WO2024179511A1

WO2024179511A1 - Automatic parking method, apparatus, and system, terminal, medium, and program product

Info

Publication number: WO2024179511A1
Application number: PCT/CN2024/078977
Authority: WO
Inventors: 潘越; 瞿元; 孙雨; 辛宇威; 吴志军; 蓝光健; 张瑶瑶
Original assignee: 奇瑞汽车股份有限公司
Priority date: 2023-03-02
Filing date: 2024-02-28
Publication date: 2024-09-06
Also published as: CN116161057A

Abstract

An automatic parking method, apparatus, and system, a terminal, a medium, and a program product, which relate to the field of intelligent parking. The method comprises: receiving a parking instruction (310); on the basis of the parking instruction, acquiring a first position of an entrance of a target parking lot (320); on the basis of the first position, controlling a target vehicle to automatically travel to the entrance of the target parking lot (330); establishing a first communication connection to a first wireless communication device (340); receiving, by means of the first communication connection, a first target path sent by the first wireless communication device (350); and on the basis of the first target path, controlling the target vehicle to automatically travel to a target empty parking space and complete parking (360).

Description

Automatic parking method, device, system, terminal, medium and program product

This application claims priority to Chinese patent application No. 202310215494.4 filed on March 2, 2023, with invention name “Automatic parking method, device, system, terminal, medium and program product”, the entire contents of which are incorporated by reference into this application.

Technical Field

The embodiments of the present application relate to the field of smart parking, and in particular to an automatic parking method, device, system, terminal, medium and program product.

Background Art

With the development of smart cars, automatic parking technology has become a focus of people's attention. When the driver drives the car to the parking lot, the car automatically searches for a parking space and parks in an empty space, completing the parking of the vehicle, which can save time for users.

In related technologies, drones are used to collect location information of empty parking spaces in a parking lot and assign target empty parking spaces to vehicles. A driving route is planned based on a high-precision map, and the driving route is sent to the car, controlling the vehicle to automatically drive to the target empty parking space.

However, the high latency of drone communications may cause errors in the vehicle's planned route, making it impossible for the vehicle to safely complete automatic parking.

Summary of the invention

The embodiments of the present application provide an automatic parking method, device, equipment, medium and program product, which can realize automatic parking of a vehicle. The technical solution is as follows:

In one aspect, an automatic parking method is provided, the method comprising:

receiving a parking instruction, wherein the parking instruction is used to instruct a target vehicle to park in a target parking lot;

Based on the parking instruction, obtaining a first position of the target parking lot entrance;

Based on the first position, controlling the target vehicle to automatically drive to the target parking lot entrance, the target parking lot entrance comprising a first wireless communication device, the first wireless communication device being used for parking space planning;

Establishing a first communication connection with the first wireless communication device;

A first target path sent by the first wireless communication device is received through the first communication connection, wherein the first target The path is used to guide the target vehicle to travel from the target parking lot entrance to the target empty parking space;

Based on the first target path, the target vehicle is controlled to automatically drive to the target empty parking space and complete parking.

In another aspect, an automatic parking device is provided, the device comprising:

A receiving module receives a parking instruction, wherein the parking instruction is used to instruct a target vehicle to park in a target parking lot;

An acquisition module, based on the parking instruction, acquires a first position of the target parking lot entrance;

A control module, based on the first position, controls the target vehicle to automatically drive to the target parking lot entrance, the target parking lot entrance includes a first wireless communication device, and the first wireless communication device is used for parking space planning;

A connection module, establishing a first communication connection with the first wireless communication device;

The receiving module receives a first target path sent by the first wireless communication device through the first communication connection, wherein the first target path is used to guide the target vehicle to travel from the entrance of the target parking lot to the target empty parking space;

The control module controls the target vehicle to automatically drive to the target empty parking space and complete parking based on the first target path.

In another aspect, an automatic parking system is provided, the system comprising a first wireless communication device; the first wireless communication device is located at the entrance of a target parking lot;

The first wireless communication device is used to establish a first communication connection with the vehicle-mounted terminal; obtain a first target path, which is a preset path for guiding the target vehicle from the entrance of the target parking lot to the target empty parking space; send the first target path to the vehicle-mounted terminal through the first communication connection, and the vehicle-mounted terminal is used to control the target vehicle to automatically drive to the target empty parking space and complete parking based on the first target path.

On the other hand, a vehicle-mounted terminal is provided, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the automatic parking method as described in any of the above-mentioned embodiments of the present application.

On the other hand, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, a code set or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the automatic parking method as described in any of the above-mentioned embodiments of the present application.

On the other hand, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes any of the automatic parking methods described in the above embodiments.

The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

By receiving parking instructions, obtaining the location of the entrance to the target parking lot based on the parking instructions and controlling the target vehicle to automatically drive to the target parking lot, a communication connection is established with a near-field wireless communication device at the entrance of the target parking lot, and an interactive relationship can be established with the target parking lot through the communication connection; receiving a first target path generated by a first wireless communication device for guiding the target vehicle to a target empty parking space, controlling the target vehicle to arrive at the target empty parking space and completing automatic parking, allocating a suitable empty parking space for the target vehicle in the absence of human driving and automatically planning a suitable path, so that the target vehicle completes automatic parking, saving parking time and improving safety during parking.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of an implementation environment provided by an exemplary embodiment of the present application;

FIG2 is a schematic diagram of the interior of a parking lot provided by an exemplary embodiment of the present application;

FIG3 is a flow chart of an automatic parking method provided by an exemplary embodiment of the present application;

4 is a flow chart of a method for controlling automatic driving of a target vehicle based on a first target path provided by an exemplary embodiment of the present application;

FIG5 is a flow chart of a method for calling a target vehicle provided by an exemplary embodiment of the present application;

FIG6 is a schematic diagram of an automatic parking system provided by an exemplary embodiment of the present application;

FIG. 7 is a structural block diagram of an automatic parking device provided by an exemplary embodiment of the present application;

FIG8 is a structural block diagram of a computer device provided by an exemplary embodiment of the present application.

DETAILED DESCRIPTION

Smart parking refers to the application of wireless communication technology, mobile terminal technology, GPS positioning technology (Global Positioning System, GPS) and other technologies to the collection, management, query, reservation and navigation services of urban parking spaces, realizing the integration of real-time update, query, reservation and navigation services of parking space resources, maximizing the utilization rate of parking space resources, maximizing parking lot profits and optimizing parking services for car owners. It allows car owners to find suitable parking spaces more conveniently, including offline and online intelligence.

Online intelligence means that the car owner selects the appropriate target parking lot and target parking space based on the mobile APP (Application), plans the target path through the parking management system corresponding to the target parking lot, and sends it to the vehicle; offline intelligence means that the vehicle automatically drives to the target parking space and completes parking.

Cars equipped with automatic parking functions do not require human intervention. With the help of on-board sensors, processors and control systems, they can automatically identify parking spaces and automatically complete the parking process. Automatic parking technology can simplify parking. The process can prevent vehicles from being scratched or collided in extremely narrow places, bringing a more intelligent and convenient experience to car owners.

Short-range wireless communication technology is a commonly used communication technology used to establish a communication connection between the receiver and the sender, and the two parties transmit information through radio waves. The transmission distance of short-range wireless communication technology is limited to a short range, usually within tens of meters, and has the characteristics and advantages of low cost and low power consumption. In the field of smart parking, near-field wireless communication equipment that is matched with short-range wireless communication technology can be used to realize the interaction between the parking lot and the car, and assist the car to complete automatic parking.

Common short-range wireless communication technologies include: Wi-Fi (Wireless Fidelity, wireless network communication technology), NFC (Near Field Communication, near-field wireless communication technology), Bluetooth, etc. Depending on the short-range wireless communication technology used, the corresponding near-field wireless communication equipment is also different. For example, the near-field wireless communication equipment that matches the Wi-Fi technology can be a router.

Among them, NFC is an emerging technology. Devices using NFC technology (such as mobile phones) can exchange data when they are close to each other. It is evolved from the integration of contactless radio frequency identification (RFID) and interconnection technology. By integrating the functions of inductive card reader, inductive card and point-to-point communication on a single chip, mobile terminals are used to realize mobile payment, electronic ticketing, access control, mobile identity recognition, anti-counterfeiting and other applications. Among them, NFC technology can also be used to assist in automatic parking.

In the related technology, automatic parking is realized based on the vehicle side, mobile phone side, parking lot side, drone and corresponding parking management system. The parking lot side stores high-precision maps for route planning. The drone collects the location information of the vehicle to be served and the positioning information of the drone itself, and sends it to the parking lot side. The parking lot side automatically allocates parking spaces for the vehicle to be served based on its own high-precision map and the information sent by the drone, and plans the route of the vehicle to be served, and sends the route to the vehicle side. The vehicle side realizes automatic parking based on the route.

However, the results of drone positioning are affected by multiple factors and have low accuracy. In addition, communication delays are very likely to occur when the drone communicates with the parking lot. When multiple vehicles enter the parking lot at the same time, the communication delay will be too high.

In the embodiment of the present application, the target vehicle's on-board terminal, the cloud server, the parking management system corresponding to the parking lot, and the near-field wireless communication device inside the parking lot jointly realize the automatic parking of the target vehicle. In some embodiments, the automatic parking process can also be realized through a personal terminal (such as a mobile phone, a tablet), etc., wherein the personal terminal is connected to the on-board terminal, such as through a Bluetooth connection.

There is also at least one sensor inside the parking lot for monitoring the presence of vehicles inside the parking lot. The sensor is connected to the near-field wireless communication device through a network. When the sensor detects a vehicle approaching, the sensor notifies the near-field wireless communication device of the vehicle approaching information based on the network.

The parking management system is connected to the equipment inside the parking lot through a network and is used to manage the parking lot and plan parking.

Among them, in the parking lot, each parking space is equipped with a matching vehicle perception sensor and a near-field wireless communication device. The parking management system is connected to the near-field communication wireless device inside the parking lot through a network. When the vehicle perception sensor at the parking space monitors the distance between the parking space and the vehicle in the parking lot, it detects that a vehicle is approaching. When the distance is less than the preset distance threshold, it means that the parking space is occupied, and information is sent to the near-field wireless communication device. The near-field wireless communication device continues to send information to the parking management system. The parking management system obtains the parking space information in the parking lot. The parking space information indicates the location of the parking space in the parking lot and the occupancy status of the parking space.

There are also matching vehicle perception sensors and near-field wireless communication devices at the entrance of the parking lot, which are connected to the parking management system through a network. The vehicle perception sensors at the entrance are used to monitor vehicles that are about to enter the parking lot, and send the monitored information to the near-field wireless communication device at the entrance. At this time, a near-field communication connection is established between the near-field wireless communication device and the vehicle at the entrance, and the vehicle information is sent to the parking management system. The parking management system automatically allocates empty parking spaces to vehicles based on the location of the vehicle.

In the above embodiments, the network connection between the near-field wireless communication device and the parking management system is taken as an example for description. Optionally, the near-field wireless communication device can also be implemented as a node in the parking management system.

The personal terminal is connected to the target vehicle via a network, and the personal terminal (such as a mobile phone or a tablet) is installed with an application for selecting a parking lot, and the application includes information about at least one parking lot. Alternatively, the vehicle terminal itself is installed with an application for selecting a parking lot, and the application includes information about at least one parking lot.

First, the parking management system actively obtains the information of empty parking spaces in the parking lot based on the near-field wireless communication device. If an empty parking space is occupied, the parking space information is updated in real time and uploaded to the cloud server. The car owner selects the designated parking lot through the application on the personal terminal, and the cloud server sends the location of the parking lot to the vehicle terminal of the target vehicle. Alternatively, the car owner selects the designated parking lot through the application on the vehicle terminal, and the cloud server sends the location of the parking lot to the vehicle terminal of the target vehicle. The vehicle terminal of the target vehicle automatically plans the path based on the location of the parking lot and the location of the target vehicle, and controls the target vehicle to automatically drive to the entrance of the parking lot.

When the target vehicle enters the parking lot, it establishes a communication connection with the near-field wireless communication device inside the parking lot. The parking management system obtains the position of the target vehicle and the information of the empty parking spaces inside the parking lot based on the near-field wireless communication device, and automatically allocates a suitable target empty parking space to the target vehicle. Based on the position of the target empty parking space, the path inside the parking lot is planned, and the path is sent to the vehicle-mounted terminal through the communication connection. The vehicle-mounted terminal controls the target vehicle to automatically drive to the target empty parking space based on the path and completes automatic parking.

Among them, the parking management system allocates target empty parking spaces in the following ways, but is not limited to: (1) Allocating distance target (1) Allocate the empty parking space closest to the vehicle's current location; (2) Randomly allocate an empty parking space; (3) Allocate the empty parking space closest to the exit; (4) Allocate the empty parking space closest to the user's passage point, such as the empty parking space closest to the elevator in a shopping mall.

It is worth noting that the above-mentioned parking space information collected through the parking management system is data actively uploaded by the parking lot; or, it is data obtained after separate authorization by the parking lot.

It should be noted that the information and data involved in this application are authorized by the user alone or by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions. For example, the location information of the target vehicle and the parking space information at the parking lot involved in this application are obtained with full authorization.

Secondly, the implementation environment involved in the embodiments of the present application is explained. For schematic illustration, please refer to Figure 1. The implementation environment involves a target vehicle 110, an on-board terminal 120 of the target vehicle 110, a personal terminal 130 for controlling the target vehicle 110, a server 140, a parking lot end 150, and a parking management system 160 for controlling the parking lot end 150.

Among them, the vehicle terminal 120 and the server 140 are connected through a communication network; the personal terminal 130 and the vehicle terminal 120 are connected through a communication network; the personal terminal 130 and the server 140 are connected through a communication network; the parking management system 160 and the server 140 are connected through a communication network; the parking management system 160 and the parking lot terminal 150 are connected through a communication network.

In some embodiments, the car owner selects the target parking lot, i.e., the parking lot terminal 150, from the application on the personal terminal 130, and sends the selected information to the server 140. The personal terminal 130 continues to send a parking instruction to the server 140, and the server 140 forwards the parking instruction to the vehicle terminal 120 of the target vehicle 110. Based on the parking instruction, the vehicle terminal 120 obtains the location information and precision map of the parking lot terminal 150 from the server 140, and performs path planning in combination with the above information. The vehicle terminal 120 controls the target vehicle 110 to automatically drive to the parking lot terminal 150 based on the planned path.

Schematically, as shown in FIG. 2 , the parking lot terminal 150 includes a plurality of near-field wireless communication devices 151 therein.

The near field wireless communication device 151 and the parking management system 160 are connected via a communication network.

When the target vehicle 110 drives to the entrance of the parking lot 150 , it establishes a communication connection with the near-field wireless communication device 151 inside the parking lot 150 , and the near-field wireless communication device 151 sends the information of the target vehicle 110 to the parking management system 160 .

There is also a near-field wireless communication device 151 at the parking space inside the parking lot 150, which is used to monitor the presence of vehicles in the parking space and collect information. The parking management system 160 collects and updates the empty parking space information inside the parking lot 150 in real time through the near-field wireless communication device 151, allocates a designated empty parking space to the target vehicle 110 as the target empty parking space for the target vehicle 110 to park, and plans the driving path of the target vehicle 110 inside the parking lot 150, and sends the planned route to the vehicle-mounted terminal 120 of the target vehicle 110 through the near-field wireless communication device 151. The vehicle-mounted terminal 120 controls the target vehicle 110 to automatically drive to the target empty parking space and complete parking.

In some embodiments, the vehicle terminal 120 of the target vehicle 110 obtains the parking instruction and the location information of the parking lot terminal 150 Afterwards, the vehicle-mounted terminal 120 directly analyzes the location information of the parking lot end 150 and the location information of the target vehicle 110, and plans the path for the target vehicle 110 to reach the parking lot end 150 based on the distance between the two locations and the road conditions. During this process, there is no need to send the location information of the target vehicle 110 to the server 140, which will perform calculations and processing.

In some embodiments, the vehicle terminal 120 is installed with an application having a path planning function (including distance analysis and path planning based on the location information of the target vehicle 110 and the location information of the parking lot 150, such as: the distance information between the target vehicle 110 and the parking lot 150, etc.), and schematically, the vehicle terminal 120 is installed with an application capable of planning the path for the target vehicle 110 to reach the parking lot 150. For example, the vehicle terminal 120 is installed with a data analysis application, a data calculation application, a speed detection application, an instant messaging application, a music broadcast application, a navigation and positioning application, a news application, etc., which are not limited in the embodiments of the present application.

It is worth noting that the above-mentioned communication network can be implemented as a wired network or a wireless network, and the communication network can be implemented as any one of a local area network, a metropolitan area network or a wide area network, which is not limited in the embodiments of the present application.

It is worth noting that the above-mentioned parking management system is a system with parking planning function, which can be a physical device, such as a server, a device with parking planning function, etc., or it can be an application or application website with parking planning function, etc. This application does not limit this.

It is worth noting that the connection methods between the personal terminal and the on-board terminal of the target vehicle include but are not limited to the following methods: (1) When the distance between the personal terminal and the target vehicle is less than the distance threshold, the connection is made via Bluetooth; (2) When the distance between the personal terminal and the target vehicle is greater than the distance threshold, the connection is made via the cloud server: the personal terminal and the cloud server are connected via the network, and the on-board terminal of the target vehicle and the cloud server are connected via the network; (3) The personal terminal is directly connected to the target vehicle, such as: the personal terminal and the target vehicle are products of the same brand and have a binding relationship.

It is worth noting that the above-mentioned server 140 can be implemented as a cloud server in the cloud, wherein cloud technology refers to a hosting technology that unifies a series of resources such as hardware, software, and network in a wide area network or a local area network to realize data calculation, storage, processing, and sharing. Cloud technology is a general term for network technology, information technology, integration technology, management platform technology, application technology, etc. based on the cloud computing business model application, which can form a resource pool and be used on demand, flexible and convenient. Cloud computing technology will become an important support. The background services of the technical network system require a large amount of computing and storage resources, such as video websites, picture websites, and more portal websites. With the high development and application of the Internet industry, in the future, each item may have its own identification mark, and all need to be transmitted to the background system for logical processing. Data of different levels will be processed separately, and all kinds of industry data require strong system backing support, which can only be achieved through cloud computing.

In some embodiments, the server 140 can also be implemented as a node in a blockchain system. Blockchain is a new application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, and encryption algorithm. Blockchain is essentially a decentralized database, a string of data blocks generated by cryptographic methods. The data block contains a batch of network transaction information, which is used to verify the validity of the information (anti-counterfeiting) and generate the next block. The blockchain can include the underlying blockchain platform, the platform product service layer, and the application service layer.

Combined with the above-mentioned noun introduction and implementation environment description, the vehicle control method provided in the embodiment of the present application is described. FIG3 is a flowchart of an automatic parking method provided by an exemplary embodiment of the present application, which is executed by a vehicle terminal. As shown in FIG3, the method includes the following steps.

Step 310, receiving a parking instruction.

The parking instruction is sent from the personal terminal controlling the target vehicle to the cloud server. The car owner selects the target parking lot on the personal terminal and sends the parking instruction to the cloud server. The cloud server sends the received parking instruction to the vehicle terminal of the target vehicle. The parking instruction is used to instruct the target vehicle to park in the target parking lot.

The personal terminal interacts with the vehicle terminal, the personal terminal interacts with the target parking lot, and the personal terminal, the vehicle terminal, and the target parking lot interact with the cloud server respectively.

Optionally, the personal terminal is installed with an application program with the function of selecting a target parking lot online. The application program stores information of at least one candidate parking lot. In some embodiments, the candidate parking lot is any parking lot, or the location of the candidate parking lot meets the distance requirement with the location of the target vehicle.

The information of the candidate parking lot stored by the application includes but is not limited to: (1) the location coordinates of the candidate parking lot: the entrance and exit locations of the candidate parking lot; (2) the distance between the candidate parking lot and the target vehicle: the straight-line distance and the actual driving distance from the target vehicle to the entrance of the candidate parking lot; (3) the parking space information inside the candidate parking lot: the number of unoccupied parking spaces and the locations of the parking spaces, etc.; (4) the entrance signs of the candidate parking lot, etc.

Optionally, the distance requirement between the location of the candidate parking lot and the location of the target vehicle includes but is not limited to the following situations: (1) the straight-line distance between the candidate parking lot and the target vehicle is less than a distance threshold; (2) the actual driving distance of the target vehicle to the entrance of the candidate parking lot is less than the distance threshold.

Schematically, meeting the distance requirement means that the straight-line distance between the candidate parking lot and the target vehicle is less than the distance threshold. The vehicle owner randomly selects a parking lot from the candidate parking lots as the target parking lot.

In some embodiments, in addition to selecting parking lots that meet the distance requirement from the target vehicle as candidate parking lots, the criteria for selecting candidate parking lots also include: (1) the charging standard of the candidate parking lot is lower than a preset charging threshold; (2) the traffic congestion near the candidate parking lot meets the preset traffic flow requirement, etc. This embodiment is not limited to this. In some embodiments, the parameters for selecting candidate parking lots are user-defined.

It is worth noting that the distance threshold may be any preset value, and the target parking lot may be any one of the candidate parking lots, which is not limited in this embodiment.

Step 320: Based on the parking instruction, obtain a first position of the entrance of the target parking lot.

The distance between the first position and the position of the target vehicle meets the distance requirement.

When the car owner selects the target parking lot and issues a parking instruction through the application on the personal terminal, since the parking lot information is stored in the application, the information includes the first position of the entrance to the target parking lot. Therefore, when the on-board terminal of the target vehicle receives the parking instruction, the first position of the entrance to the target parking lot can be automatically obtained according to the information contained in the parking instruction.

Step 330: Based on the first position, control the target vehicle to automatically drive to the entrance of the target parking lot.

After the vehicle-mounted terminal obtains the first position, it automatically generates a target path based on the first position and the position of the target vehicle. The target path is a path used to guide the target vehicle to the entrance of the target parking lot. Based on the target path, the vehicle-mounted terminal controls the target vehicle to automatically drive to the entrance of the target parking lot.

Among them, the target parking lot contains at least one near-field wireless communication device, which is a wireless communication device. When the distance between the target vehicle and the near-field wireless communication device is less than the communication threshold, the near-field wireless communication device can sense the target vehicle and establish a connection relationship with the target vehicle for interacting with the target vehicle and exchanging information.

Near-field wireless communication equipment is a supporting device inside the target parking lot. In addition to the supporting equipment, the target parking lot also has a corresponding parking management system. The parking management system is used to manage and plan the parking of all vehicles inside the target parking lot. The parking management system interacts with all near-field wireless communication devices inside the target parking lot, and the two parties transmit information through the wireless network.

The advantage of the near-field wireless communication device is that it only establishes a connection with vehicles inside the target parking lot or vehicles about to enter the target parking lot. When the vehicle leaves the target parking lot, the near-field wireless communication device will disconnect from the vehicle, so that the target parking lot will no longer interfere with the vehicle's subsequent actions.

Optionally, a camera is installed on the parking pole at the entrance or exit of the target parking lot to take photos and collect the driving direction and license plate number information of the target vehicle. When the collected driving direction of the target vehicle does not meet the preset direction requirement, it is determined that the target vehicle is only passing through the target parking lot, but is not about to enter the target parking lot. At this time, no connection is established between the near-field wireless communication device and the target vehicle.

Optionally, when the target vehicle pays for parking at the target parking lot, it is determined that the target vehicle is about to leave the target parking lot, and when the distance between the target vehicle and the target parking lot exceeds a preset distance threshold, the near-field wireless communication device is disconnected from the target vehicle.

It is worth noting that determining whether the target vehicle is about to enter or leave the target parking lot can also be done in other ways, such as directly based on the relative position between the front of the target vehicle and the entrance or exit of the target parking lot: when the front of the target vehicle is facing the entrance of the target parking lot, it is determined that the target vehicle is about to enter the target parking lot; this embodiment is not limited to this.

In some embodiments, the supporting equipment inside the target parking lot includes, in addition to the near-field wireless communication equipment, at least one The vehicle perception sensor interacts with the near-field wireless communication device. The vehicle perception sensor located at the entrance of the target parking lot is used to detect the target vehicle. When the vehicle perception sensor detects that the target vehicle is about to enter the target parking lot, the vehicle information is sent to the near-field wireless communication device. The near-field wireless communication device establishes a connection with the target vehicle based on the vehicle information. The type of near-field wireless communication device in the target parking lot can be arbitrary, and each near-field wireless communication device can be of different types, which is not limited in this embodiment.

Step 340: Establish a first communication connection with a first wireless communication device.

After the first communication connection is established between the vehicle-mounted terminal and the first wireless communication device at the entrance of the target parking lot, the target vehicle can interact with the target parking lot through the first communication connection, receive information inside the target parking lot, and complete automatic parking based on the information.

Optionally, the first wireless communication device at the entrance of the target parking lot is a device supporting NFC communication technology, which is used to establish a connection with the target vehicle at the entrance of the target parking lot and forward the information of the target vehicle to the parking management system.

It is worth noting that the type of the first wireless communication device can be any, and it can be compatible with the short-range wireless communication technology used to establish a communication connection with the target vehicle, and this embodiment does not limit this.

Step 350: Receive a first target path sent by a first wireless communication device through a first communication connection.

The first target path is a preset path for guiding the target vehicle from the target parking lot entrance to the target empty parking space.

The entrance to the target parking lot includes a parking pole with a camera installed on it. When the target vehicle comes in front of the parking pole, the camera on the parking pole is used to collect the license plate number information of the target vehicle and send the license plate number information to the parking management system corresponding to the target parking lot.

After receiving the license plate number information of the target vehicle, the parking management system generates a communication code based on the license plate number information, sends the communication code to the first wireless communication device, and the first wireless communication device sends the communication code to the vehicle-mounted terminal of the target vehicle. The communication code is used to establish a first communication connection between the target vehicle and the first wireless communication device.

The on-board terminal of the target vehicle receives the communication code sent by the parking management system, and generates corresponding encrypted information based on the communication code, and the encrypted information is used to confirm the matching relationship between the target vehicle and the first wireless communication device. After the on-board terminal successfully sends the encrypted information, the first wireless communication device receives the encrypted information, and after confirming that the encrypted information is correct, it sends a confirmation message to the on-board terminal. Among them, the confirmation information is used to indicate that the target vehicle matches the first wireless communication device. That is, receive the communication code, the communication code is generated by the parking management system based on the license plate information of the target vehicle, and sent to the target vehicle through the first wireless communication device, the communication code is used to establish a first communication connection between the target vehicle and the first wireless communication device; generate encrypted information based on the communication code and send it to the first wireless communication device, the encrypted information is used to confirm the matching relationship between the target vehicle and the first wireless communication device; receive the confirmation information sent by the first wireless communication device, the confirmation information is used to indicate that the target vehicle The target vehicle is matched with the first wireless communication device, and a first communication connection is successfully established between the target vehicle and the first wireless communication device.

After receiving the confirmation information sent by the first wireless communication device, the vehicle-mounted terminal successfully establishes a first communication connection between the target vehicle and the first wireless communication device, and receives the first target path sent by the first wireless communication device through the first communication connection.

Step 360: Based on the first target path, control the target vehicle to automatically drive to the target empty parking space and complete parking.

The parking management system collects and updates the information of all empty parking spaces in the target parking lot in real time, and randomly assigns a target empty parking space to the target vehicle. The target vehicle has an intelligent driving function, and the on-board terminal controls the target vehicle to automatically drive in the target parking lot based on the first target path until the target vehicle reaches the target parking space, controls the target vehicle to start the automatic parking function, and completes the parking of the vehicle.

It is worth noting that the types of target vehicles include but are not limited to fuel vehicles, pure electric vehicles, hybrid electric vehicles, etc., but they must be vehicles with intelligent driving functions that can automatically drive to the target location without the target vehicle being driven by anyone. This embodiment does not limit this.

In summary, the method provided by the present application receives a parking instruction forwarded from a cloud server, obtains the location of the entrance of the target parking lot based on the parking instruction, controls the target vehicle to automatically drive to the target parking lot, establishes a communication connection between the near-field wireless communication devices at the entrance of the target parking lot, and can establish an interactive relationship with the target parking lot through the communication connection; receives a first target path generated by a first wireless communication device to guide the target vehicle to the target empty parking space, controls the target vehicle to arrive at the target empty parking space along the first target path and completes automatic parking, allocates a suitable empty parking space to the target vehicle in the absence of unmanned driving, and automatically plans a suitable path, so that the target vehicle completes automatic parking, saving parking time; when the target vehicle is inside the target parking lot, the communication connection established between the target vehicle and the near-field wireless communication device is more stable, thereby improving the safety during the parking process.

The method provided in this embodiment establishes an interactive relationship between the target vehicle and the target parking lot by establishing a communication connection between the vehicle-mounted terminal and the first wireless communication device at the entrance of the target parking lot, and receives the target path planned by the first wireless communication device, thereby facilitating the target vehicle to find the target empty parking space and complete automatic parking, thereby improving the parking efficiency.

The method provided in this embodiment obtains the first position of the target parking lot and the position of the target vehicle, and the on-board terminal automatically plans a second target path for the target vehicle, so that the target vehicle can automatically drive to the entrance of the target parking lot, realizing automatic driving without human driving, thereby improving the efficiency of automatic driving and saving the time of planning the path.

In some embodiments, there is a corner area in the target parking lot. When the target vehicle is traveling along the first target path, it is necessary to judge whether there are obstacles in the corner area. As shown in Figure 4, Figure 4 is a flow chart of a method for controlling automatic driving of the target vehicle based on the first target path in an embodiment of the present application, including the following steps.

Step 410: Based on the first target path, control the target vehicle to automatically drive to a corner area in the parking lot.

The target parking lot also includes a second wireless communication device, which is located in the corner area of the target parking lot and is used to detect obstacles in the corner area, obtain obstacle information, and prompt the target vehicle that there is an obstacle in the corner area based on the obstacle information.

Optionally, the second wireless communication device at the corner area of the target parking lot is a device that is compatible with Wi-Fi communication technology, and is used to establish a connection with the target vehicle traveling to the corner area, forward the information of the target vehicle to the parking management system, and forward the information sent by the parking management system to the target vehicle.

Optionally, the obstacle information includes, but is not limited to: (1) whether an obstacle exists; (2) the volume of the obstacle: the three-dimensional size of the obstacle; (3) the positional relationship between the obstacle and the corner area; (4) the type of obstacle, such as: static obstacle, dynamic obstacle; (5) when the obstacle is a dynamic obstacle, whether the obstacle has been removed, etc.

It is worth noting that there is at least one corner area inside the target parking lot, and each corner area is installed with its own second wireless communication device. The number of corner areas and second wireless communication devices can be arbitrary, and this embodiment does not limit this.

In some embodiments, in addition to the second wireless communication device, the corner area also includes at least one obstacle detection sensor, which is used to detect obstacles at the corner area and obtain obstacle information. The obstacle detection sensor and the second wireless communication device are connected via a wireless network and can exchange information. When the obstacle detection sensor detects obstacle information, it sends the obstacle information to the second wireless communication device. After the second wireless communication device obtains the obstacle information, it prompts the target vehicle that there is an obstacle in the corner area.

It is worth noting that the type of the second wireless communication device can be any, and it can be compatible with the short-range wireless communication technology used to establish a communication connection with the target vehicle, and this embodiment does not limit this.

Step 420: Establish a second communication connection with a second wireless communication device in the corner area.

That is, in the process of controlling the target vehicle to travel to the target empty parking space based on the first target path, in response to the target vehicle traveling to the corner area, a second communication connection with the second wireless communication device is established.

The second wireless communication device is also a near-field wireless communication device. When the distance between the target vehicle and the second near-field wireless communication device is less than the communication threshold, the second near-field wireless communication device can sense the target vehicle and establish a connection relationship with the target vehicle for interacting with the target vehicle and exchanging information.

Step 430: Receive obstacle information sent by the second wireless communication device through the second communication connection.

The obstacle information is used to indicate the presence of an obstacle at a corner area, and the on-board terminal of the target vehicle determines the driving state of the target vehicle based on the obstacle information.

Optionally, the obstacle information indicates that there is an obstacle in the corner area, and the obstacle is a dynamic obstacle: an animal, a dynamic obstacle The volume of the obstacle is the first volume.

After receiving the obstacle information, the vehicle-mounted terminal controls the target vehicle to automatically honk the horn to guide the dynamic obstacle to leave, and receives the updated obstacle information sent by the second wireless communication device in real time, where the updated obstacle information is used to indicate that the obstacle has left.

When the dynamic obstacle leaves, the target vehicle is controlled to drive to the corner area to turn, and then continues to drive to the target empty parking space along the first target path.

Optionally, the obstacle information indicates that there is an obstacle in the corner area, and the obstacle is a static obstacle, and the volume of the static obstacle is the second volume.

After receiving the obstacle information, the vehicle-mounted terminal determines whether the target vehicle can bypass the obstacle and continue to move forward based on the second volume of the static obstacle, the width of the lane in the target parking lot, and the width of the target vehicle.

When the width of the lane can accommodate both the static obstacle and the target vehicle, the on-board terminal controls the target vehicle to adjust its driving direction, and drives to the corner area to avoid the static obstacle and turn, and continues to drive to the target empty parking space along the first target path.

In some embodiments, the lanes in the target parking lot cannot accommodate both static obstacles and the target vehicle at the same time. The on-board terminal forwards the obstacle information to the owner's personal terminal through the cloud server, and the owner makes further judgments and remotely controls the driving status of the target vehicle.

In some embodiments, if the dynamic obstacle does not leave after the target vehicle honks, the on-board terminal further determines whether the dynamic obstacle can be bypassed and the vehicle can continue to move forward based on the first volume of the dynamic obstacle, the width of the target vehicle and the width of the lane in the target parking lot; if the lane in the target parking lot cannot accommodate the dynamic obstacle and the target vehicle at the same time, the on-board terminal forwards the obstacle information to the owner's personal terminal through the cloud server, and the owner makes further judgments and remotely controls the driving status of the target vehicle.

Step 440 , in response to the absence of obstacles in the corner area, controlling the target vehicle to continue to automatically drive along the first target path to the target empty parking space and complete parking.

When the obstacle information indicates that there is no obstacle in the corner area, the target vehicle is controlled to automatically drive along the first target path, and the updated obstacle information sent by the second wireless communication device is received in real time during the driving process of the target vehicle. When the updated obstacle information indicates that there is still no obstacle in the corner area, the vehicle continues to drive to the target empty parking space to complete parking.

In some embodiments, when the target vehicle is driving to the target empty parking space, other vehicles continue to drive into the target parking lot, and it is very likely that the target empty parking space will be occupied. At this time, the parking management system corresponding to the target parking lot immediately reallocates an updated target empty parking space for the target vehicle, and the first wireless communication device that establishes a first communication connection with the target vehicle re-plans the route based on the position of the updated target empty parking space and the position of the target vehicle inside the target parking lot, and sends it to the on-board terminal of the target vehicle. The on-board terminal controls the target vehicle to drive to the updated target empty parking space based on the re-planned route.

In summary, the method provided by the present application establishes an interactive relationship with the target parking lot by establishing a communication connection with a near-field wireless communication device at the entrance of the target parking lot; receives a first target path generated by a first wireless communication device for guiding the target vehicle to the target empty parking space, controls the target vehicle to arrive at the target empty parking space and completes automatic parking, allocates a suitable empty parking space for the target vehicle in the absence of unmanned driving and automatically plans a suitable path, so that the target vehicle completes automatic parking, saves parking time, and improves safety during the parking process.

The method provided in this embodiment detects obstacles at the blind corner spot in the target parking lot, and sends the obstacle information to the on-board terminal of the target vehicle through the second wireless communication device at the blind corner spot, and further judges the driving status of the target vehicle at the blind corner spot based on the obstacle information, which can avoid scratches and collisions between obstacles on the target vehicle, improve the safety during automatic driving, and improve the efficiency of parking.

The method provided in this embodiment collects and updates the location information of empty parking spaces in the target parking lot in real time through the parking management system. When the target empty parking space is occupied, a new empty parking space and a new driving route can be planned for the target vehicle in a timely manner, thereby preventing a situation where an empty parking space is occupied by multiple vehicles, thereby improving the efficiency and safety of automatic parking.

In some embodiments, after the target vehicle successfully enters the target parking lot and completes automatic parking, the connection between the personal terminal and the cloud server is disconnected, and the connection between the cloud server and the target parking lot is maintained. When the owner is waiting to call the target vehicle, the connection between the personal terminal and the cloud server is reestablished, and the target vehicle at the target parking lot is called through the cloud server. As shown in Figure 5, Figure 5 is a flow chart of the method for calling a target vehicle provided by the present application, and the method includes the following steps.

Step 510, receiving a vehicle use instruction.

Based on the first target path, after the target vehicle is controlled to automatically drive to the target empty parking space and completes parking, if the owner needs to call the target vehicle, he/she sends a vehicle use instruction to the cloud server through the personal terminal, and the cloud server forwards the vehicle use instruction to the on-board terminal of the target vehicle.

The vehicle use instruction is used to instruct the target vehicle to park out of the target parking lot and drive to the target location. The vehicle use instruction includes the license plate number information of the target vehicle and the second location of the target location.

Step 520: Establish a third communication connection with a third wireless communication device.

The target empty parking space also includes a third wireless communication device, which is also a near-field wireless communication device. When the target vehicle is parked in the target empty parking space, the distance between the target vehicle and the third near-field wireless communication device is less than the communication threshold. The third near-field wireless communication device can sense the target vehicle and establish a connection relationship with the target vehicle for interacting with the target vehicle and exchanging information. The third wireless communication device is mainly used to assist in route planning.

Optionally, the third wireless communication device at the target empty parking space is a device supporting Wi-Fi communication technology, which is used to A connection is established with a target vehicle that has traveled to a target empty parking space, information of the target vehicle is forwarded to a parking management system, and information sent by the parking management system is forwarded to the target vehicle.

In some embodiments, in addition to the third wireless communication device, the target empty parking space also includes a vehicle perception sensor, and there is interaction between the vehicle perception sensor and the third wireless communication device. The vehicle perception sensor located at the target empty parking space is used to detect the target vehicle. When the vehicle perception sensor detects that the target vehicle is parked in the target empty parking space, the vehicle information is sent to the third wireless communication device, and the third wireless communication device establishes a third communication connection with the target vehicle based on the vehicle information.

It is worth noting that the type of the third wireless communication device can be any, and it can be compatible with the short-range wireless communication technology used to establish a communication connection with the target vehicle, and this embodiment does not limit this.

In addition, step 520 may be executed before step 510, may be executed after step 510, or may be executed simultaneously with step 510, which is not limited in this embodiment.

Step 530: Receive a third target path sent by a third wireless communication device through a third communication connection.

When the car owner sends a car use instruction on the personal terminal, the cloud server forwards the car use instruction to the parking management system corresponding to the target parking lot. The parking management system receives the car use instruction and finds the target empty parking space corresponding to the target vehicle and the third wireless communication device at the target empty parking space based on the license plate number information of the target vehicle in the car use instruction; and plans the third target path based on the second position of the target location in the car use instruction and the position of the target vehicle.

The third target path is a path for guiding the target vehicle to drive to the target location. The parking management system sends the third target path to the third wireless communication device, which then sends it to the on-board terminal of the target vehicle.

Step 540: Based on the third target path, control the target vehicle to automatically drive to the target location.

When the target vehicle automatically drives to the exit of the target parking lot, the first communication connection, the second communication connection and the third communication connection are disconnected.

Specifically, when the on-board terminal of the target vehicle controls the target vehicle to park out of the target empty parking space, the distance between the target empty parking space and the third wireless communication device is greater than the communication threshold, and the third communication connection is disconnected.

The on-board terminal controls the target vehicle to pass through the blind corner area during the process of driving in the target parking lot to the exit of the target parking lot. The distance between the target vehicle and the blind corner area is greater than the communication threshold, and the second communication connection is disconnected.

When the vehicle-mounted terminal controls the target vehicle to drive to the exit of the target parking lot, the distance between the target vehicle and the first wireless communication device in the target parking lot is greater than the communication threshold, and the first communication connection is disconnected.

In some embodiments, in addition to the first wireless communication device, the second wireless communication device and the third wireless communication device, the target parking lot also has corresponding matching sensors, such as: a vehicle perception sensor and an obstacle detection sensor. When the distance between the target vehicle and the sensor is greater than the communication threshold, the matching near-field wireless communication device and the sensor are disconnected. Communication connection between target vehicles.

It is worth noting that the order of disconnecting the first communication connection, the second communication connection and the third communication connection can be arbitrary, including but not limited to: (1) based on the distance between the near-field wireless communication device and the target vehicle, disconnecting in order of distance, the near-field wireless communication device with a larger distance is disconnected earlier; (2) when the target vehicle exits the parking lot exit, the first communication connection, the second communication connection and the third communication connection are disconnected at the same time; this embodiment is not limited to this.

When the target vehicle leaves the target parking lot, there is no longer an interactive relationship between the target vehicle and the target parking lot, that is, the parking management system corresponding to the target parking lot cannot affect the target vehicle. At this time, the cloud server notifies the personal terminal that the target vehicle has left the target parking lot, and the owner obtains the location information of the vehicle from the personal terminal. Based on the third target path, the vehicle terminal continues to control the target vehicle to automatically drive from the exit of the target parking lot to the target location.

In some embodiments, there is a certain distance between the location of the vehicle owner and the target location. At this time, the vehicle terminal of the target vehicle obtains the location of the vehicle owner based on the cloud server, and plans a path based on the distance relationship between the target location and the location of the vehicle owner and an accurate map. The path is used to guide the target vehicle to the location of the vehicle owner. When the target vehicle drives towards the owner, the cloud server obtains the vehicle terminal location in real time and displays it on the personal terminal interface to prompt the owner until the target vehicle reaches the location of the owner.

To summarize, the method provided in the present application receives the vehicle use instruction sent by the personal terminal, receives the path planned by the parking management system through the third wireless communication device, and controls the target vehicle to automatically drive to the location of the owner based on the path, thereby realizing automatic parking of the vehicle and improving the efficiency of the interaction between the owner and the target vehicle.

The method provided in this embodiment disconnects the communication connection between the target vehicle and all equipment in the target parking lot when the target vehicle reaches the exit of the target parking lot, so that the target vehicle is no longer affected by the parking management system after leaving the target parking lot, thereby improving the safety during driving.

The present application also proposes an automatic parking system, which is used to assist a target vehicle in achieving automatic parking. The system includes a first wireless communication device, which is located at the entrance of a target parking lot.

When the target vehicle arrives at the entrance of the target parking lot, the first wireless communication device is used to establish a first communication connection with the vehicle-mounted terminal; the first wireless communication device obtains a first target path according to the location of the target empty parking space, wherein the first target path is a preset path for guiding the target vehicle from the entrance of the target parking lot to the target empty parking space. The first wireless communication device sends the first target path to the vehicle-mounted terminal through the first communication connection, and the vehicle-mounted terminal controls the target vehicle to automatically drive to the target empty parking space based on the first target path and complete parking.

The parking management system is schematically shown in FIG6 , which is a schematic diagram of an automatic parking system of the parking management system.

The parking management system of the automatic parking system 600 includes but is not limited to the following equipment: a target parking lot 610, at least one near Field wireless communication device 620, at least one vehicle sensor 630, and license plate number recognition device 640.

Among them, at least one near-field wireless communication device 620 includes a first wireless communication device 621, a second wireless communication device 622 and a third wireless communication device 623. At least one near-field wireless communication device 620 is used to establish a communication connection with the target vehicle based on the vehicle-mounted terminal, and is also used to receive the target path of the parking management system. The target path is a path used to guide the target vehicle to travel to the destination in the target parking lot 610.

At least one vehicle sensor 630 includes a first vehicle detection sensor 631, an obstacle detection sensor 632, and a second vehicle detection sensor 633. The first vehicle detection sensor 631 is located at the entrance of the target parking lot 610, connected to the first wireless communication device 621 through a network, and is used to sense the target vehicle and notify the first wireless communication device 621; the obstacle detection sensor 632 is located at the corner blind spot inside the target parking lot 610, connected to the second wireless communication device 622 through a network, and is used to detect obstacles at the corner blind spot and notify the second wireless communication device 622; the second vehicle detection sensor 633 is located at the target empty parking space, connected to the third wireless communication device 623 through a network, and is used to sense the target vehicle and notify the third wireless communication device 623.

After receiving the information sent by at least one vehicle sensor 630, at least one near-field wireless communication device 620 forwards the information to the vehicle-mounted terminal of the target vehicle to assist the target vehicle in driving to the target empty parking space.

To summarize, the system provided by the present application can establish a communication connection with the on-board terminal of the target vehicle through a near-field wireless communication device and conduct information exchange, and can provide a preset target path for the target vehicle, saving the route planning time of the target vehicle, so that the target vehicle can automatically drive to the target empty parking space along the target path, and complete parking when the target vehicle is unmanned, thereby improving parking efficiency; the system can detect obstacles inside the target parking lot through the supporting equipment included in the system, assist the target vehicle to drive inside the target parking lot, avoid collisions, and improve the safety of automatic parking.

FIG. 7 is a structural block diagram of an automatic parking device provided by an exemplary embodiment of the present application. As shown in FIG. 7 , the device includes the following parts.

The receiving module 710 is used to receive a parking instruction, where the parking instruction is used to instruct the target vehicle to park in a target parking lot;

An acquisition module 720, configured to acquire a first position of an entrance to the target parking lot based on the parking instruction;

A control module 730, configured to control the target vehicle to automatically drive to the target parking lot entrance based on the first position, wherein the target parking lot entrance includes a first wireless communication device, and the first wireless communication device is used for parking space planning;

A connection module 740, configured to establish a first communication connection with the first wireless communication device;

The receiving module 710 is further configured to receive, through the first communication connection, a first wireless communication device sending a a target path, wherein the first target path is used to guide the target vehicle to travel from the target parking lot entrance to the target empty parking space;

The control module 730 is further configured to control the target vehicle to automatically drive to the target empty parking space and complete parking based on the first target path.

In an optional embodiment, the target parking lot further includes a second wireless communication device, the second wireless communication device is located in a corner area of the target parking lot, and the second wireless communication device is used to prompt the target vehicle of obstacles in the corner area;

The control module 730 is further used to establish a second communication connection with the second wireless communication device in response to the target vehicle traveling to the corner area during the process of controlling the target vehicle to travel to the target empty parking space based on the first target path; receive obstacle information sent by the second wireless communication device through the second communication connection, the obstacle information being used to indicate the presence of an obstacle in the corner area; and control the target vehicle to continue to automatically travel along the first target path to the target empty parking space and complete parking in response to the absence of an obstacle in the corner area.

In an optional embodiment, the entrance to the target parking lot includes a parking pole, and a camera on the parking pole is used to collect the license plate number information of the target vehicle and send the license plate number information to a parking management system corresponding to the target parking lot;

The receiving module 710 is also used to receive a communication code, which is generated by the parking management system based on the license plate number information of the target vehicle and sent to the target vehicle through the first wireless communication device, and the communication code is used to establish the first communication connection between the target vehicle and the first wireless communication device; generate encrypted information based on the communication code and send it to the first wireless communication device, and the encrypted information is used to confirm the matching relationship between the target vehicle and the first wireless communication device; receive confirmation information sent by the first wireless communication device, and the confirmation information is used to indicate that the target vehicle matches the first wireless communication device and successfully establishes the first communication connection between the target vehicle and the first wireless communication device.

In an optional embodiment, the control module 730 is also used to automatically generate a second target path based on the first position and the position of the target vehicle, wherein the second target path is a path for guiding the target vehicle to drive to the entrance of the target parking lot; based on the second target path, the target vehicle is controlled to automatically drive to the entrance of the target parking lot.

In an optional embodiment, the target empty parking space further includes a third wireless communication device, and the third wireless communication device is used for route planning; after the control module 730:

The connection module 740 is further configured to establish a third communication connection with the third wireless communication device;

The receiving module 710 is also used to receive a vehicle use instruction, wherein the vehicle use instruction is used to instruct the target vehicle to park out of the target vehicle. The vehicle use instruction includes the license plate number information of the target vehicle and the second position of the target location;

The receiving module 710 is further configured to receive a third target path sent by the third wireless communication device through the third communication connection, wherein the third target path is a path for guiding the target vehicle to travel to the target location;

The control module 730 is further configured to control the target vehicle to automatically drive to the target location based on the third target path.

In an optional embodiment, the control module 730 is also used to disconnect the first communication connection, the second communication connection and the third communication connection in response to the target vehicle automatically driving to the target parking lot exit; based on the third target path, control the target vehicle to automatically drive from the target parking lot exit to the target location.

In summary, the automatic parking device provided by the present application receives a parking instruction, obtains the location of the entrance of the target parking lot based on the parking instruction, controls the target vehicle to automatically drive to the target parking lot, establishes a communication connection with a near-field wireless communication device at the entrance of the target parking lot, and can establish an interactive relationship with the target parking lot through the communication connection; receives a first target path generated by a first wireless communication device to guide the target vehicle to the target empty parking space, controls the target vehicle to arrive at the target empty parking space and completes automatic parking, allocates a suitable empty parking space to the target vehicle in the absence of unmanned driving and automatically plans a suitable path, so that the target vehicle completes automatic parking, saves parking time, and improves safety during parking.

It should be noted that the automatic parking device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the automatic parking device provided in the above embodiment and the automatic parking method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

FIG8 shows a block diagram of a vehicle terminal 800 provided by an exemplary embodiment of the present application. The vehicle terminal 800 may be: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, Moving Picture Experts Compression Standard Audio Layer 3), an MP4 (Moving Picture Experts Group Audio Layer IV, Moving Picture Experts Compression Standard Audio Layer 4) player, a notebook computer or a desktop computer. The vehicle terminal 800 may also be called a user device, a portable terminal, a laptop terminal, a desktop terminal, or other names.

Typically, the vehicle-mounted terminal 800 includes: a processor 801 and a memory 802 .

The processor 801 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 801 may be a DSP (Digital Signal Processing), a FPGA (Field-Programmable The processor 801 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 801 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 801 may also include an AI processor, which is used to process computing operations related to machine learning.

The memory 802 may include one or more computer-readable storage media, which may be non-transitory. The memory 802 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 802 is used to store at least one instruction, which is used to be executed by the processor 801 to implement the automatic parking method provided in the method embodiment of the present application.

In some embodiments, the vehicle-mounted terminal 800 also includes other components. Those skilled in the art will understand that the structure shown in Figure 8 does not constitute a limitation on the terminal 800, and it may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

Optionally, the computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a solid-state drive (SSD), or an optical disk. Among them, the random access memory may include a resistive random access memory (ReRAM) and a dynamic random access memory (DRAM). The serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

The embodiment of the present application further provides a vehicle-mounted terminal, which can be implemented as a terminal or a server as shown in FIG3. The vehicle-mounted terminal includes a processor and a memory, in which at least one instruction, at least one program, code set or instruction set is stored, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the automatic parking method provided by the above-mentioned method embodiments.

An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the automatic parking method provided by the above-mentioned method embodiments.

The embodiment of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the vehicle-mounted terminal reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the vehicle-mounted terminal executes the above The automatic parking method described in any one of the above embodiments.

A person skilled in the art will appreciate that all or part of the steps to implement the above embodiments may be accomplished by software, or by a program to instruct the relevant software, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

An automatic parking method is performed by an on-board terminal of a target vehicle, the method comprising:

receiving a parking instruction, wherein the parking instruction is used to instruct the target vehicle to park in a target parking lot;

Based on the parking instruction, obtaining a first position of the target parking lot entrance;

Based on the first position, controlling the target vehicle to automatically drive to the target parking lot entrance, the target parking lot entrance comprising a first wireless communication device, the first wireless communication device being used for parking space planning;

Establishing a first communication connection with the first wireless communication device;

receiving, through the first communication connection, a first target path sent by the first wireless communication device, where the first target path is used to guide the target vehicle to travel from the entrance of the target parking lot to a target empty parking space;

Based on the first target path, the target vehicle is controlled to automatically drive to the target empty parking space and complete parking.
The method according to claim 1, wherein the target parking lot further comprises a second wireless communication device, the second wireless communication device is located in a corner area of the target parking lot, and the second wireless communication device is used to prompt the target vehicle of obstacles in the corner area;

The step of controlling the target vehicle to automatically drive to the target empty parking space and complete parking based on the first target path includes:

In the process of controlling the target vehicle to drive to the target empty parking space based on the first target path, in response to the target vehicle driving to the corner area, establishing a second communication connection with the second wireless communication device;

receiving obstacle information sent by the second wireless communication device through the second communication connection, wherein the obstacle information is used to indicate the existence of an obstacle at the corner area;

In response to the absence of an obstacle in the corner area, the target vehicle is controlled to continue to automatically drive along the first target path to the target empty parking space and complete parking.
The method according to claim 1 or 2, wherein the entrance to the target parking lot includes a parking pole, and a camera on the parking pole is used to collect license plate information of the target vehicle and send the license plate information to a parking management system corresponding to the target parking lot;

The establishing of a first communication connection with the first wireless communication device comprises:

receiving a communication code, wherein the communication code is generated by the parking management system based on the license plate information of the target vehicle and sent to the target vehicle through the first wireless communication device, and the communication code is used to establish the first communication connection between the target vehicle and the first wireless communication device;

Generate encrypted information based on the communication code and send it to the first wireless communication device, wherein the encrypted information is used to confirm the matching relationship between the target vehicle and the first wireless communication device;

Receive confirmation information sent by the first wireless communication device, where the confirmation information is used to indicate that the target vehicle matches the first wireless communication device and the first communication connection between the target vehicle and the first wireless communication device is successfully established.
The method according to any one of claims 1 to 3, wherein, based on the first position, controlling the target vehicle to automatically drive to the entrance of the target parking lot comprises:

Automatically generate a second target path based on the first position and the position of the target vehicle, wherein the second target path is a path for guiding the target vehicle to drive to the entrance of the target parking lot;

Based on the second target path, the target vehicle is controlled to automatically drive to the entrance of the target parking lot.
The method according to any one of claims 1 to 4, wherein the target empty parking space further comprises a third wireless communication device, and the third wireless communication device is used for route planning;

After controlling the target vehicle to automatically drive to the target empty parking space and complete parking based on the first target path, the method further includes:

establishing a third communication connection with the third wireless communication device;

receiving a vehicle use instruction, the vehicle use instruction being used to instruct the target vehicle to park out of the target parking lot and drive to the target location, the vehicle use instruction including the license plate number information of the target vehicle and the second location of the target location;

receiving a third target path sent by the third wireless communication device through the third communication connection, wherein the third target path is a path for guiding the target vehicle to travel to the target location;

Based on the third target path, the target vehicle is controlled to automatically drive to the target location.
The method according to claim 5, wherein the step of controlling the target vehicle to automatically drive to the target location based on the third target path comprises:

In response to the target vehicle automatically driving to the target parking lot exit, disconnecting the first communication connection, the second communication connection and the third communication connection;

Based on the third target path, the target vehicle is controlled to automatically drive from the target parking lot exit to the target location.
An automatic parking system, the system comprising a first wireless communication device; the first wireless communication device is located at the entrance of a target parking lot;

The first wireless communication device is used to establish a first communication connection with the vehicle-mounted terminal; obtain a first target path, which is a preset path for guiding the target vehicle from the target parking lot entrance to the target empty parking space. sending the first target path to the vehicle terminal through the first communication connection, the vehicle terminal is used to control the target vehicle to automatically drive to the target empty parking space and complete parking based on the first target path.
The system according to claim 7, wherein the system further comprises: a second wireless communication device; the second wireless communication device is located in a corner area of the target parking lot;

The second wireless communication device is used to establish a second communication connection with the vehicle-mounted terminal; obtain obstacle information, where the obstacle information is used to indicate the existence of obstacles located in the corner area; and send the obstacle information to the vehicle-mounted terminal through the second communication connection.
The system according to claim 7, wherein the system further comprises a third wireless communication device, wherein the third wireless communication device is located at the target empty parking space;

The third wireless communication device is used to establish a third communication connection with the vehicle-mounted terminal; generate a third target path, and the third target path is used to guide the target vehicle to the target location; and send the third target path to the vehicle-mounted terminal through the third communication connection.
An automatic parking device, comprising:

A receiving module receives a parking instruction, wherein the parking instruction is used to instruct a target vehicle to park in a target parking lot;

An acquisition module, based on the parking instruction, acquires a first position of the target parking lot entrance;

A control module, based on the first position, controls the target vehicle to automatically drive to the target parking lot entrance, the target parking lot entrance includes a first wireless communication device, and the first wireless communication device is used for parking space planning;

A connection module, establishing a first communication connection with the first wireless communication device;

The receiving module receives a first target path sent by the first wireless communication device through the first communication connection, wherein the first target path is used to guide the target vehicle to travel from the entrance of the target parking lot to the target empty parking space;

The control module controls the target vehicle to automatically drive to the target empty parking space and complete parking based on the first target path.
A vehicle-mounted terminal comprises a processor and a memory, wherein the memory stores at least one program, and the at least one program is loaded and executed by the processor to implement the automatic parking method according to any one of claims 1 to 6.
A computer-readable storage medium, wherein at least one program is stored in the storage medium, and the at least one program is loaded and executed by a processor to implement the automatic parking method according to any one of claims 1 to 6.
A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the automatic parking method according to any one of claims 1 to 6 is implemented.