时刻的差值为第一时长，所述第一时长小于等于第一阈值，所述第一停车信息用于指示所述第一区域的空闲车位；
    输出单元，用于输出所述第一停车信息。
  32. 根据权利要求31所述的装置，其特征在于，
    所述第一区域为与所述目标车辆的规划路径关联的停车区域；或者，
    所述第一区域为所述目标车辆在第二时长内基于当前行车路线行驶所途经的停车区域。
  33. 根据权利要求31或32所述的装置，其特征在于，所述第一时长为根据所述目标车辆的状态信息得到的预估时长，所述第一停车信息还用于指示所述第一时长。
  34. 根据权利要求31-33中任一项所述的装置，其特征在于，所述状态信息包括所述目标车辆的位置信息和速度信息，所述第一停车信息还用于指示第一概率，所述第一概率为所述目标车辆在第二时刻行驶到达所述第一区域的概率，所述第一概率根据与所述目标车辆的行车路线关联的路况信息、所述位置信息和所述速度信息预估得到，所述第二时刻为所述目标车辆预计到达所述第一区域的时刻。
  35. 根据权利要求31-34中任一项所述的装置，其特征在于，所述第一停车信息还用于指示所述第一区域的空闲车位的数量，其中，所述第一区域的车位的使用状态根据第一车辆的状态信息和/或第二车辆的状态信息更新得到，所述第一区域包括第一车辆的备选停车区域，或者包括第二车辆停留的停车区域。
  36. 根据权利要求35所述的装置，其特征在于，所述第一区域的车位的使用状态根据所述第一车辆的状态信息和/或所述第二车辆的状态信息更新得到，包括：
    所述第一区域的空闲车位的使用状态根据第一概率和/或第二概率更新得到，其中，所述第一概率为根据所述目标车辆的状态信息和所述第一车辆的状态信息预估的、所述第一车辆先于所述目标车辆行驶到达所述第一区域的空闲车位的概率，所述第三概率为根据所述目标车辆的状态信息和所述第二车辆的状态信息预估的、所述第二车辆在所述目标车辆行驶到达所述第一区域之前驶离所述第一区域的概率。
  37. 根据权利要求36所述的装置，其特征在于，所述第一停车信息还用于指示第四概率，所述第四概率为根据所述第二概率和/或所述第三概率预估的、所述目标车辆行驶到达所述第一区域时无空闲车位的概率。
  38. 根据权利要求31-37中任一项所述的装置，其特征在于，所述通信单元还用于：
    向所述服务器发送车位分配请求；
    接收来自所述服务器的车位分配响应信息，所述车位分配响应信息用于指示第一车位，所述第一车位为所述第一区域的空闲车位，所述第一车位是所述服务器根据所述第一车位信息和所述目标车辆的类型分配的。
  39. 根据权利要求31-38中任一项所述的装置，其特征在于，所述通信单元还用于：
    向所述服务器发送车位更新请求；
    接收来自所述服务器的车位更新信息，所述车位更新信息根据所述车位更新请求与第三车辆协商交换所述第三车辆和所述目标车辆的已分配车位得到。
  40. 根据权利要求31-39中任一项所述的装置，其特征在于，所述通信单元还用于：
    接收来自所述服务器的车位交换请求，所述车位交换请求用于指示交换所述目标车辆和第四车辆的已分配车位；
    向所述服务器发送车位交换响应信息，所述车位交换响应信息用于确认交换所述目标车辆和第四车辆的已分配车位。
  41. 一种车辆控制装置，其特征在于，包括：处理器和存储器；
    所述存储器用于存储程序；
    所述处理器用于执行所述存储器所存储的程序，以使所述装置实现如所述权利要求1-10中任一项所述的方法。
  42. 一种车辆控制装置，其特征在于，包括：处理器和存储器；
    所述存储器用于存储程序；
    所述处理器用于执行所述存储器所存储的程序，以使所述装置实现如所述权利要求11-20中任一项所述的方法。
  43. 一种车辆控制系统，其特征在于，包括：
    如权利要求21所述的车辆控制装置，和，
    如权利要求31所述的车辆控制装置。
  44. 一种计算机可读存储介质，其特征在于，所述计算机可读介质存储有程序代码，当所述程序代码在计算机上运行时，使得计算机执行如权利要求1至10中任一项所述的方法；或者，当所述程序代码在计算机上运行时，使得计算机执行如权利要求11至20中任一项所述的方法。
  45. 一种计算机程序产品，其特征在于，当所述计算机程序产品在计算机上运行时，使得所述计算机执行如权利要求1至10中任一项所述的方法；或者，执行如权利要求11至20中任一项所述的方法。
  46. 一种车辆，其特征在于，包括：
    如权利要求42所述的车辆控制装置；
    或者如权利要求31至40中任一项所述的车辆控制装置。
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