CN115107745B - Parking method and device for vehicle, vehicle and storage medium - Google Patents
Parking method and device for vehicle, vehicle and storage medium Download PDFInfo
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- CN115107745B CN115107745B CN202210728958.7A CN202210728958A CN115107745B CN 115107745 B CN115107745 B CN 115107745B CN 202210728958 A CN202210728958 A CN 202210728958A CN 115107745 B CN115107745 B CN 115107745B
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- 238000004590 computer program Methods 0.000 claims description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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Abstract
The application relates to a parking method and device of a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: judging whether the target parking space meets the preset occupied condition or not in the process of automatically parking the vehicle; if the target parking space meets the preset occupied condition, identifying the identity of the occupied vehicle occupying the target parking space; and sending a vehicle moving prompt to a user occupying the vehicle according to the identity mark, and/or searching other parking spaces meeting preset parking conditions, and controlling the vehicle to park in the other parking spaces. According to the application, under the condition that the parking space is occupied, the occupied vehicle can be moved for reminding, the maintenance cost is reduced, or other parking spaces meeting the parking conditions are searched for parking, so that remote intelligent parking is realized, and the intelligent level is higher.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a parking method and device of a vehicle, the vehicle and a storage medium.
Background
With the development of social economy, the living standard of people is continuously improved, the keeping amount of private cars is gradually increased, the intelligent level of cars is also continuously improved, intelligent driving technology represented by intelligent parking is increasingly perfect, and more car owners are accustomed to realizing remote intelligent parking through memory parking and the like. However, in daily life, when a user drives a vehicle to remotely and intelligently park, the user often memorizes the parking space and the private parking space is occupied, which results in that the vehicle cannot remotely and intelligently park.
In the related technology, with the development of information technology, the traffic management department in most areas of China is on line with a one-key vehicle moving function, and users can inform vehicle owners occupying and blocking to move vehicles by uploading information in the modes of '12123' intelligent parking application, traffic management department official public numbers and the like.
However, in the related art, because the user is not on site when the intelligent parking is performed, the user lacks a means for collecting the reported information and can only go to the site for processing, the maintenance cost is increased, meanwhile, the intelligent parking loses the convenience of the user, and the user needs to be improved.
Disclosure of Invention
The application provides a parking method and device of a vehicle, the vehicle and a storage medium, and aims to solve the technical problem that remote intelligent parking cannot be realized and the intelligent level is high when an exclusive parking space is occupied in the related technology.
An embodiment of a first aspect of the present application provides a parking method for a vehicle, including the steps of: judging whether the target parking space meets the preset occupied condition or not in the process of automatically parking the vehicle; if the target parking space meets the preset occupied condition, identifying the identity of the occupied vehicle occupying the target parking space; and sending a vehicle moving prompt to the user occupying the vehicle according to the identity mark, and/or searching other parking spaces meeting preset parking conditions, and controlling the vehicle to park in the other parking spaces.
According to the technical means, when the target parking space is occupied, the identity of the occupied vehicle can be identified, the vehicle moving reminding is sent to the user occupying the vehicle according to the identity, the weight maintenance cost is reduced, and/or other parking spaces meeting the parking conditions are searched, so that the vehicle parking is controlled, remote intelligent parking is realized under the condition that the target parking space is occupied, the user does not need to go to the field for processing, and the intelligent level is higher, so that the use experience of the user is improved.
Optionally, in an embodiment of the present application, before searching for the other parking space that meets the preset parking condition, the method further includes: sending occupied reminding to a host vehicle user; receiving a control instruction generated by the occupied reminding of the vehicle user; when the control instruction is a take-over instruction, the vehicle is controlled to be powered down and flameout, and simultaneously, a locking action is executed; and when the control instruction is a continuous parking instruction, controlling the vehicle to execute a parking space searching action.
According to the technical means, according to the embodiment of the application, when the target parking space is occupied, the user selects to take over or continue parking according to the actual demands of the user, so that the use flexibility is improved, and the use experience of the user is improved.
Optionally, in one embodiment of the present application, the controlling the vehicle to perform the parking space searching action includes: searching other parking spaces within a preset range from the target parking space; or generating a tour planning path, and controlling the vehicle to move according to the generated tour planning path so as to search for the other parking spaces along the searching planning path.
According to the technical means, the method and the device can search available parking spaces near the target parking space, and can also search available parking spaces in the path through tour, so that the searching range is increased, and the probability of successful parking is improved.
Optionally, in one embodiment of the present application, further includes: acquiring the duration of executing the parking space searching action; and when the duration time is longer than the preset duration time and the other parking spaces are not searched, controlling the vehicle to enter a parking interruption working condition, controlling the original underground electricity of the vehicle to be flameout, and executing the locking action, or controlling the vehicle to move to a preset position, and controlling the original underground electricity of the vehicle to be flameout and executing the locking action.
According to the technical means, the embodiment of the application can interrupt parking when the available parking space is not searched, and control the vehicle to move to a safe position for parking, so that a user can take over the vehicle conveniently, and the parking safety of the vehicle is ensured.
Optionally, in an embodiment of the present application, the preset position is a user parking position or a temporary parking position generated by the target parking position.
According to the technical means, when the available parking space is not searched, the embodiment of the application can control the vehicle to park in the parking space of the user or control the vehicle to park in the safe position of the target parking space, so that the user can conveniently find the vehicle position, and the vehicle can be conveniently controlled to complete the remote intelligent parking action after the vehicle is occupied to move.
Optionally, in one embodiment of the present application, further includes: detecting whether the occupied vehicle is moved away; when the occupied vehicle is detected to be moved away, controlling the vehicle to start, and continuously executing automatic parking to park in the target parking space.
According to the technical means, the embodiment of the application can automatically control the vehicle to remotely and intelligently park after detecting that the occupied vehicle is moved.
An embodiment of a second aspect of the present application provides a parking apparatus for a vehicle, including: the judging module is used for judging whether the target parking space meets the preset occupied condition or not in the process of automatically parking the vehicle; the identification module is used for identifying the identity of the occupied vehicle occupying the target parking space when the target parking space meets the preset occupied condition; and the first control module is used for sending a vehicle moving prompt to a user occupying the vehicle according to the identity mark, and/or searching other parking spaces meeting preset parking conditions and controlling the vehicle to park in the other parking spaces.
Optionally, in one embodiment of the present application, further includes: the reminding module is used for sending occupied reminding to the user of the vehicle; the receiving module is used for receiving a control instruction generated by the occupied reminding of the host vehicle user; the second control module is used for controlling the vehicle to cut off the power supply and executing locking action when the control instruction is a take-over instruction; and the third control module is used for controlling the vehicle to execute the parking space searching action when the control instruction is a continuous parking instruction.
Optionally, in one embodiment of the present application, the third control module includes: the searching unit is used for searching other parking spaces within a preset range from the target parking space; or the generation unit is used for generating a tour planning path, and controlling the vehicle to move according to the generated tour planning path so as to search for the other parking spaces along the searching planning path.
Optionally, in one embodiment of the present application, further includes: the acquisition module is used for acquiring the duration time for executing the parking space searching action; and the fourth control module is used for controlling the vehicle to enter a parking interruption working condition when the duration time is longer than the preset duration time and the other parking spaces are not searched, controlling the original underground electricity of the vehicle to be flameout, and executing the locking action, or controlling the vehicle to move to a preset position, and controlling the original underground electricity of the vehicle to be flameout and executing the locking action.
Optionally, in an embodiment of the present application, the preset position is a user parking position or a temporary parking position generated by the target parking position.
Optionally, in one embodiment of the present application, further includes: the detection module is used for detecting whether the occupied vehicle is moved away or not; and the fifth control module is used for controlling the vehicle to start when the occupied vehicle is detected to move away, and continuously executing automatic parking to park in the target parking space.
An embodiment of a third aspect of the present application provides a vehicle including: the parking system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the parking method of the vehicle according to the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a method of parking a vehicle as above.
The embodiment of the application has the beneficial effects that:
(1) According to the embodiment of the application, after the parking space is occupied, the user occupying the vehicle can be reminded of moving the vehicle through the identity mark of the occupied vehicle, so that low-cost maintenance right is realized;
(2) According to the embodiment of the application, after the parking space is occupied, the available nearby parking space can be searched, the vehicle is controlled to automatically park at the available parking space, the user does not need to perform on-site treatment, and the intelligent level is higher;
(3) According to the embodiment of the application, when the available parking space nearby is not searched, the vehicle is controlled to stop and park, and after the occupied vehicle moves, the vehicle is automatically controlled to park in the target parking space.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
Fig. 1 is a flowchart of a parking method of a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a method of parking a vehicle according to one embodiment of the application;
FIG. 3 is a flow chart of a method of parking a vehicle according to one embodiment of the application;
FIG. 4 is a schematic diagram of a parking space occupied handling policy cell phone application of a method of parking a vehicle according to one embodiment of the application;
FIG. 5 is a schematic diagram of a cellular phone application of a tour strategy for a vehicle parking method according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a right-to-hold policy handset application of a parking method for a vehicle according to one embodiment of the application;
fig. 7 is a schematic structural view of a parking device for a vehicle according to an embodiment of the present application;
Fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Wherein, 10-parking device of the vehicle; the intelligent parking system comprises a 1-image receiving and processing module, a 2-image identifying module, a 3-information caching module, a 4-cloud communication module, a 5-high-definition camera, a 6-ultrasonic sensor, a 7-angle millimeter wave radar, an 8-decision fusion processing module, a 9-control module, a 10-vehicle end communication module, an 11-mobile phone intelligent parking application, a 12-first area, a 13-second area, a 14-third area, a 15-fourth area, a 16-fifth area, a 17-sixth area, an 18-seventh area and a 19-closed loop tour route; 100-judging module, 200-identifying module and 300-first control module.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes a parking method, a device, a vehicle, and a storage medium of a vehicle according to an embodiment of the present application with reference to the accompanying drawings. Aiming at the technical problems that remote intelligent parking cannot be realized and the intelligent level is higher when the special parking space is occupied in the related technology mentioned in the background technology center, the application provides a parking method of a vehicle, in the method, the identity of the occupied vehicle can be identified when the target parking space is judged to be occupied, and a vehicle moving prompt is sent to a user occupying the vehicle according to the identity, so that the maintenance cost is reduced, and/or other parking spaces meeting the parking condition are searched, and further the vehicle parking is controlled, so that remote intelligent parking is realized under the condition that the target parking space is occupied, the user does not need to go to on-site processing, and the intelligent level is higher, thereby improving the use experience of the user. Therefore, the technical problem that remote intelligent parking cannot be realized and the intelligent level is higher when the exclusive parking space is occupied in the related technology is solved.
Specifically, fig. 1 is a schematic flow chart of a parking method of a vehicle according to an embodiment of the present application.
As shown in fig. 1, the parking method of the vehicle includes the steps of:
in step S101, during the automatic parking of the vehicle, it is determined whether the target parking space satisfies a preset occupied condition.
In the actual execution process, when the vehicle arrives at the target parking space in the process of executing remote automatic parking, the embodiment of the application can judge the condition of the target parking space by detecting information in real time through the sensors of the vehicle, such as detection equipment of a high-definition camera, an ultrasonic sensor and the like, so as to judge whether the target parking space meets the preset occupied condition.
In step S102, if the target parking space satisfies the preset occupied condition, the identity of the occupied vehicle occupying the target parking space is identified.
Further, according to the embodiment of the application, when the condition that the obstacle exists on the target parking space and the obstacle influences normal parking of the vehicle is detected, the target parking space is judged to meet the preset occupied condition, and then the type of the obstacle on the target parking space is identified, wherein the type of the obstacle can be an automobile, a motor vehicle or other obstacles.
When the obstacle on the target parking space identified by the embodiment of the application is an automobile or a vehicle, the license plate number of the obstacle or information such as a reserved vehicle moving telephone of a user can be continuously identified, and a live-action diagram and a panoramic diagram are captured and captured.
In step S103, a vehicle moving prompt is sent to a user occupying the vehicle according to the identity, and/or other parking spaces satisfying the preset parking condition are searched, and the vehicle is controlled to park in the other parking spaces.
As a possible implementation manner, the embodiment of the application can send the image information, the obstacle information and the right-keeping channel to the user side according to the acquired identity mark so as to enable the user to select a decision mode.
The right-keeping channel can be a special user app for a parking lot, a property telephone, a vehicle moving telephone reserved by a vehicle user, an official channel of a traffic management department and the like.
For example, when the obstacle is an automobile or other motor vehicle, the user can select the right-keeping channel by himself to inform the user occupying the vehicle to move the vehicle; when the obstacle is other obstacle, the property can be informed selectively, and the property personnel can clear the obstacle.
In addition, the user can select to control the vehicle to search other parking spaces meeting the preset parking conditions and control the vehicle to park in the other parking spaces.
It should be noted that the preset conditions may be set by those skilled in the art according to actual situations, such as the vehicle type and parking space information of the vehicle, and the preset conditions are not limited herein.
Optionally, in one embodiment of the present application, before searching for other parking spaces that meet the preset parking condition, the method further includes: sending occupied reminding to a host vehicle user; receiving a control instruction generated by the occupied reminding of the vehicle user; when the control instruction is a take-over instruction, the vehicle is controlled to be powered down and flameout, and meanwhile, a locking action is executed; and when the control instruction is a continuous parking instruction, controlling the vehicle to execute a parking space searching action.
In the actual execution process, the embodiment of the application can send the occupied reminding to the user of the host vehicle before searching other parking spaces meeting the preset parking conditions, so that the user of the host vehicle can select the right-keeping scheme to carry out right-keeping, take over the vehicle to park or search other parking spaces.
When a user of the vehicle selects to take over the vehicle, the embodiment of the application can control the vehicle to turn off the power supply and perform locking action, thereby saving electric quantity while ensuring the parking safety of the vehicle;
When the user selects to continue parking, the embodiment of the application can control the vehicle to search other parking spaces meeting the preset parking conditions, thereby realizing automatic parking action.
According to the technical means, according to the embodiment of the application, when the target parking space is occupied, the user selects to take over or continue parking according to the actual demands of the user, so that the use flexibility is improved, and the use experience of the user is improved.
Optionally, in one embodiment of the present application, controlling the vehicle to perform the parking space searching action includes: searching other parking spaces within a preset range from the target parking space; or generating a tour planning path, and controlling the vehicle to move according to the generated tour planning path so as to search other parking spaces along the searching planning path.
As a possible implementation manner, when searching for a parking space, the embodiment of the application can search for other parking spaces within a preset range from a target parking space, or can generate a tour planning path according to nearby terrains according to functions based on a high-precision map and the like, and control vehicles to move so as to search for other parking spaces along the searching planning path. Thereby expanding the searching range and improving the success rate of parking.
Optionally, in one embodiment of the present application, further includes: acquiring duration time for executing the parking space searching action; when the duration time is longer than the preset duration time and other parking spaces are not searched, the vehicle is controlled to enter a parking interruption working condition, the original underground electric flameout of the vehicle is controlled, the locking action is executed, or after the vehicle is controlled to move to the preset position, the original underground electric flameout of the vehicle is controlled, and the locking action is executed.
In some embodiments, the searching time length can be preset, when the vehicle fails to search other parking spaces within the preset time length, the fact that the current position does not meet the parking spaces with preset conditions can be judged, and the embodiment of the application can control the original underground electric flameout of the vehicle, execute locking action, wait for a user to take over the control of the vehicle and save electric quantity.
In addition, the embodiment of the application can also preset the temporary parking position, so that when the parking space cannot be searched, the vehicle is controlled to temporarily park, the parking safety of the vehicle is ensured, and meanwhile, the user can conveniently find the vehicle position.
It should be noted that the preset duration may be set by those skilled in the art according to actual situations, and is not particularly limited herein.
Optionally, in one embodiment of the present application, the preset position is a user parking position or a temporary parking position generated by a target parking position.
In the actual execution process, the preset position of the embodiment of the application can be the parking position of the user or the temporary parking position generated by the target parking position, so that the user can conveniently find the vehicle position, and the vehicle can be controlled to complete the remote intelligent parking action after the vehicle is occupied to move.
Optionally, in one embodiment of the present application, further includes: detecting whether an occupied vehicle is moved away; when the occupied vehicle is detected to be moved away, the vehicle is controlled to start, automatic parking is continuously executed, and the vehicle is parked into a target parking space.
In the actual execution process, the embodiment of the application can also detect the target parking space in real time, and control the vehicle to start after detecting that the obstacle of the target parking space is cleaned or the vehicle of the target parking space is moved, namely after the right is successfully maintained, and continuously complete the automatic parking action.
A parking method of a vehicle according to an embodiment of the present application will be described in detail with reference to fig. 2 to 6.
As shown in fig. 2, an embodiment of the present application may include: cloud end, vehicle end and user side.
Wherein, the cloud may include: the system comprises an image receiving and processing module 1, an image identification module 2, an information caching module 3 and a cloud communication module 4.
The vehicle end may include: the system comprises a high-definition camera 5, an ultrasonic sensor 6, an angle millimeter wave radar 7, a decision fusion processing module 8, a control module 9 and a vehicle-end communication module 10.
The user side may include: the smart parking application 10 of the handset.
As shown in fig. 3, an embodiment of the present application may include the steps of:
S1: the vehicle arrives near the target parking space, the decision fusion processing module 8 receives data collected by the high-definition camera 5, the ultrasonic sensor 6 and the angle millimeter wave radar 7 facing the parking space, the decision fusion processing module 8 judges whether an empty parking space exists near the exclusive parking space through an intelligent fusion algorithm, and if yes, all the data are recorded; then, the decision fusion processing module 8 judges whether an obstacle exists on the exclusive parking space, if the obstacle does not exist, the vehicle is parked into the empty parking space, and if the obstacle exists, the decision fusion processing module 8 uploads the image acquired by the high-definition camera 5 to the cloud end through the vehicle end communication module 10.
S2: the cloud communication module 4 receives the parking space pictures acquired by the vehicle, inputs the parking space pictures into the image receiving and processing module 1, transmits image data to the image recognition module 2 after finishing image processing, and transmits the images and the spliced panoramic pictures around the vehicle to the information cache module 3.
The image recognition module 2 recognizes whether the parking space barrier is a motor vehicle after receiving the image data, can comprehensively judge whether the vehicle license plate number, the shape outline and the distances between two sides of the barrier and the front side line and the two side lines of the parking space exist, and writes the result into the information cache module 3.
S3: if the vehicle is not the vehicle, the step is skipped, if the vehicle is the vehicle, the image recognition module 2 recognizes whether the license plate number and the parking space number (if any) exist in the picture, and the result is written into the information cache module 3.
S4: the information caching module 3 checks the data integrity of the image, the type of the motor vehicle, the license plate number and the parking space number (if any), a task completion signal is sent to the cloud communication module 4 after the data integrity is checked, the cloud communication module 4 receives the signal, extracts information stored in the information caching module 4 and packages the information, and sends the information to the mobile phone intelligent parking application 11 at the user side.
S5: after receiving the cloud data packet, as shown in fig. 4, the smart parking application 11 of the mobile phone displays a "target parking space is occupied" in the first area 12, please select "text to remind the user that the parking space is occupied, and a parking policy after decision is needed, and if the parking space is a motor vehicle, two policies of going to take over (display options in the second area 13) and holding right (display options in the third area 14) are provided for the user; if the vehicle is not a motor vehicle but another non-motor vehicle or obstacle, the user is provided with a forward take over strategy (option shown in the second zone 13) and a vehicle relay strategy (option shown in the third zone 14).
S6: the user-selected policy is executed.
S6-1: if the user selects to go to the take over strategy directly, the mobile phone intelligent parking application 11 sends a function ending signal to the vehicle control module 9, and the vehicle control module 9 receives the function ending signal and then performs flameout and locking.
S6-2: if the user selects the right-keeping policy, the user is asked to wait in place, park in the nearby empty parking space (if the recorded empty parking space is displayed in step 1, otherwise, not displayed), and walk (if the parking area is displayed with a high-precision map, otherwise, not displayed) to determine the vehicle relay policy in the right-keeping process (detailed content is described below).
S7: the smart parking application 11 sends a relay policy signal selected by the user to the vehicle-side communication module 10, and the vehicle performs different actions according to different relay policies.
S7-1: waiting in place. After receiving the in-situ waiting signal, the vehicle-end communication module 10 sends a flameout and locking instruction to the control module 9, but at the moment, the vehicle keeps the high-definition camera 5 open, and a user can observe the surrounding environment of the vehicle through the mobile phone intelligent parking application 11 at any time in the process of waiting for the vehicle owner to take up the parking space.
S7-2: and (5) parking into nearby empty parking spaces. After receiving the signal of parking in the nearby empty space, the vehicle end communication module 10 sends a command of parking in the nearby empty space to the decision fusion processing module 8, and the decision fusion processing module 8 marks the empty space nearest to the vehicle and then cooperatively controls the vehicle to park in the marked empty space with the control module 9.
S7-3: and (5) tour. As shown in fig. 5, after receiving the tour signal, the vehicle-end communication module 10 sends a tour instruction to the decision fusion processing module 8, and the decision fusion processing module 8 makes a closed-loop tour route 19 based on the high-precision map by applying an artificial intelligence algorithm, and then cooperatively controls the vehicle to travel around the route with the control module 9; after each round of winding, the vehicle arrives at a seventh area 18 near the target parking space, searches whether an empty parking space exists again, if the empty parking space is an exclusive parking space, automatically parks in, and sends a signal of the parked exclusive parking space to the mobile phone intelligent parking application 11 through the vehicle end communication module 10; if the vehicle space is available nearby the exclusive vehicle space, the vehicle end communication module 10 sends an exclusive vehicle space available vehicle space signal to the mobile phone intelligent parking application 11, the mobile phone intelligent parking application 11 pops up a prompt to inquire whether the user parks in, selects to park in directly, and if not, continues to patrol according to the closed loop patrol route 19; if the vehicle is still free, the tour is continued until the user actively exits.
S8: as shown in fig. 6, after the user selects the vehicle relay policy, the currently executed relay policy of the vehicle is displayed in the first area 12, the in-place waiting state is displayed as "in-place waiting of the vehicle", the parking-in-vicinity empty parking space state shows "the parking-in-vicinity empty parking space is already parked, the waiting parking space is vacated", and the tour state shows "the vehicle is in tour".
After the mobile phone intelligent parking application 11 analyzes and processes the data packet issued by the cloud, displaying the license plate number of the illegal parking vehicle, the current parking space number (if any), the real-time parking space picture, the panoramic picture of the vehicle and the picture downloading button in a fifth area 16; in the sixth area 17, the entrance of the traffic management official vehicle moving channel in the current area is displayed according to the positioning information (displayed in the fourth area 15), such as a service channel of local traffic patrol police public numbers, traffic management 12123 'one-key vehicle moving function', and the like, and the user can log in the official channel registration corresponding information on the mobile phone according to the guidance, wait for notification or self-communication for solving.
S9: when the user confirms that the illegal parking vehicle is driven away or towed away, the vehicle waiting in situ or being parked in the parking space near the special parking space can be controlled to be parked in the special parking space again by means of on-site takeover, remote control and the like; if the vehicle is in the tour strategy, the vehicle can automatically park in when the vehicle passes through the special parking space and the parking space is found to be empty, and the user is not required to control.
According to the parking method of the vehicle, when the target parking space is judged to be occupied, the identity mark of the occupied vehicle can be identified, and the vehicle moving reminding is sent to the user occupying the vehicle according to the identity mark, so that the maintenance cost is reduced, and/or other parking spaces meeting the parking condition are searched, and further the vehicle parking is controlled, so that remote intelligent parking is realized under the condition that the target parking space is occupied, the user does not need to go to the field for processing, the intelligent level is higher, and the use experience of the user is improved. Therefore, the technical problem that remote intelligent parking cannot be realized and the intelligent level is higher when the exclusive parking space is occupied in the related technology is solved.
Next, a parking device for a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 7 is a block schematic diagram of a parking device of a vehicle according to an embodiment of the present application.
As shown in fig. 7, the parking device 10 of the vehicle includes: a judgment module 100, an identification module 200 and a first control module 300.
Specifically, the determining module 100 is configured to determine whether the target parking space meets a preset occupied condition during the automatic parking process of the vehicle.
The identification module 200 is configured to identify an identity of an occupied vehicle occupying the target parking space when the target parking space meets a preset occupied condition.
The first control module 300 is configured to send a vehicle moving reminder to a user occupying the vehicle according to the identity, and/or search for other parking spaces satisfying the preset parking condition, and control the vehicle to park in the other parking spaces.
Optionally, in one embodiment of the present application, the parking device 10 of the vehicle further includes: the system comprises a reminding module, a receiving module, a second control module and a third control module.
The reminding module is used for sending occupied reminding to the vehicle user.
The receiving module is used for receiving a control instruction generated by the occupied reminding of the user of the vehicle.
And the second control module is used for controlling the vehicle to turn off when the control instruction is a take-over instruction and executing locking action.
And the third control module is used for controlling the vehicle to execute the parking space searching action when the control instruction is a continuous parking instruction.
Optionally, in one embodiment of the present application, the third control module includes: a search unit and a generation unit.
The searching unit is used for searching other parking spaces within a preset range from the target parking space.
And the generation unit is used for generating a tour planning path and controlling the vehicle to move according to the generated tour planning path so as to search other parking spaces along the searching planning path.
Optionally, in one embodiment of the present application, the parking device 10 of the vehicle further includes: an acquisition module and a fourth control module.
The acquisition module is used for acquiring the duration of the parking space searching action.
And the fourth control module is used for controlling the vehicle to enter a parking interruption working condition when the duration time is longer than the preset duration time and other parking spaces are not searched, controlling the original underground electricity of the vehicle to be flameout and executing locking action, or controlling the vehicle to move to a preset position and then controlling the original underground electricity of the vehicle to be flameout and executing locking action.
Optionally, in one embodiment of the present application, the preset position is a user parking position or a temporary parking position generated by a target parking position.
Optionally, in one embodiment of the present application, the parking device 10 of the vehicle further includes: a detection module and a fifth control module.
The detection module is used for detecting whether the occupied vehicle is moved away or not.
And the fifth control module is used for controlling the vehicle to start when the occupied vehicle is detected to move away, and continuously executing automatic parking to park in the target parking space.
It should be noted that the foregoing explanation of the embodiment of the parking method of the vehicle is also applicable to the parking device of the vehicle of this embodiment, and will not be repeated here.
According to the parking device for the vehicle, when the target parking space is occupied, the identity mark of the occupied vehicle can be identified, and the vehicle moving reminding is sent to the user occupying the vehicle according to the identity mark, so that the maintenance cost is reduced, and/or other parking spaces meeting the parking condition are searched, and further the vehicle parking is controlled, so that remote intelligent parking is realized under the condition that the target parking space is occupied, the user does not need to go to the field for processing, the intelligent level is higher, and the use experience of the user is improved. Therefore, the technical problem that remote intelligent parking cannot be realized and the intelligent level is higher when the exclusive parking space is occupied in the related technology is solved.
Fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
A memory 801, a processor 802, and a computer program stored on the memory 801 and executable on the processor 802.
The processor 802 implements the parking method of the vehicle provided in the above-described embodiment when executing a program.
Further, the vehicle further includes:
a communication interface 803 for communication between the memory 801 and the processor 802.
A memory 801 for storing a computer program executable on the processor 802.
The memory 801 may include high-speed RAM memory or may further include non-volatile memory (non-volatile memory), such as at least one magnetic disk memory.
If the memory 801, the processor 802, and the communication interface 803 are implemented independently, the communication interface 803, the memory 801, and the processor 802 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (PERIPHERAL COMPONENT, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 8, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 801, the processor 802, and the communication interface 803 are integrated on a chip, the memory 801, the processor 802, and the communication interface 803 may communicate with each other through internal interfaces.
The processor 802 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an Application SPECIFIC INTEGRATED Circuit, abbreviated as ASIC, or one or more integrated circuits configured to implement embodiments of the present application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the parking method of a vehicle as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (9)
1. A method of parking a vehicle, comprising the steps of:
judging whether the target parking space meets the preset occupied condition or not in the process of automatically parking the vehicle;
If the target parking space meets the preset occupied condition, identifying the identity of the occupied vehicle occupying the target parking space; and
Sending a vehicle moving prompt to a user occupying the vehicle according to the identity, searching other parking spaces meeting preset parking conditions, and controlling the vehicle to park in the other parking spaces;
acquiring duration time for executing the parking space searching action;
And when the duration time is longer than the preset duration time and the other parking spaces are not searched, controlling the vehicle to enter a parking interruption working condition, controlling the original underground electricity of the vehicle to be flameout, and simultaneously executing a locking action, or controlling the vehicle to move to a preset position, and controlling the original underground electricity of the vehicle to be flameout and simultaneously executing the locking action.
2. The method of claim 1, further comprising, prior to searching for the other parking spaces that satisfy the preset parking condition:
sending occupied reminding to a host vehicle user;
Receiving a control instruction generated by the occupied reminding of the vehicle user;
when the control instruction is a take-over instruction, the vehicle is controlled to be powered down and flameout, and simultaneously, a locking action is executed;
and when the control instruction is a continuous parking instruction, controlling the vehicle to execute a parking space searching action.
3. The method of claim 2, wherein the controlling the vehicle to perform a parking space search action comprises:
Searching other parking spaces within a preset range from the target parking space;
or generating a tour planning path, and controlling the vehicle to move according to the generated tour planning path so as to search for the other parking spaces along the searching planning path.
4. The method of claim 1, wherein the preset position is a user drop-off position or a temporary parking position generated by the target parking position.
5. The method as recited in claim 1, further comprising:
detecting whether the occupied vehicle is moved away;
When the occupied vehicle is detected to be moved away, controlling the vehicle to start, and continuously executing automatic parking to park in the target parking space.
6. A parking apparatus of a vehicle, characterized by comprising:
The judging module is used for judging whether the target parking space meets the preset occupied condition or not in the process of automatically parking the vehicle;
the identification module is used for identifying the identity of the occupied vehicle occupying the target parking space when the target parking space meets the preset occupied condition; and
The first control module is used for sending a vehicle moving prompt to a user occupying the vehicle according to the identity mark, searching other parking spaces meeting preset parking conditions and controlling the vehicle to park in the other parking spaces;
the parking device is further configured to: acquiring duration time for executing the parking space searching action;
And when the duration time is longer than the preset duration time and the other parking spaces are not searched, controlling the vehicle to enter a parking interruption working condition, controlling the original underground electricity of the vehicle to be flameout, and simultaneously executing a locking action, or controlling the vehicle to move to a preset position, and controlling the original underground electricity of the vehicle to be flameout and simultaneously executing the locking action.
7. The apparatus as recited in claim 6, further comprising:
the reminding module is used for sending occupied reminding to the user of the vehicle;
the receiving module is used for receiving a control instruction generated by the occupied reminding of the host vehicle user;
The second control module is used for controlling the vehicle to cut off the power supply and executing locking action when the control instruction is a take-over instruction;
and the third control module is used for controlling the vehicle to execute the parking space searching action when the control instruction is a continuous parking instruction.
8. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of parking a vehicle as claimed in any one of claims 1 to 5.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a parking method of a vehicle according to any one of claims 1-5.
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| CN111882916A (en) * | 2019-12-20 | 2020-11-03 | 北京嘀嘀无限科技发展有限公司 | Parking space management method and system |
| CN114435348A (en) * | 2022-02-28 | 2022-05-06 | 重庆长安汽车股份有限公司 | Intelligent parking method based on memory type parking |
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| DE102014211557A1 (en) * | 2014-06-17 | 2015-12-31 | Robert Bosch Gmbh | Valet parking procedure and system |
| CN108973987B (en) * | 2018-08-09 | 2020-01-24 | 北京智行者科技有限公司 | Parking control method |
| CN111796595A (en) * | 2020-06-30 | 2020-10-20 | 中国第一汽车股份有限公司 | Vehicle remote control method, device, system, equipment and storage medium |
| CN114373323A (en) * | 2021-11-29 | 2022-04-19 | 东莞市华睿电子科技有限公司 | Processing method and processing system for parking space occupation |
| CN114179788B (en) * | 2021-12-29 | 2024-07-12 | 纵目科技（上海）股份有限公司 | Automatic parking method, system, computer readable storage medium and vehicle terminal |
| CN114446089A (en) * | 2022-02-24 | 2022-05-06 | 重庆长安汽车股份有限公司 | Private parking space management method and management system |
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| CN111882916A (en) * | 2019-12-20 | 2020-11-03 | 北京嘀嘀无限科技发展有限公司 | Parking space management method and system |
| CN114435348A (en) * | 2022-02-28 | 2022-05-06 | 重庆长安汽车股份有限公司 | Intelligent parking method based on memory type parking |
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