CN111311952A

CN111311952A - Control method and device for vehicle parking, computer equipment and storage medium

Info

Publication number: CN111311952A
Application number: CN202010123601.7A
Authority: CN
Inventors: 沈宇
Original assignee: Ping An International Smart City Technology Co Ltd
Current assignee: Ping An International Smart City Technology Co Ltd
Priority date: 2020-02-27
Filing date: 2020-02-27
Publication date: 2020-06-19
Also published as: WO2021169103A1

Abstract

The application relates to a control method and device for parking a vehicle, a computer device and a storage medium. The method comprises the following steps: collecting vehicle videos at an entrance of a vehicle parking lot, and determining vehicle information corresponding to vehicles entering the entrance according to the vehicle videos; establishing communication connection with a vehicle terminal of the vehicle according to the vehicle information; the empty parking space information of the vehicle parking lot is sent to a vehicle terminal; receiving target parking space information sent by a vehicle terminal; the target parking space information is determined by the vehicle terminal according to the empty parking space information of the vehicle parking lot; generating parking guide information according to the target parking space information; transmitting parking guidance information to a vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot according to the parking guide information. The method is based on the image processing technology, achieves the purpose of automatically guiding the corresponding vehicle to reach the target parking space according to the vehicle video, and further improves the vehicle parking efficiency.

Description

Control method and device for vehicle parking, computer equipment and storage medium

Technical Field

The application relates to the technical field of vehicle networking, in particular to a control method and device for vehicle parking, computer equipment and a storage medium.

Background

With the development of society, more and more people buy cars, the parking problem is concerned increasingly; to alleviate the parking problem, more and more parking lots are present in various high-rise buildings, residential areas, office areas, etc. to provide more parking places for vehicle owners.

At present, the empty parking space information of a parking lot is generally collected through a parking management system, and the empty parking space information is displayed at an entrance of the parking lot; however, the empty parking space information of the parking lot is displayed, so that only the empty parking spaces remaining in the parking lot are indicated, and the car owner needs to search for the parking spaces in the parking lot by himself, so that much time is needed for parking, and the parking efficiency of the car is low.

Disclosure of Invention

In view of the above, it is necessary to provide a control method, an apparatus, a computer device, and a storage medium for vehicle parking, which can improve vehicle parking efficiency.

A method of controlling parking of a vehicle, the method comprising:

acquiring a vehicle video at an entrance of a vehicle parking lot, and determining vehicle information corresponding to a vehicle entering the entrance according to the vehicle video;

establishing communication connection with a vehicle terminal of the vehicle according to the vehicle information;

sending the empty parking space information of the vehicle parking lot to the vehicle terminal;

receiving target parking space information sent by the vehicle terminal; the target parking space information is determined by the vehicle terminal according to the empty parking space information of the vehicle parking lot;

generating parking guide information according to the target parking space information;

transmitting the parking guidance information to the vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot according to the parking guide information.

In one embodiment, the vehicle information includes a license plate number;

the establishing of the communication connection with the vehicle terminal of the vehicle according to the vehicle information includes:

inquiring the corresponding relation between a preset license plate number and a vehicle terminal identification, and determining the vehicle terminal identification corresponding to the license plate number as the vehicle terminal identification of the vehicle;

and establishing communication connection with the vehicle terminal of the vehicle according to the vehicle terminal identification of the vehicle.

In one embodiment, before sending the empty space information of the vehicle parking lot to the vehicle terminal, the method further includes:

acquiring state information of each parking space of the vehicle parking lot; the state information of each parking space of the vehicle parking lot is determined by the camera device corresponding to each parking space, the camera device corresponding to each parking space is used for acquiring the current video of each parking space of the vehicle parking lot, extracting the key video frame of each parking space from the current video of each parking space, and identifying the key video frame of each parking space to obtain the state information of each parking space;

and determining the empty parking space information of the vehicle parking lot according to the state information of each parking space.

In one embodiment, the method further comprises:

receiving state information of the target parking space; the state information of the target parking space is determined by the camera equipment of the target parking space;

identifying whether the vehicle drives into the target parking space or not according to the state information of the target parking space;

and if the fact that the vehicle drives into the target parking space is recognized, updating the pre-stored parking space data of the target parking space according to the state information of the target parking space to obtain the updated parking space data of the target parking space.

In one embodiment, after receiving the status information of the target parking space, the method further includes:

identifying whether the vehicle drives out of the target parking space or not according to the state information of the target parking space;

and if the vehicle is identified to be driven out of the target parking space, updating the parking space data of the updated target parking space again according to the state information of the target parking space.

In one embodiment, after identifying whether the vehicle exits the target parking space according to the state information of the target parking space, the method further includes:

if the fact that the vehicle is about to run out of the target parking space is recognized, running-out guide information is generated;

transmitting the exit guide information to the vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at an exit of the vehicle parking lot from the target parking space according to the driving-out guide information.

In one embodiment, the method further comprises:

according to the updated parking space data of the target parking space, obtaining the time when the vehicle enters the target parking space and the time when the vehicle exits the target parking space;

determining the parking time of the vehicle in the target parking space according to the time when the vehicle enters the target parking space and the time when the vehicle exits the target parking space;

determining a resource transfer value according to the parking time of the vehicle on the target parking space;

generating a corresponding resource transfer link according to the resource transfer value;

and sending the resource transfer link to the vehicle terminal.

A control apparatus for parking a vehicle, the apparatus comprising:

the vehicle information determining module is used for acquiring vehicle videos at an entrance of a vehicle parking lot and determining vehicle information corresponding to a vehicle entering the entrance according to the vehicle videos;

the communication connection establishing module is used for establishing communication connection with a vehicle terminal of the vehicle according to the vehicle information;

the empty parking space information sending module is used for sending the empty parking space information of the vehicle parking lot to the vehicle terminal;

the target parking space information receiving module is used for receiving the target parking space information sent by the vehicle terminal; the target parking space information is determined by the vehicle terminal according to the empty parking space information of the vehicle parking lot;

the guiding information generating module is used for generating parking guiding information according to the target parking space information;

the vehicle control module is used for sending the parking guide information to the vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot according to the parking guide information.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

According to the control method, the control device, the computer equipment and the storage medium for vehicle parking, vehicle information corresponding to a vehicle entering an entrance is determined by collecting a vehicle video at the entrance of a vehicle parking lot, communication connection is established with a vehicle terminal of the vehicle based on the vehicle information, and empty space information of the vehicle parking lot is sent to the vehicle terminal; finally, generating parking guide information according to target parking space information determined by the vehicle terminal based on the empty parking space information, sending the parking guide information to the vehicle terminal, and controlling the vehicle to arrive at the target parking space from an entrance of the vehicle parking lot through the vehicle terminal based on the parking guide information; the purpose of automatically guiding the corresponding vehicle to reach the target parking space according to the vehicle video at the entrance of the vehicle parking lot is achieved, and the vehicle owner does not need to search the parking space by himself in the whole process, so that the vehicle parking time is saved, and the vehicle parking efficiency is further improved.

Drawings

FIG. 1a is a diagram illustrating an exemplary embodiment of a method for controlling parking of a vehicle;

FIG. 1b is a diagram illustrating an internal structure of a high-order image capturing apparatus according to an embodiment;

FIG. 2 is a schematic flow chart of a control method for parking a vehicle according to one embodiment;

FIG. 3 is a flowchart illustrating a control method for parking a vehicle according to another embodiment;

FIG. 4 is a block diagram showing the construction of a control apparatus for parking a vehicle according to an embodiment;

FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The control method for parking the vehicle provided by the application can be applied to the application environment shown in fig. 1 a. The high-level camera shooting device system 110 is connected with a vehicle terminal 120 corresponding to a vehicle driving into a parking lot through a network, and the high-level camera shooting device system 110 is a high-level camera shooting device cluster consisting of a plurality of mutually connected high-level camera shooting devices 101; referring to fig. 1b, each high-order camera device 101 includes a camera 111, a processor 112, and a communication module 123, which are connected in sequence, where the communication module may be a bluetooth communication module, a WIFI communication module, a 4G communication module, or a GSM (Global System for mobile communications) communication module; the high-level camera apparatus 101 is installed above the entrance of the vehicle parking lot and above the traffic road in the vehicle parking lot with its photographing angle aligned with the entrance of the vehicle parking lot and the traffic road in the vehicle parking lot for establishing a communication connection with the in-vehicle terminal 120. The vehicle-mounted terminal 120 is an intelligent front-end device installed in a vehicle, and generally includes various devices such as a touch screen, a voice player, an external camera, and an automobile burglar alarm.

In a vehicle parking scene, a high-level camera device 101 in the high-level camera device system 110 shoots a vehicle video at an entrance of a vehicle parking lot in real time through a camera 111 and transmits the vehicle video to a processor 112; the processor 112 determines vehicle information, such as a license plate number, corresponding to a vehicle entering an entrance of the vehicle parking lot according to the vehicle video; according to the vehicle information, a communication connection is established with the vehicle terminal 120 of the vehicle through the communication module 123, and the empty space information of the vehicle parking lot is transmitted to the vehicle terminal 120. The vehicle terminal 120 displays the empty parking space information of the vehicle parking lot on the terminal interface for the vehicle owner to select, and sends the target parking space information selected by the vehicle owner to the processor 112 in the high-level camera device 110; the processor 112 generates parking guidance information according to the target parking space information; and sending parking guidance information to the vehicle terminal 120, wherein the vehicle terminal 120 controls the vehicle to arrive at the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot according to the parking guidance information. It should be noted that, in the process that the vehicle arrives at the target parking space from the entrance of the vehicle parking lot, it is ensured that only one high-level camera device 101 in the high-level camera device system 110 is in communication connection with the vehicle-mounted terminal 120 of the vehicle, and is used for triggering the vehicle terminal 120 to control the vehicle to arrive at the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot in real time.

In one embodiment, as shown in fig. 2, a control method for parking a vehicle is provided, which is described by taking the method as an example of being applied to the high-order image pickup apparatus in fig. 1, and comprises the following steps:

step S201, vehicle videos at an entrance of a vehicle parking lot are collected, and vehicle information corresponding to vehicles entering the entrance is determined according to the vehicle videos.

In this step, the vehicle video is a video captured by a high-level camera at an entrance of the vehicle parking lot; the high-level camera equipment at the entrance of the vehicle parking lot is a camera with a processor, the shooting angle of the camera is aligned to the entrance of the vehicle parking lot, the camera can shoot the vehicle video at the entrance of the vehicle parking lot and analyze and process the vehicle video; the vehicle information generally refers to a license plate number of the vehicle, and may also refer to model information of the vehicle.

It should be noted that the high-level camera device at the entrance of the vehicle parking lot belongs to a high-level camera device in the high-level camera device system of the vehicle parking lot; the high-order camera shooting equipment system is a high-order camera shooting equipment cluster consisting of a plurality of mutually connected high-order camera shooting equipment, and each high-order camera shooting equipment is a camera with a processor; in addition, the high-level camera devices are distributed above the entrance of the vehicle parking lot and above the traffic road in the vehicle parking lot at intervals, and the shooting angles of the high-level camera devices are respectively aligned with the entrance of the vehicle parking lot and the traffic road in the vehicle parking lot; and each high-order camera shooting device has a corresponding communication range, so that smooth communication between the high-order camera shooting device and the vehicle terminal is ensured.

Specifically, high-level camera equipment at an entrance of a vehicle parking lot shoots the entrance of the vehicle parking lot in real time, and uploads a shot vehicle video to a built-in processor; the processor screens out the vehicle key frame static images from the vehicle videos, extracts the image characteristics of the vehicle key frame static images, and analyzes the image characteristics to obtain vehicle information at an entrance of a vehicle parking lot; the vehicle key frame static image is a static image capable of clearly displaying the license plate number of the vehicle. Therefore, the acquired vehicle video is analyzed and processed through the processor arranged in the high-order camera equipment, and the defects that the acquired vehicle video is transmitted to the background server, processing time delay is generated, and a large amount of transmission interaction cost is generated are overcome.

For example, a processor built in a high-order camera device at an entrance of a vehicle parking lot inputs a vehicle key frame static image into a convolutional neural network model trained in advance, extracts image features of the vehicle key frame static image through the convolutional neural network model, and analyzes the image features to obtain a license plate number of a vehicle at the entrance of the vehicle parking lot as vehicle information.

And step S202, establishing communication connection with the vehicle terminal of the vehicle according to the vehicle information.

In this step, the vehicle terminal has a corresponding vehicle terminal identification, such as a terminal number, a terminal name, and the like.

Specifically, a high-level camera device at an entrance of a vehicle parking lot determines a vehicle terminal identifier binding the vehicle information according to the vehicle information, generates a connection request according to the vehicle terminal identifier, and sends the connection request to a vehicle terminal corresponding to the vehicle terminal identifier; the vehicle terminal responds to the connection request, generates connection confirmation information and sends the connection confirmation information to the high-order camera equipment; and the high-order camera equipment establishes a communication link with the vehicle terminal according to the connection confirmation information, so that the high-order camera equipment establishes communication connection with the vehicle terminal of the vehicle, and is convenient for sending the empty parking space of the vehicle parking lot to the vehicle terminal for the vehicle owner of the vehicle terminal to select.

When the vehicle moves in the vehicle parking lot and the current position of the vehicle terminal corresponding to the vehicle is about to exceed the communication range of the high-level camera device at the entrance of the vehicle parking lot, the high-level camera device at the entrance of the vehicle parking lot automatically disconnects the communication connection with the vehicle terminal, and sends the vehicle terminal identifier to the high-level camera device which is closer to the current position of the vehicle terminal; the high-order camera equipment establishes communication connection with the vehicle terminal according to the received vehicle terminal identification and the same method; and by analogy, when the current position of the vehicle terminal corresponding to the vehicle is about to exceed the communication range of the high-level camera device which is currently in communication connection with the vehicle terminal, the high-level camera device which is currently in communication connection with the vehicle terminal automatically disconnects the communication connection with the vehicle terminal, sends the vehicle terminal identification to the high-level camera device which is closer to the current position of the vehicle terminal, and establishes communication connection with the corresponding vehicle terminal according to the received vehicle terminal identification.

It should be further noted that each high-level camera device may perform the steps of sending the empty parking space information of the vehicle parking lot to the vehicle terminal, receiving the target parking space information sent by the vehicle terminal, generating parking guidance information according to the target parking space information, and sending the parking guidance information to the vehicle terminal; therefore, the high-level camera devices mentioned in the following embodiments refer to the high-level camera devices currently establishing communication connection with the vehicle terminal, such as the high-level camera device disposed above the entrance of the vehicle parking lot, the high-level camera device disposed above the traffic road in the vehicle parking lot, and the communication range of which high-level camera device the vehicle terminal is currently located falls into is specifically considered.

And step S203, transmitting the empty space information of the vehicle parking lot to the vehicle terminal.

In this step, the empty parking space information of the vehicle parking lot is also obtained through current video analysis of each parking space of the vehicle parking lot, specifically, the empty parking space information, the parking space number, and the like.

Specifically, shooting each parking space of the vehicle parking lot in real time through camera equipment (such as camera equipment provided with a processor) corresponding to each parking space of the vehicle parking lot to obtain a current video of each parking space; analyzing the current video of each parking space to determine whether each parking space stops a vehicle or not, and further determining the state information of each parking space; and respectively sending the state information of each parking space to high-level camera equipment at the entrance of the vehicle parking lot, and determining the empty parking space information of the vehicle parking lot based on the state information of each parking space through the high-level camera equipment. The status information of each parking space refers to the parking condition of each parking space, for example, the parking space has a parking space, and the parking space has no parking space.

Further, if the high-order camera device confirms that the communication connection is established with the corresponding vehicle terminal, the empty parking space information of the vehicle parking lot is sent to the vehicle terminal, and the empty parking space information of the vehicle parking lot is displayed through a terminal interface of the vehicle terminal, for example, the parking spaces with the numbers of 3, 8, 55 and 107 are all empty parking spaces; the car owner can select the empty parking space to be parked according to the needs of the car owner, so that the time for searching the parking space is saved, and the parking efficiency of the car is further improved.

Step S204, receiving target parking space information sent by a vehicle terminal; the target parking space information is determined by the vehicle terminal according to the empty parking space information of the vehicle parking lot.

In this step, the target parking space information refers to position information, a parking space number, and the like of the target parking space.

Specifically, an owner corresponding to the vehicle terminal selects an empty parking space to be parked on a terminal interface displaying the empty parking space information of the vehicle parking lot as target parking space information according to the requirement of the owner; for example, the nearest empty space information to the entrance of the car parking lot is selected as the target space information, the nearest empty space information to a certain elevator may be selected as the target space information, the nearest empty space to a certain floor may be selected as the target space information, and the like. The vehicle terminal responds to the selection operation of the vehicle owner on the terminal interface, obtains the target parking space information selected by the vehicle owner, and sends the target parking space information to the high-level camera equipment at the entrance of the vehicle parking lot; through the high-order camera equipment, target parking space information sent by the vehicle terminal is received, parking guide information is generated based on the target parking space information and is sent to the vehicle terminal, the vehicle is controlled to reach the target parking space from the entrance of the vehicle parking lot through the vehicle terminal, the time for finding the parking space is further saved, and therefore the vehicle parking efficiency is improved.

And step S205, generating parking guide information according to the target parking space information.

In this step, the parking guidance information is information for guiding the vehicle to arrive at the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot, for example, "a vehicle with license plate number a12345 should go straight forward by 50 meters, turn left, and go straight 5 meters again, so that the vehicle with number 48 can arrive.

Specifically, the high-order camera device generates parking guide information for guiding the vehicle to reach the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot according to the target parking space information sent by the vehicle terminal, so that the vehicle can be conveniently and subsequently sent to the vehicle terminal, and the vehicle is controlled to reach the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot through the vehicle terminal.

Step S206, sending parking guidance information to the vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot according to the parking guide information.

Specifically, the high-order camera device sends parking guidance information to the vehicle terminal; the vehicle terminal is used for generating a parking control instruction according to the parking guide information and controlling the vehicle to arrive at a target parking space corresponding to the target parking space information from an entrance of the vehicle parking lot according to the parking control instruction; of course, the vehicle terminal can also send the parking control instruction to the vehicle controller, and the vehicle controller controls the vehicle to arrive at the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot according to the parking control instruction; therefore, the parking time of the vehicle is saved, and the parking efficiency of the vehicle is further improved.

In addition, the vehicle terminal can also convert the parking guidance information into corresponding parking guidance voice and broadcast the parking guidance voice so as to guide the vehicle to arrive at the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot.

Furthermore, the vehicle terminal can also generate a parking guide route according to the parking guide information, display the parking guide route on a vehicle terminal interface, and automatically start navigation to guide the vehicle to reach a target parking space corresponding to the target parking space information from an entrance of the vehicle parking lot.

In the control method for parking the vehicle, vehicle information corresponding to the vehicle entering the entrance is determined by collecting the vehicle video at the entrance of the vehicle parking lot, communication connection is established with a vehicle terminal of the vehicle based on the vehicle information, and the empty parking space information of the vehicle parking lot is sent to the vehicle terminal; finally, generating parking guide information according to target parking space information determined by the vehicle terminal based on the empty parking space information, sending the parking guide information to the vehicle terminal, and controlling the vehicle to arrive at the target parking space from an entrance of the vehicle parking lot through the vehicle terminal based on the parking guide information; the purpose of automatically guiding the corresponding vehicle to reach the target parking space according to the vehicle video at the entrance of the vehicle parking lot is achieved, and the vehicle owner does not need to search the parking space by himself in the whole process, so that the vehicle parking time is saved, and the vehicle parking efficiency is improved.

In one embodiment, the vehicle information includes a license plate number, and then the step S202, establishing a communication connection with a vehicle terminal of the vehicle according to the vehicle information, includes: inquiring the corresponding relation between a preset license plate number and a vehicle terminal identification, and determining the vehicle terminal identification corresponding to the license plate number as the vehicle terminal identification of the vehicle; and establishing communication connection with the vehicle terminal of the vehicle according to the vehicle terminal identification of the vehicle.

In this step, the high-order camera device obtains the license plate number and the vehicle terminal identifier of each vehicle based on a big data technology in advance, and establishes a corresponding relationship between the license plate number and the vehicle terminal identifier according to the license plate number and the vehicle terminal identifier of each vehicle, as a corresponding relationship between a preset license plate number and the vehicle terminal identifier.

Specifically, the high-order camera device acquires a corresponding relation between a preset license plate number and a vehicle terminal identifier, inquires the corresponding relation between the preset license plate number and the vehicle terminal identifier according to the license plate number of the vehicle, and determines the vehicle terminal identifier corresponding to the license plate number, such as a terminal number, as the vehicle terminal identifier of the vehicle; generating a connection request according to the vehicle terminal identification, and sending the connection request to a vehicle terminal corresponding to the vehicle terminal identification; the vehicle terminal responds to the connection request, generates connection confirmation information and sends the connection confirmation information to the high-order camera equipment; the high-order camera equipment establishes a communication link with the vehicle terminal according to the connection confirmation information; therefore, the high-order camera equipment establishes communication connection with the vehicle terminal of the vehicle, and is convenient for sending the empty parking space of the vehicle parking lot to the vehicle terminal for the owner of the vehicle terminal to select.

In one embodiment, before the step S203 sends the empty space information of the vehicle parking lot to the vehicle terminal, the method further includes: acquiring state information of each parking space of a vehicle parking lot; the method comprises the steps that the state information of each parking space of a vehicle parking lot is determined by a camera device corresponding to each parking space, the camera device corresponding to each parking space is used for collecting current videos of each parking space of the vehicle parking lot, key video frames of each parking space are extracted from the current videos of each parking space respectively, the key video frames of each parking space are identified, and the state information of each parking space is obtained; and determining the empty parking space information of the vehicle parking lot according to the state information of each parking space.

In this step, the camera device corresponding to each parking space of the vehicle parking lot is also a camera with a processor, and the camera device is capable of shooting a video of the parking space of each parking space of the vehicle parking lot by aiming at each parking space of the vehicle parking lot at a shooting angle, and analyzing and processing the video of the parking space.

Specifically, shooting each parking space of the vehicle parking lot in real time through camera equipment corresponding to each parking space of the vehicle parking lot to obtain a current video of each parking space; respectively extracting key video frames of all parking spaces from the current videos of all parking spaces; the method includes the steps of carrying out image recognition on key video frames of all parking spaces to obtain state information of all parking spaces, for example, inputting the key video frames of all parking spaces into a convolutional neural network model trained in advance, carrying out feature analysis on the key video frames of all parking spaces through the convolutional neural network model to confirm whether vehicles stop at all parking spaces or not, further confirming the state information of all parking spaces, sending the state information of all parking spaces to high-order camera equipment at an entrance of a vehicle parking lot, and confirming empty parking space information of the vehicle parking lot through the high-order camera equipment based on the state information of all parking spaces. Like this, be favorable to follow-up empty parking stall information routing to vehicle terminal through high-order camera equipment in vehicle parking area, the car owner of the vehicle terminal of being convenient for selects empty parking stall information fast, need not to look for by oneself which parking stall can park in the parking area to save parking time, further improved vehicle parking efficiency.

In one embodiment, after step S206, the method for controlling parking of a vehicle further includes: receiving state information of a target parking space; the state information of the target parking space is determined by the camera equipment of the target parking space; identifying whether the vehicle drives into the target parking space or not according to the state information of the target parking space; and if the fact that the vehicle drives into the target parking space is recognized, updating the parking space data of the target parking space which is stored in advance according to the state information of the target parking space to obtain the updated parking space data of the target parking space.

In this step, the parking space data of the target parking space refers to the parking condition, the vehicle information, the vehicle entrance time, the vehicle exit time, and the like of the target parking space.

Specifically, the camera device of the target parking space shoots the target parking space in real time to obtain a current video of the target parking space; extracting a key video frame of the target parking space from a current video of the target parking space; identifying the key video frame of the target parking space to confirm whether the vehicle drives into the target parking space; if the fact that the vehicle drives into the target parking space is recognized, vehicle information on the target parking space and vehicle driving time are obtained; generating state information of a target parking space according to the vehicle information and the vehicle entrance time, and sending the state information of the target parking space to a high-level camera device at an entrance of a vehicle parking lot; the high-order camera device receives the state information of the target parking space sent by the camera device of the target parking space, recognizes that the vehicle enters the target parking space according to the state information of the target parking space, and updates the parking space data of the target parking space which is stored in advance according to the state information of the target parking space, such as updating the vehicle information and the vehicle entering time on the target parking space. Like this, be favorable to updating the parking stall data of each parking stall in vehicle parking area in real time to for vehicle terminal provides more accurate empty parking stall information, and then improved the accuracy of confirming the empty parking stall in vehicle parking area.

Furthermore, after the key video frame of the target parking space is extracted, the camera device of the target parking space can also identify the key video frame of the target parking space to obtain the position information of the vehicle in the target parking space; confirming whether the vehicle is abnormally stopped or not according to the position information of the vehicle; for example, according to the position information of the vehicle, whether the vehicle is parked in a parking space, whether the vehicle occupies the road illegally, whether the vehicle is parked reversely, whether the vehicle is parked in multiple places, and the like are confirmed; if the vehicle is abnormally parked, an alarm is triggered to remind the vehicle owner to pay attention to the standard parking; meanwhile, abnormal parking information of the vehicle is generated and sent to a high-level camera device at an entrance of a vehicle parking lot; the high-order camera device receives abnormal parking information of the vehicle sent by the camera device of the target parking space, counts the abnormal parking times of the vehicle according to the abnormal parking information of the vehicle, and marks the vehicle as an abnormal vehicle to prohibit the vehicle from entering a vehicle parking lot if the abnormal parking times of the vehicle is larger than a preset number.

In one embodiment, after receiving the status information of the target parking space, the method further includes: identifying whether the vehicle drives out of the target parking space or not according to the state information of the target parking space; and if the vehicle is identified to run out of the target parking space, updating the updated parking space data of the target parking space again according to the state information of the target parking space.

Specifically, the camera device of the target parking space shoots the target parking space in real time to obtain a current video of the target parking space; extracting a key video frame of the target parking space from a current video of the target parking space; identifying the key video frame of the target parking space to confirm whether the vehicle drives out of the target parking space; if the vehicle is identified to run out of the target parking space, vehicle information on the target parking space and vehicle running-out time are acquired; generating state information of a target parking space according to the vehicle information and the vehicle driving-out time, and sending the state information of the target parking space to a high-level camera device at an entrance of a vehicle parking lot; and the high-order camera equipment receives the state information of the target parking space sent by the camera equipment of the target parking space, identifies that the vehicle exits the target parking space according to the state information of the target parking space, and updates the updated parking space data of the target parking space again according to the state information of the target parking space, such as updating the vehicle exiting time of the target parking space, marking the target parking space as an empty parking space and the like. Like this, be favorable to updating the parking stall data of each parking stall in vehicle parking area in real time to for vehicle terminal provides more accurate empty parking stall information, and then improved the accuracy of confirming the empty parking stall in vehicle parking area.

In one embodiment, after identifying whether the vehicle exits the target parking space according to the state information of the target parking space, the method further comprises the following steps: if the fact that the vehicle is about to run out of the target parking space is recognized, running-out guide information is generated; transmitting exit guide information to the vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at the exit of the vehicle parking lot from the target parking space according to the exit guide information.

In this step, the exit guidance information refers to information for guiding the vehicle to arrive at the exit of the vehicle parking lot from the target parking space, for example, "the vehicle with license plate number a54321 should go straight forward by 30 meters and turn right, and then go straight by 10 meters, i.e., arrive at the exit of the vehicle parking lot and exit the vehicle parking lot".

Specifically, the high-order camera device receives the state information of the target parking space sent by the camera device of the target parking space in real time, and identifies whether the vehicle is about to exit the target parking space according to the state information of the target parking space; if the fact that the vehicle is about to drive out of the target parking space is recognized, generating driving-out guide information for guiding the vehicle to reach an exit of the vehicle parking lot from the target parking space, and sending the driving-out guide information to the vehicle terminal; the vehicle terminal generates an exit control instruction according to the exit guide information, and controls the vehicle to arrive at an exit of the vehicle parking lot from the target parking space according to the exit control instruction; of course, the vehicle terminal can also send the exit control instruction to the vehicle controller, and the vehicle controller controls the vehicle to arrive at the exit of the vehicle parking lot from the target parking space according to the exit control instruction; thus, the vehicle can be driven out of the parking lot quickly.

In addition, the vehicle terminal can also convert the outgoing guide information into corresponding outgoing guide voice and broadcast the outgoing guide voice so as to guide the vehicle to arrive at the exit of the vehicle parking lot from the target parking space.

Furthermore, the vehicle terminal can also generate an outgoing guide route according to the outgoing guide information, display the outgoing guide route on a vehicle terminal interface, and automatically start navigation to guide the vehicle to reach an exit of the vehicle parking lot from the target parking space.

In one embodiment, the control method for parking a vehicle of the present application further includes: obtaining the time when the vehicle enters the target parking space and the time when the vehicle exits the target parking space according to the updated parking space data of the target parking space; determining the parking time of the vehicle in the target parking space according to the time when the vehicle enters the target parking space and the time when the vehicle exits the target parking space; determining a resource transfer value according to the parking time of the vehicle in the target parking space; generating a corresponding resource transfer link according to the resource transfer value; and sending the resource transfer link to the vehicle terminal.

In this step, the resource transfer value refers to the parking fee of the vehicle, the resource transfer link refers to a payment link generated based on the parking fee of the vehicle, and the payment link carries a plurality of payment methods, such as WeChat payment, Payment, Bank card payment, and the like.

Specifically, the high-order camera device obtains the time when the vehicle enters the target parking space and the time when the vehicle exits the target parking space according to the updated parking space data of the target parking space, and then determines the parking time of the vehicle in the target parking space; and the parking fee of the vehicle is obtained by combining the parking charging rule of the parking lot; generating a corresponding payment link according to the parking fee of the vehicle, and sending the payment link to a vehicle terminal; the payment link is displayed through the vehicle terminal interface, and the vehicle owner can enter the payment page to pay by clicking the payment link.

In addition, the high-order camera equipment can also generate a corresponding short message according to the payment link and send the short message to the mobile phone of the owner of the vehicle; or the payment link is sent to the APP bound by the vehicle owner of the vehicle, or after the parking fee of the vehicle is determined, the corresponding vehicle parking fee is directly deducted from the bank card bound by the vehicle owner of the vehicle.

In one embodiment, as shown in fig. 3, another control method for parking a vehicle is provided, which is described by taking the method as an example of being applied to the high-level camera apparatus in fig. 1, and comprises the following steps:

step S301, vehicle videos at an entrance of a vehicle parking lot are collected, and vehicle information corresponding to vehicles entering the entrance is determined according to the vehicle videos.

And step S302, establishing communication connection with the vehicle terminal of the vehicle according to the vehicle information.

Step S303, acquiring the state information of each parking space of the vehicle parking lot, and determining the empty parking space information of the vehicle parking lot according to the state information of each parking space.

And step S304, transmitting the empty space information of the vehicle parking lot to the vehicle terminal.

Step S305, receiving target parking space information sent by a vehicle terminal; the target parking space information is determined by the vehicle terminal according to the empty parking space information of the vehicle parking lot.

And step S306, generating parking guide information according to the target parking space information.

Step S307, sending parking guidance information to the vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot according to the parking guide information.

Step S308, receiving the state information of the target parking space; the state information of the target parking space is determined by the camera equipment of the target parking space.

Step S309, identifying whether the vehicle drives into the target parking space according to the state information of the target parking space; and if the fact that the vehicle drives into the target parking space is recognized, updating the parking space data of the target parking space which is stored in advance according to the state information of the target parking space to obtain the updated parking space data of the target parking space.

Step S310, identifying whether the vehicle drives out of the target parking space or not according to the state information of the target parking space; and if the vehicle is identified to run out of the target parking space, updating the updated parking space data of the target parking space again according to the state information of the target parking space.

Step S311, if the vehicle is identified to be driven out of the target parking space, generating driving-out guide information; transmitting exit guide information to the vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at the exit of the vehicle parking lot from the target parking space according to the exit guide information.

The control method for vehicle parking comprises the steps of determining vehicle information corresponding to a vehicle entering an entrance by acquiring a vehicle video at the entrance of a vehicle parking lot, establishing communication connection with a vehicle terminal of the vehicle based on the vehicle information, and sending empty parking space information of the vehicle parking lot to the vehicle terminal; finally, generating parking guide information according to target parking space information determined by the vehicle terminal based on the empty parking space information, sending the parking guide information to the vehicle terminal, and controlling the vehicle to arrive at the target parking space from an entrance of the vehicle parking lot through the vehicle terminal based on the parking guide information; the purpose of automatically guiding the corresponding vehicle to reach the target parking space according to the vehicle video at the entrance of the vehicle parking lot is achieved, and the vehicle owner does not need to search the parking space by himself in the whole process, so that the vehicle parking time is saved, and the vehicle parking efficiency is improved.

It should be understood that although the various steps in the flow charts of fig. 2-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 4, there is provided a control apparatus for parking a vehicle, including: the system comprises a vehicle information determination module 410, a communication connection establishment module 420, an empty space information sending module 430, a target space information receiving module 440, a guidance information generation module 450 and a vehicle control module 460, wherein:

and the vehicle information determining module 410 is used for acquiring a vehicle video at an entrance of the vehicle parking lot and determining vehicle information corresponding to a vehicle entering the entrance according to the vehicle video.

And a communication connection establishing module 420 for establishing a communication connection with the vehicle terminal of the vehicle according to the vehicle information.

And an empty space information sending module 430, configured to send the empty space information of the vehicle parking lot to the vehicle terminal.

The target parking space information receiving module 440 is configured to receive target parking space information sent by a vehicle terminal; the target parking space information is determined by the vehicle terminal according to the empty parking space information of the vehicle parking lot.

And a guidance information generating module 450, configured to generate parking guidance information according to the target parking space information.

A vehicle control module 460 for transmitting parking guidance information to the vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot according to the parking guide information.

In one embodiment, the vehicle information includes a license plate number, and the communication connection establishing module 420 is further configured to query a correspondence between a preset license plate number and a vehicle terminal identifier, and determine a vehicle terminal identifier corresponding to the license plate number as a vehicle terminal identifier of the vehicle; and establishing communication connection with the vehicle terminal of the vehicle according to the vehicle terminal identification of the vehicle.

In one embodiment, the control device for vehicle parking further comprises an empty parking space information determining module, configured to obtain status information of each parking space in the vehicle parking lot; the method comprises the steps that the state information of each parking space of a vehicle parking lot is determined by a camera device corresponding to each parking space, the camera device corresponding to each parking space is used for collecting current videos of each parking space of the vehicle parking lot, key video frames of each parking space are extracted from the current videos of each parking space respectively, the key video frames of each parking space are identified, and the state information of each parking space is obtained; and determining the empty parking space information of the vehicle parking lot according to the state information of each parking space.

In one embodiment, the control device for vehicle parking further comprises a first parking space data updating module for receiving the state information of the target parking space; the state information of the target parking space is determined by the camera equipment of the target parking space; identifying whether the vehicle drives into the target parking space or not according to the state information of the target parking space; and if the fact that the vehicle drives into the target parking space is recognized, updating the parking space data of the target parking space which is stored in advance according to the state information of the target parking space to obtain the updated parking space data of the target parking space.

In one embodiment, the control device for vehicle parking further comprises a second parking space data updating module, configured to identify whether the vehicle has driven out of the target parking space according to the state information of the target parking space; and if the vehicle is identified to run out of the target parking space, updating the updated parking space data of the target parking space again according to the state information of the target parking space.

In one embodiment, the control device for vehicle parking further comprises a vehicle exit control module, configured to generate exit guidance information if it is identified that the vehicle is about to exit the target parking space; transmitting exit guide information to the vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at the exit of the vehicle parking lot from the target parking space according to the exit guide information.

In one embodiment, the control device for vehicle parking further includes a link sending module, configured to obtain, according to the updated parking space data of the target parking space, a time when the vehicle enters the target parking space and a time when the vehicle exits the target parking space; determining the parking time of the vehicle in the target parking space according to the time when the vehicle enters the target parking space and the time when the vehicle exits the target parking space; determining a resource transfer value according to the parking time of the vehicle in the target parking space; generating a corresponding resource transfer link according to the resource transfer value; and sending the resource transfer link to the vehicle terminal.

In the embodiments, the control device for vehicle parking determines the vehicle information corresponding to the vehicle entering the entrance by acquiring the vehicle video at the entrance of the vehicle parking lot, establishes communication connection with the vehicle terminal of the vehicle based on the vehicle information, and sends the empty space information of the vehicle parking lot to the vehicle terminal; finally, generating parking guide information according to target parking space information determined by the vehicle terminal based on the empty parking space information, sending the parking guide information to the vehicle terminal, and controlling the vehicle to arrive at the target parking space from an entrance of the vehicle parking lot through the vehicle terminal based on the parking guide information; the purpose of automatically guiding the corresponding vehicle to reach the target parking space according to the vehicle video at the entrance of the vehicle parking lot is achieved, and the vehicle owner does not need to search the parking space by himself in the whole process, so that the vehicle parking time is saved, and the vehicle parking efficiency is improved.

For specific limitations of the control device for vehicle parking, reference may be made to the above limitations of the control method for vehicle parking, which are not described herein again. The respective modules in the above-described control apparatus for parking a vehicle may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing data such as vehicle videos and empty parking space information of a vehicle parking lot. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a control method for parking a vehicle.

Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, there is provided a computer device comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program:

collecting vehicle videos at an entrance of a vehicle parking lot, and determining vehicle information corresponding to vehicles entering the entrance according to the vehicle videos;

the empty parking space information of the vehicle parking lot is sent to a vehicle terminal;

receiving target parking space information sent by a vehicle terminal; the target parking space information is determined by the vehicle terminal according to the empty parking space information of the vehicle parking lot;

transmitting parking guidance information to a vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at the target parking space corresponding to the target parking space information from the entrance of the vehicle parking lot according to the parking guide information.

In one embodiment, the processor, when executing the computer program, further performs the steps of: inquiring the corresponding relation between a preset license plate number and a vehicle terminal identification, and determining the vehicle terminal identification corresponding to the license plate number as the vehicle terminal identification of the vehicle; and establishing communication connection with the vehicle terminal of the vehicle according to the vehicle terminal identification of the vehicle.

In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring state information of each parking space of a vehicle parking lot; the method comprises the steps that the state information of each parking space of a vehicle parking lot is determined by a camera device corresponding to each parking space, the camera device corresponding to each parking space is used for collecting current videos of each parking space of the vehicle parking lot, key video frames of each parking space are extracted from the current videos of each parking space respectively, the key video frames of each parking space are identified, and the state information of each parking space is obtained; and determining the empty parking space information of the vehicle parking lot according to the state information of each parking space.

In one embodiment, the processor, when executing the computer program, further performs the steps of: receiving state information of a target parking space; the state information of the target parking space is determined by the camera equipment of the target parking space; identifying whether the vehicle drives into the target parking space or not according to the state information of the target parking space; and if the fact that the vehicle drives into the target parking space is recognized, updating the parking space data of the target parking space which is stored in advance according to the state information of the target parking space to obtain the updated parking space data of the target parking space.

In one embodiment, the processor, when executing the computer program, further performs the steps of: identifying whether the vehicle drives out of the target parking space or not according to the state information of the target parking space; and if the vehicle is identified to run out of the target parking space, updating the updated parking space data of the target parking space again according to the state information of the target parking space.

In one embodiment, the processor, when executing the computer program, further performs the steps of: if the fact that the vehicle is about to run out of the target parking space is recognized, running-out guide information is generated; transmitting exit guide information to the vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at the exit of the vehicle parking lot from the target parking space according to the exit guide information.

In one embodiment, the processor, when executing the computer program, further performs the steps of: obtaining the time when the vehicle enters the target parking space and the time when the vehicle exits the target parking space according to the updated parking space data of the target parking space; determining the parking time of the vehicle in the target parking space according to the time when the vehicle enters the target parking space and the time when the vehicle exits the target parking space; determining a resource transfer value according to the parking time of the vehicle in the target parking space; generating a corresponding resource transfer link according to the resource transfer value; and sending the resource transfer link to the vehicle terminal.

In the embodiments, the computer device realizes the purpose of automatically guiding the corresponding vehicle to reach the target parking space according to the vehicle video at the entrance of the vehicle parking lot through the computer program running on the processor, and the parking space is not required to be searched by the vehicle owner in the whole process, so that the vehicle parking time is saved, and the vehicle parking efficiency is improved.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of: inquiring the corresponding relation between a preset license plate number and a vehicle terminal identification, and determining the vehicle terminal identification corresponding to the license plate number as the vehicle terminal identification of the vehicle; and establishing communication connection with the vehicle terminal of the vehicle according to the vehicle terminal identification of the vehicle.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring state information of each parking space of a vehicle parking lot; the method comprises the steps that the state information of each parking space of a vehicle parking lot is determined by a camera device corresponding to each parking space, the camera device corresponding to each parking space is used for collecting current videos of each parking space of the vehicle parking lot, key video frames of each parking space are extracted from the current videos of each parking space respectively, the key video frames of each parking space are identified, and the state information of each parking space is obtained; and determining the empty parking space information of the vehicle parking lot according to the state information of each parking space.

In one embodiment, the computer program when executed by the processor further performs the steps of: receiving state information of a target parking space; the state information of the target parking space is determined by the camera equipment of the target parking space; identifying whether the vehicle drives into the target parking space or not according to the state information of the target parking space; and if the fact that the vehicle drives into the target parking space is recognized, updating the parking space data of the target parking space which is stored in advance according to the state information of the target parking space to obtain the updated parking space data of the target parking space.

In one embodiment, the computer program when executed by the processor further performs the steps of: identifying whether the vehicle drives out of the target parking space or not according to the state information of the target parking space; and if the vehicle is identified to run out of the target parking space, updating the updated parking space data of the target parking space again according to the state information of the target parking space.

In one embodiment, the computer program when executed by the processor further performs the steps of: if the fact that the vehicle is about to run out of the target parking space is recognized, running-out guide information is generated; transmitting exit guide information to the vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at the exit of the vehicle parking lot from the target parking space according to the exit guide information.

In one embodiment, the computer program when executed by the processor further performs the steps of: obtaining the time when the vehicle enters the target parking space and the time when the vehicle exits the target parking space according to the updated parking space data of the target parking space; determining the parking time of the vehicle in the target parking space according to the time when the vehicle enters the target parking space and the time when the vehicle exits the target parking space; determining a resource transfer value according to the parking time of the vehicle in the target parking space; generating a corresponding resource transfer link according to the resource transfer value; and sending the resource transfer link to the vehicle terminal.

In the above embodiments, the computer-readable storage medium realizes the purpose of automatically guiding the corresponding vehicle to reach the target parking space according to the vehicle video at the entrance of the vehicle parking lot through the stored computer program, and the parking space is not required to be searched by the vehicle owner in the whole process, so that the vehicle parking time is saved, and the vehicle parking efficiency is improved.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A method of controlling parking of a vehicle, the method comprising:

2. The method of claim 1, wherein the vehicle information includes a license plate number;

3. The method according to claim 1, before transmitting the empty space information of the vehicle parking lot to the vehicle terminal, further comprising:

4. The method according to any one of claims 1 to 3, further comprising:

5. The method of claim 4, after receiving the status information of the target parking space, further comprising:

6. The method of claim 5, further comprising, after identifying whether the vehicle has exited the target space based on the status information of the target space:

transmitting the exit guide information to the vehicle terminal; and the vehicle terminal is used for controlling the vehicle to arrive at an exit of the vehicle parking lot from the target parking space according to the exit guide information.

7. The method of claim 5, further comprising:

and sending the resource transfer link to the vehicle terminal.

8. A control device for parking a vehicle, characterized by comprising:

9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.