CN114495550A - Automatic parking method and device for parking lot - Google Patents

Automatic parking method and device for parking lot Download PDF

Info

Publication number
CN114495550A
CN114495550A CN202111659091.6A CN202111659091A CN114495550A CN 114495550 A CN114495550 A CN 114495550A CN 202111659091 A CN202111659091 A CN 202111659091A CN 114495550 A CN114495550 A CN 114495550A
Authority
CN
China
Prior art keywords
vehicle
parking
automatic
parking lot
server
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111659091.6A
Other languages
Chinese (zh)
Inventor
蒋君伟
崔文亮
罗哲夫
蒋君辉
刘伟
寇岑
王政
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Sixiang Wangxun Technology Co ltd
Original Assignee
Beijing Sixiang Wangxun Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Sixiang Wangxun Technology Co ltd filed Critical Beijing Sixiang Wangxun Technology Co ltd
Priority to CN202111659091.6A priority Critical patent/CN114495550A/en
Publication of CN114495550A publication Critical patent/CN114495550A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application provides an automatic parking method and device for a parking lot, which are applied to a server, wherein the automatic parking method comprises the following steps: receiving an automatic parking request sent by a first vehicle, wherein the automatic parking request comprises first position information of the first vehicle in a parking lot and is used for requesting a server to take over automatic driving permission of the first vehicle; according to the automatic parking request, a first automatic driving instruction is sent to the first vehicle so as to control the first vehicle to travel to a first target position in the parking lot. According to the automatic parking method and device for the parking lot, the first vehicle is controlled to automatically drive to the first target position through the server, and the second vehicle is controlled to avoid so that the first vehicle can drive to the first target position, the space of the parking lot can be fully utilized, and the parking and vehicle taking efficiency is improved.

Description

Automatic parking method and device for parking lot
Technical Field
The present application relates to the field of automated driving, and more particularly, to an automated parking method and apparatus for a parking lot, a computer-readable storage medium, and an electronic device.
Background
Existing parking lots typically require a large number of roads to be provided for vehicles to enter and exit the parking lot. A large amount of roads lead to the space utilization in parking area lower, especially in places such as hospital, market etc. that people flow density is great, the problem of parking stall shortage is more outstanding.
Disclosure of Invention
In view of this, embodiments of the present application provide an automatic parking method and apparatus for a parking lot, a computer-readable storage medium, and an electronic device, which can improve the space utilization of the parking lot.
In a first aspect, an embodiment of the present application provides an automatic parking method for a parking lot, which is applied to a server, and the automatic parking method includes: receiving an automatic parking request sent by a first vehicle, wherein the automatic parking request comprises first position information of the first vehicle in a parking lot and is used for requesting a server to take over automatic driving permission of the first vehicle; according to the automatic parking request, a first automatic driving instruction is sent to the first vehicle so as to control the first vehicle to travel to a first target position in the parking lot.
In some embodiments of the present application, sending a first autopilot command to a first vehicle to control the first vehicle to travel to a first target location in a parking lot based on automated parking information comprises: planning a first driving path of the first vehicle according to the automatic parking request, wherein the first driving path is used for driving the first vehicle to a first target position; and sending a first automatic driving instruction to the first vehicle to control the first vehicle to travel to the first target position according to the first travel path, wherein the first automatic driving instruction comprises the first travel path.
In some embodiments of the present application, the automatic parking method further comprises: receiving second position information sent by a second vehicle in the parking lot, wherein the server takes over the automatic driving authority of the second vehicle; planning a second driving path of the second vehicle according to the first driving path and the second position information, wherein the second driving path is used for avoiding the second vehicle so that the first vehicle can drive to the first target position; and sending a second automatic driving instruction to a second vehicle in the parking lot to control the second vehicle to travel according to a second travel path, wherein the second automatic driving instruction comprises the second travel path.
In some embodiments of the present application, sending a first autopilot command to a first vehicle to control the first vehicle to travel to a first target location in a parking lot based on an automated parking request includes: determining a first target location of a first vehicle in a parking lot according to an automatic parking request; and sending a first automatic driving instruction to the first vehicle to control the first vehicle to travel to the first target position in an automatic driving mode, wherein the first automatic driving instruction comprises the first target position.
In some embodiments of the present application, the automatic parking method further comprises: receiving second position information sent by a second vehicle in the parking lot, wherein the server takes over the automatic driving authority of the second vehicle; determining a second target position of the second vehicle according to the first target position and the second position information, wherein the second target position is used for avoiding the second vehicle so that the first vehicle can drive to the first target position; sending a second autopilot command to a second vehicle in the parking lot to control the second vehicle to travel to a second location, the second autopilot command including a second target location.
In some embodiments of the present application, sending a first autopilot command to a first vehicle to control the first vehicle to travel to a first target location in a parking lot based on an automated parking request includes: according to the automatic parking request, based on a preset rule, sending a first automatic driving instruction to a first vehicle to control the first vehicle to travel to a first target position in a parking lot, wherein the preset rule comprises the following steps: the second vehicles are closely arranged into a queue, the queue is provided with a plurality of rows, and the second vehicles run along the periphery of the queue according to the preset direction to avoid, so that the first vehicles run to the first target position.
In some embodiments of the present application, the preset rule further includes: and determining a second vehicle needing to be avoided and a driving direction according to the distance between the first vehicle and the periphery of the queue.
In a second aspect, an embodiment of the present application provides an automatic parking method for a parking lot, including: sending an automatic parking request, wherein the automatic parking request comprises first position information of a first vehicle in a parking lot and is used for requesting a server to take over automatic driving permission of the first vehicle; and receiving a first automatic driving instruction sent by the server in response to the automatic parking request so as to control the first vehicle to travel to a first target position in the parking lot.
In some embodiments of the present application, receiving a first autopilot command sent by a server in response to an automated parking request to control a first vehicle to travel to a first target location in a parking lot includes: and receiving a first automatic driving instruction to control the first vehicle to travel to the first target position according to a first travel path of the first vehicle, wherein the first automatic driving instruction comprises the first travel path, the first travel path is planned by the server according to the automatic parking request, and the first travel path is used for enabling the first vehicle to travel to the first target position.
In some embodiments of the present application, the automatic parking method further comprises: sending second position information of a second vehicle of the parking lot, the server having taken over the automatic driving authority of the second vehicle; and receiving a second automatic driving instruction sent by the server to a second vehicle in the parking lot so as to control the second vehicle to travel according to a second travel path of the second vehicle, wherein the second automatic driving instruction comprises the second travel path, the second travel path is planned by the server according to the first travel path and the second position information, and the second travel path is used for avoiding the second vehicle so that the first vehicle travels to the first target position.
In some embodiments of the present application, receiving a first autopilot command sent by a server in response to an automated parking request to control a first vehicle to travel to a first target location in a parking lot includes: and receiving a first automatic driving instruction sent by the server to control the first vehicle to drive to a first target position of the first vehicle in the parking lot in an automatic driving mode, wherein the first automatic driving instruction comprises the first target position, and the first target position is determined by the server according to the automatic parking request.
In some embodiments of the present application, the automatic parking method further comprises: sending second position information of a second vehicle of the parking lot, wherein the server takes over the automatic driving authority of the second vehicle; and receiving a second automatic driving instruction sent by the server to a second vehicle in the parking lot so as to control the second vehicle to travel to a second target position of the second vehicle, wherein the second automatic driving instruction comprises the second target position, the second target position is determined by the server according to the first target position and the second position information, and the second target position is used for enabling the second vehicle to avoid so that the first vehicle travels to the first target position.
In some embodiments of the present application, receiving a first autopilot command sent by a server in response to an automated parking request to control a first vehicle to travel to a first target location in a parking lot includes: the first automatic driving instruction is sent to the first vehicle by the server according to the automatic parking request based on a preset rule so as to control the first vehicle to travel to a first target position in the parking lot, wherein the preset rule comprises the following steps: the second vehicles are closely arranged into a queue, the queue is provided with a plurality of rows, and the second vehicles run along the periphery of the queue according to the preset direction to avoid, so that the first vehicles run to the first target position.
In some embodiments of the present application, the preset rule further includes: and determining a second vehicle needing to be avoided and a driving direction according to the distance between the first vehicle and the periphery of the queue.
In a third aspect, an embodiment of the present application provides an automatic parking apparatus for a parking lot, which is applied to a server, and includes: the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving an automatic parking request sent by a first vehicle, the automatic parking request comprises first position information of the first vehicle in a parking lot, and the automatic parking request is used for requesting a server to take over the automatic driving permission of the first vehicle; the sending module is used for sending a first automatic driving instruction to the first vehicle according to the automatic parking request so as to control the first vehicle to travel to a first target position in the parking lot.
In a fourth aspect, an embodiment of the present application provides an automatic parking apparatus for a parking lot, including: the system comprises a sending module, a judging module and a judging module, wherein the sending module is used for sending an automatic parking request, the automatic parking request comprises first position information of a first vehicle in a parking lot, and the automatic parking request is used for requesting a server to take over the automatic driving permission of the first vehicle; the receiving module is used for receiving a first automatic driving instruction sent by the server in response to the automatic parking request so as to control the first vehicle to travel to a first target position in the parking lot.
In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program for executing the automatic parking method for a parking lot of any one of the first and second aspects.
In a sixth aspect, an embodiment of the present application provides an electronic device, including: a processor; a memory for storing processor executable instructions, wherein the processor is for performing the method of automated parking of a parking lot of any one of the first and second aspects.
According to the automatic parking method and device for the parking lot, the first vehicle is controlled to automatically drive to the first target position through the server, the space of the parking lot can be fully utilized, and meanwhile the parking and vehicle taking efficiency can be improved.
Drawings
Fig. 1 is a schematic view of an implementation environment of an automatic parking method for a parking lot according to an embodiment of the present application.
Fig. 2 is a schematic flow chart of an automatic parking method for a parking lot according to an embodiment of the present application.
Fig. 3 is a flowchart illustrating a method for sending a first autopilot command according to an embodiment of the disclosure.
Fig. 4 is a flowchart illustrating a method for sending a second autopilot command according to an embodiment of the present application.
Fig. 5 is a flowchart illustrating a method for sending a first autopilot command according to another embodiment of the present application.
Fig. 6 is a flowchart illustrating a method for sending a second autopilot command according to another embodiment of the present application.
Fig. 7 is a schematic flowchart of an automatic parking method for a parking lot according to another embodiment of the present application.
Fig. 8 is a flowchart illustrating a method for receiving a second autopilot command according to an embodiment of the present application.
Fig. 9 is a flowchart illustrating a method for receiving a second autopilot command according to another embodiment of the present application.
Fig. 10 is a schematic structural diagram of an automatic parking device for a parking lot according to an embodiment of the present application.
Fig. 11 is a schematic structural diagram of an automatic parking apparatus for a parking lot according to another embodiment of the present application.
Fig. 12 is a block diagram illustrating an electronic device for performing an automatic parking method for a parking lot according to an exemplary embodiment of the present application.
Fig. 13 is a schematic diagram illustrating a close arrangement of vehicles in a parking lot according to an embodiment of the present application.
Fig. 14 is a schematic diagram illustrating a compact arrangement of vehicles in a parking lot according to another embodiment of the present application.
Fig. 15 is a schematic diagram illustrating a compact arrangement of vehicles in a parking lot according to another embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are for illustration purposes only and are not intended to limit the scope of the present application.
The term "include" and its variants, as used herein, are intended to be inclusive in an open-ended manner, i.e., "including but not limited to". The term "according to" is "at least partially according to". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment". Relevant definitions for other terms will be given in the following description.
The applicant has found in studying the parking behaviour of parking lots that existing parking lots typically require a large number of roads to be provided for vehicles to enter and exit the parking lot. A large amount of roads lead to the space utilization in parking area lower, especially in places such as hospital, market etc. that people flow density is great, the problem of parking stall shortage is more outstanding.
In addition, since some parking lots have a large area, it is often difficult for a driver of a vehicle to find a target parking space or exit, which causes inconvenience to the driver.
In order to solve the above problems, the present application provides an automatic parking method for a parking lot.
Fig. 1 is a schematic diagram of an implementation environment of an automatic parking method for a parking lot according to an embodiment of the present application. The implementation environment includes a server 110, a first vehicle 120, and a second vehicle 130.
Server 110 may receive an automatic parking request sent at first vehicle 120. For example, the server 110 may communicate with the first vehicle 120 over a wireless network.
The server 110 is used to control the first vehicle to travel to a first target location in the parking lot. In one embodiment, server 110 sends a first autopilot command to a first vehicle based on an automated parking request.
The server 110 may be a common server, or may also be a cloud server, and the like, which is not limited in this embodiment of the present application.
The first vehicle 120 is a vehicle having an automatic driving function, and communicates with the server 110 to transmit an automatic parking request to the server 110, where the automatic parking request includes first position information of the first vehicle 120 in the parking lot.
The second vehicle 130, which is a vehicle to which the automatic driving authority has been granted to the server 110, communicates with the server 110 for avoidance so that the first vehicle 120 travels to the first target position.
One skilled in the art will appreciate that the number of the first vehicle 120 or the second vehicle 130 may be one or more, and the types thereof may be the same or different. For example, the number of the first vehicles 120 may be one, or the number of the first vehicles 120 may be several tens or hundreds, or more. The number and the type of the devices of the first vehicle 120 and the second vehicle 130 are not limited in the embodiment of the present application.
In some optional embodiments, the user grants the automatic driving authority of the first vehicle 120 to the server 110, and sends an automatic parking request to the server 110 through the first vehicle 120 (or other communication device, such as a mobile phone), and the server 110 receives the automatic parking request and sends a first automatic driving instruction to the first vehicle according to the automatic parking request, so as to control the first vehicle to travel to a first target position in the parking lot, thereby achieving automatic parking or automatic vehicle pickup. For example, the user may send an automatic parking request when entering the parking lot, where the first target position is the parking position arranged by the server 110, so as to realize automatic parking; or the user can send an automatic parking request when leaving the parking lot, and the first target position is the vehicle taking position preset by the user or the position close to the exit of the parking lot, so that automatic vehicle taking is realized. The server 110 may also control the first vehicle 120 to travel to the exit of the adjacent parking lot in advance according to the parking law (e.g., data of parking duration and vehicle pickup time) of the first vehicle 120 in the parking lot, so as to achieve rapid vehicle pickup.
Fig. 2 schematically shows a flow chart of an automatic parking method for a parking lot according to an embodiment of the present invention. The method described in fig. 2 is performed by a server. The server may be one server, or may be composed of a plurality of servers, or may be a virtualization platform, or a cloud computing service center, and the embodiment of the present application does not limit the type of the server. As shown in fig. 2, the method includes the following.
S210: and receiving an automatic parking request sent by the first vehicle, wherein the automatic parking request comprises first position information of the first vehicle in the parking lot and is used for requesting the server to take over the automatic driving permission of the first vehicle.
S220: according to the automatic parking request, a first automatic driving instruction is sent to the first vehicle so as to control the first vehicle to travel to a first target position in the parking lot.
Specifically, when the user drives a first vehicle into the parking lot, an automatic parking request for requesting the server to take over the automatic driving authority of the first vehicle may be transmitted to the server so as to achieve automatic parking. The automatic parking request may include first location information of the first vehicle in the parking lot. The server may receive the first location information of the first vehicle in real time so that the server grasps the real-time location of the first vehicle.
An automatic parking request may also be sent by the first vehicle to the server when the user is about to drive the first vehicle out of the parking lot, the automatic parking request being used to effect automatic vehicle pickup. The server sends a first automatic driving instruction to the first vehicle according to the automatic parking request, wherein the first automatic driving instruction is used for controlling the first vehicle to automatically travel to a first target position in the parking lot. The first target location may be adjacent a parking lot exit. For example, the server may control the first vehicle to travel to an exit of the adjacent parking lot in advance according to a parking rule (e.g., data of parking duration and vehicle pickup time) of the first vehicle in the parking lot, so as to achieve rapid vehicle pickup.
Since the first vehicle may be plural, that is, the server may control the plural first vehicles of the parking lot to automatically drive at the same time, the plural first vehicles may be closely arranged (for example, in an end-to-end manner). Fig. 13 is a schematic diagram illustrating a close arrangement of vehicles in a parking lot according to an embodiment of the present application. The parking lot in fig. 13 has 6 × 6 parking spaces, and for convenience of description, the parking spaces and the corresponding vehicles have rows indicated by numbers, which are respectively the 1 st row to the 6 th row, columns indicated by capital letters, respectively the a th column to the F th column (for example, vehicle a1 indicates the vehicle in the 1 st row, column a, and parking space a1 indicates the parking space in the 1 st row, column a), the dotted line is the travelable path of the vehicle, and the arrow is the travelable direction of the vehicle. As shown in fig. 13, when the first vehicle enters the parking lot and transmits the automatic parking request, the server may control the first vehicle to travel from the entrance to the space B2. When vehicle a1 needs to exit the parking lot and send an automatic parking request, the server may control the vehicles that need to be avoided (e.g., vehicle B1, vehicle C1, vehicle D1, vehicle E1, and vehicle F1) to avoid so that vehicle a1 travels to space F1 or the exit. Therefore, the automatic parking method does not need to be paved on a large number of roads of a traditional parking lot, does not need to modify the parking lot (for example, does not need to use rails such as vertical lifting and horizontal moving or AVG robots and variant modes thereof), is not influenced by the gradient of the parking lot, the hardness of the ground and the like, and only needs to update the software level based on vehicle-mounted communication equipment (for example, T-Box or ECU). Therefore, the automatic parking method controls the first vehicle to automatically drive to the first target position through the server, the space utilization rate of the parking lot can be greatly improved, the efficiency of parking and vehicle taking is improved, and meanwhile the improvement cost of the parking lot is saved.
In one embodiment, as shown in fig. 3, a first automatic driving instruction is sent to a first vehicle to control the first vehicle to travel to a first target position in a parking lot according to automatic parking information, including the following.
S310: according to the automatic parking request, a first driving path of the first vehicle is planned, and the first driving path is used for enabling the first vehicle to drive to a first target position.
S320: and sending a first automatic driving instruction to the first vehicle to control the first vehicle to travel to the first target position according to the first travel path, wherein the first automatic driving instruction comprises the first travel path.
Specifically, a first travel path of a first vehicle may be planned by the server and sent to the first vehicle, and the first vehicle may travel to a first target location according to the first travel path by means of the camera and the ultrasonic radar. As shown in fig. 13, when the first vehicle enters the parking lot and makes an automatic parking request, the first travel path may be a vacant spot (e.g., a spot a2 or a spot B2) from the entrance of the parking lot to the parking lot. When vehicle a1 needs to exit the parking lot and send an automatic parking request, the first travel path may be from parking spot a1 to the exit of the parking lot or adjacent to the exit of the parking lot (e.g., parking spot F1). The server can control the vehicle A1 to drive to an exit (for example, a parking space F1) of an adjacent parking lot in advance according to the parking rule (for example, data of parking time, vehicle taking time and the like) of the vehicle A1, so that the vehicle can be taken quickly, and the vehicle taking efficiency of a user is improved.
In an embodiment, as shown in fig. 4, the automatic parking method further includes the following.
S410: and receiving second position information sent by a second vehicle in the parking lot, wherein the server takes over the automatic driving authority of the second vehicle.
S420: and planning a second driving path of the second vehicle according to the first driving path and the second position information, wherein the second driving path is used for avoiding the second vehicle so that the first vehicle drives to the first target position.
S430: and sending a second automatic driving instruction to a second vehicle in the parking lot to control the second vehicle to travel according to a second travel path, wherein the second automatic driving instruction comprises the second travel path.
Specifically, some second vehicles need to be avoided (e.g., the second vehicles may be vehicle F1, vehicle E1, vehicle D1, vehicle C1, and vehicle B1) in order for vehicle a1 to travel to a parking lot exit or an adjacent exit (e.g., space F1), such as when vehicle a1 needs to exit the parking lot and send an automatic parking request. The server sequentially controls vehicle F1, vehicle E1, vehicle D1, vehicle C1, and vehicle B1 to avoid, and for example, the server sequentially controls vehicle F1, vehicle E1, vehicle D1, vehicle C1, and vehicle B1 to travel out of the 1 st parking space in the direction in the drawing. The second travel path may be a combination of various types, and the form of the second travel path is not particularly limited in the present application as long as the second vehicle can avoid (i.e., the second vehicle can travel out of the 1 st parking space).
According to the automatic parking method for the parking lot, the server controls the second vehicle to avoid, so that the vehicles in the parking lot can be closely arranged and automatically picked up, the space utilization rate of the parking lot is improved, and the vehicle picking-up time of a user is saved.
In one embodiment, as shown in fig. 5, a first autopilot command is sent to a first vehicle to control the first vehicle to travel to a first target location in a parking lot based on an autopilot request, including the following.
S510: a first target location of a first vehicle in a parking lot is determined based on an automatic parking request.
S520: and sending a first automatic driving instruction to the first vehicle to control the first vehicle to travel to the first target position in an automatic driving mode, wherein the first automatic driving instruction comprises the first target position.
In particular, the first target location may be determined by a server. As shown in fig. 13, when the first vehicle enters the parking lot, the automatic parking request is transmitted, and the first target position may be a vacant position in the parking lot, such as space a2 or space B2. When vehicle a1 needs to exit the parking lot, the first target location may be at or near the exit of the parking lot (e.g., space F1). The first autopilot command requires compliance with certain directions and rules, such as following the path and direction in fig. 13.
In an embodiment, as shown in fig. 6, the automatic parking method further includes the following.
S610: and receiving second position information sent by a second vehicle in the parking lot, wherein the server takes over the automatic driving authority of the second vehicle.
S620: and determining a second target position of the second vehicle according to the first target position and the second position information, wherein the second target position is used for avoiding the second vehicle so that the first vehicle can drive to the first target position.
S630: sending a second autopilot command to a second vehicle in the parking lot to control the second vehicle to travel to a second location, the second autopilot command including a second target location.
Specifically, when the vehicle a1 needs to exit the parking lot and issue an automatic parking request, some second vehicles need to be avoided. A second target position of the second vehicle may be determined by the server, for example, the target positions of vehicle F1 and vehicle E1 may be vacant spaces of parking lots (e.g., parking space a2 and parking space B2), and the target positions of vehicle D1, vehicle C1 and vehicle B1 may be parking space F1, vehicle E1 and vehicle D1, that is, after vehicle F1, vehicle E1, vehicle D1, vehicle C1 and vehicle B1 sequentially exit the 1 st driving space, vehicle a1 drives to an exit, vehicle F1 drives to a B2 parking space, vehicle E1 drives to a2 parking space, and vehicle D1, vehicle C1 and vehicle B1 sequentially drive back to the 1 st driving space.
In one embodiment, sending a first autonomous driving instruction to a first vehicle to control the first vehicle to travel to a first target location in a parking lot in accordance with an autonomous parking request includes: according to the automatic parking request, based on a preset rule, sending a first automatic driving instruction to a first vehicle to control the first vehicle to travel to a first target position in a parking lot, wherein the preset rule comprises the following steps: the second vehicles are closely arranged into a queue, the queue is provided with a plurality of rows, and the second vehicles run along the periphery of the queue according to the preset direction to avoid, so that the first vehicles run to the first target position.
Specifically, as shown in fig. 13, the vehicles are closely arranged in a queue, and when vehicle a1 needs to exit the parking lot and issue an automatic parking request, some second vehicles need to be avoided, such as vehicle F1, vehicle E1, vehicle D1, vehicle C1, and vehicle B1. The second vehicle can travel along the periphery of the queue according to the preset direction to avoid, so that the first vehicle travels to the first target position. For example, after the vehicle F1, the vehicle E1, the vehicle D1, the vehicle C1, and the vehicle B1 sequentially exit the 1 st station, the vehicle travels along the periphery of the platoon in the traveling direction shown in fig. 13, so that the vehicle a1 travels to the exit.
The vehicles in the parking lot may also be divided into a plurality of queues, one queue being vehicle a1 through vehicle F6, and the other queue being vehicle a7 through vehicle F12, as shown in fig. 14 and 15.
In one embodiment, the preset rule further includes: and determining a second vehicle needing to be avoided and a driving direction according to the distance between the first vehicle and the periphery of the queue.
Specifically, as shown in fig. 13, when vehicle C3 needs to drive away from the parking lot, since the closest distance (or shortest route) of vehicle C3 from the periphery of the queue is two slots A3 and B3, driving vehicle C3 away from the parking lot along the route in the entrance direction (sequentially passing through slot B3 and slot A3) requires maneuvering two vehicles (maneuvering sequence is vehicle A3 and vehicle B3 respectively), while driving vehicle C3 away from the parking lot along the route in the exit direction (sequentially passing through slot D3, slot E3 and slot F3) requires maneuvering three vehicles (maneuvering sequence is vehicle F3, vehicle E3 and vehicle D3 respectively), which is more. Therefore, the second vehicle needing to be avoided and the driving direction can be determined according to the shortest distance between the first vehicle and the periphery of the queue, so that the distribution of scheduling resources is reduced, and energy is saved.
Fig. 7 schematically shows a flowchart of an automatic parking method for a parking lot according to an embodiment of the present invention. The method of FIG. 7 is performed by a first vehicle. The first vehicle may be one or more vehicles, and the number of the first vehicles is not limited in the embodiments of the present application. As shown in fig. 7, the method includes the following.
S710: and sending an automatic parking request, wherein the automatic parking request comprises first position information of the first vehicle in the parking lot and is used for requesting the server to take over the automatic driving permission of the first vehicle.
S720: and receiving a first automatic driving instruction sent by the server in response to the automatic parking request so as to control the first vehicle to travel to a first target position in the parking lot.
S710 to S720 are behaviors of the first vehicle corresponding to the behaviors of the server, and specific limitations of S710 to S720 may refer to the descriptions in the above embodiments, and are not repeated herein.
According to the automatic parking method, the server controls the first vehicle to automatically drive to the first target position, so that the space utilization rate of the parking lot can be greatly improved, the efficiency of parking and vehicle taking is improved, and meanwhile, the modification cost of the parking lot is saved.
In one embodiment, a first autopilot command sent by a server in response to an autopilot request is received to control a first vehicle to travel to a first target location in a parking lot, including the following.
And receiving a first automatic driving instruction to control the first vehicle to travel to the first target position according to a first travel path of the first vehicle, wherein the first automatic driving instruction comprises the first travel path, the first travel path is planned by the server according to the automatic parking request, and the first travel path is used for enabling the first vehicle to travel to the first target position.
The behavior of receiving the first automatic driving instruction is a behavior of the first vehicle corresponding to the behavior of sending the automatic driving instruction by the server, and for specific limitation of receiving the first automatic driving instruction, reference may be made to the description in the foregoing embodiment, and details are not described here again.
In an embodiment, as shown in fig. 8, the automatic parking method further includes the following.
S810: second position information of a second vehicle of the parking lot is transmitted, and the server has taken over the automatic driving authority of the second vehicle.
S820: and receiving a second automatic driving instruction sent by the server to a second vehicle in the parking lot so as to control the second vehicle to travel according to a second travel path of the second vehicle, wherein the second automatic driving instruction comprises the second travel path, the second travel path is planned by the server according to the first travel path and the second position information, and the second travel path is used for avoiding the second vehicle so that the first vehicle travels to the first target position.
S810 to S820 are behaviors of the second vehicle corresponding to the behaviors of the server, and specific limitations of S810 to S820 may refer to the description in the above embodiment, and are not repeated herein.
In one embodiment, a first autopilot command sent by a server in response to an autopilot request is received to control a first vehicle to travel to a first target location in a parking lot, including the following.
And receiving a first automatic driving instruction sent by the server to control the first vehicle to drive to a first target position of the first vehicle in the parking lot in an automatic driving mode, wherein the first automatic driving instruction comprises the first target position, and the first target position is determined by the server according to the automatic parking request.
The behavior of receiving the first automatic driving instruction sent by the server is a behavior of the first vehicle corresponding to the behavior of sending the first automatic driving instruction by the server, and for specific limitations of receiving the first automatic driving instruction sent by the server, reference may be made to the description in the foregoing embodiment, and details are not repeated here.
In an embodiment, as shown in fig. 9, the automatic parking method further includes the following.
S910: second position information of a second vehicle of the parking lot is transmitted, and the server has taken over the automatic driving authority of the second vehicle.
S920: and receiving a second automatic driving instruction sent by the server to a second vehicle in the parking lot so as to control the second vehicle to travel to a second target position of the second vehicle, wherein the second automatic driving instruction comprises the second target position, the second target position is determined by the server according to the first target position and the second position information, and the second target position is used for enabling the second vehicle to avoid so that the first vehicle travels to the first target position.
S910 to S920 are behaviors of the second vehicle corresponding to the behaviors of the server, and specific limitations of S910 to S920 may refer to the description in the above embodiment, and are not repeated herein.
In one embodiment, receiving a first autopilot command sent by a server in response to an automated parking request to control a first vehicle to travel to a first target location in a parking lot includes: the first automatic driving instruction is sent to the first vehicle by the server according to the automatic parking request based on a preset rule so as to control the first vehicle to travel to a first target position in the parking lot, wherein the preset rule comprises the following steps: the second vehicles are closely arranged into a queue, the queue is provided with a plurality of rows, and the second vehicles run along the periphery of the queue according to a preset direction to avoid so that the first vehicles run to the first target position.
In one embodiment, the preset rule further includes: and determining a second vehicle needing to be avoided and a driving direction according to the distance between the first vehicle and the periphery of the queue.
For the related description of the preset rule, reference may be made to the description in the above embodiments, which is not repeated herein.
Fig. 10 is a schematic structural diagram of an automatic parking apparatus for a parking lot according to an embodiment of the present application, which is applied to a server and includes the following components.
The receiving module 1010 is configured to receive an automatic parking request sent by a first vehicle, where the automatic parking request includes first location information of the first vehicle in a parking lot, and is used to request a server to take over an automatic driving permission of the first vehicle.
The sending module 1020 is configured to send a first automatic driving instruction to a first vehicle according to an automatic parking request to control the first vehicle to travel to a first target position in a parking lot.
The utility model provides an automatic parking device in parking area controls first vehicle autopilot to first target location through the server, can greatly improve the space utilization in parking area, improves the efficiency of parking and getting the car, saves the transformation cost in parking area simultaneously.
According to an embodiment of the present application, the sending module 1020 plans a first traveling path of the first vehicle according to the automatic parking request, the first traveling path being used for the first vehicle to travel to the first target location; and sending a first automatic driving instruction to the first vehicle to control the first vehicle to travel to the first target position according to the first travel path, wherein the first automatic driving instruction comprises the first travel path.
According to an embodiment of the present application, the automatic parking apparatus further includes: receiving second position information sent by a second vehicle in the parking lot, wherein the server takes over the automatic driving authority of the second vehicle; planning a second driving path of the second vehicle according to the first driving path and the second position information, wherein the second driving path is used for avoiding the second vehicle so that the first vehicle can drive to the first target position; and sending a second automatic driving instruction to a second vehicle in the parking lot to control the second vehicle to travel according to a second travel path, wherein the second automatic driving instruction comprises the second travel path.
According to an embodiment of the present application, the sending module 1020 determines a first target location of a first vehicle in a parking lot according to an automatic parking request; and sending a first automatic driving instruction to the first vehicle to control the first vehicle to travel to the first target position in an automatic driving mode, wherein the first automatic driving instruction comprises the first target position.
According to an embodiment of the present application, the automatic parking apparatus further includes: receiving second position information sent by a second vehicle in the parking lot, wherein the server takes over the automatic driving authority of the second vehicle; determining a second target position of the second vehicle according to the first target position and the second position information, wherein the second target position is used for avoiding the second vehicle so that the first vehicle can drive to the first target position; sending a second autopilot command to a second vehicle in the parking lot to control the second vehicle to travel to a second location, the second autopilot command including a second target location.
According to an embodiment of the present application, the transmitting module 1020 includes: according to the automatic parking request, based on a preset rule, sending a first automatic driving instruction to a first vehicle to control the first vehicle to travel to a first target position in a parking lot, wherein the preset rule comprises the following steps: the second vehicles are closely arranged into a queue, the queue is provided with a plurality of rows, and the second vehicles run along the periphery of the queue according to the preset direction to avoid, so that the first vehicles run to the first target position.
According to an embodiment of the present application, the preset rule further includes: and determining a second vehicle needing to be avoided and a driving direction according to the distance between the first vehicle and the periphery of the queue.
Specific limitations regarding the automatic parking device applied to the server parking lot can be found in the above limitations regarding the automatic parking method applied to the server parking lot, which are not described herein again.
Fig. 11 is a schematic structural diagram of an automatic parking device for a parking lot according to another embodiment of the present application, which is applied to a vehicle and includes the following components.
The sending module 1110 is configured to send an automatic parking request, where the automatic parking request includes first location information of the first vehicle in the parking lot, and is used to request the server to take over an automatic driving permission of the first vehicle.
The receiving module 1120 is configured to receive a first autopilot command sent by the server in response to the automatic parking request, so as to control the first vehicle to travel to a first target position in the parking lot.
The automatic parking device in parking area of this application controls first vehicle autopilot to first target location through the server, can greatly improve the space utilization in parking area, improves the efficiency of parkking and getting the car, saves the transformation cost in parking area simultaneously.
According to an embodiment of the present application, the receiving module 1120 receives a first autopilot command to control a first vehicle to travel to a first target location according to a first travel path of the first vehicle, the first autopilot command including the first travel path, wherein the first travel path is planned by a server according to an automatic parking request, and the first travel path is used for the first vehicle to travel to the first target location.
According to an embodiment of the present application, the automatic parking apparatus further includes: sending second position information of a second vehicle of the parking lot, the server having taken over the automatic driving authority of the second vehicle; and receiving a second automatic driving instruction sent by the server to a second vehicle in the parking lot so as to control the second vehicle to travel according to a second travel path of the second vehicle, wherein the second automatic driving instruction comprises the second travel path, the second travel path is planned by the server according to the first travel path and the second position information, and the second travel path is used for avoiding the second vehicle so that the first vehicle travels to the first target position.
According to the embodiment of the application, the receiving module 1120 receives a first automatic driving instruction sent by the server to control the first vehicle to travel to a first target position of the first vehicle in the parking lot in an automatic driving manner, wherein the first automatic driving instruction comprises the first target position, and the first target position is determined by the server according to the automatic parking request.
According to an embodiment of the present application, the automatic parking apparatus further includes: sending second position information of a second vehicle of the parking lot, the server having taken over the automatic driving authority of the second vehicle; and receiving a second automatic driving instruction sent by the server to a second vehicle in the parking lot so as to control the second vehicle to run to a second target position of the second vehicle, wherein the second automatic driving instruction comprises the second target position, the second target position is determined by the server according to the first target position and the second position information, and the second target position is used for enabling the second vehicle to avoid so that the first vehicle runs to the first target position.
According to an embodiment of the present application, the receiving module 1120 includes: the first automatic driving instruction is sent to the first vehicle by the server according to the automatic parking request based on a preset rule so as to control the first vehicle to travel to a first target position in the parking lot, wherein the preset rule comprises the following steps: the second vehicles are closely arranged into a queue, the queue is provided with a plurality of rows, and the second vehicles run along the periphery of the queue according to the preset direction to avoid, so that the first vehicles run to the first target position.
According to an embodiment of the present application, the preset rule further includes: and determining a second vehicle needing to be avoided and a driving direction according to the distance between the first vehicle and the periphery of the queue.
Specific limitations regarding the automatic parking apparatus applied to the parking lot of the vehicle can be found in the above limitations regarding the automatic parking method applied to the parking lot of the vehicle, which will not be described herein again.
Fig. 12 is a block diagram of an electronic device 1200 for performing an automatic parking method for a parking lot according to an exemplary embodiment of the present application, which includes a processor 1210 and a memory 1220.
The memory 1820 is configured to store instructions executable by the processor 1210. The processor 1810 is configured to execute executable instructions to perform the automatic parking method for a parking lot according to any one of the above embodiments.
The present application also provides a computer-readable storage medium storing a computer program for executing the automatic parking method for a parking lot according to any one of the above embodiments.
According to the automatic parking method and device for the parking lot, the server controls the first vehicle to automatically drive to the first target position, the space utilization rate of the parking lot can be greatly improved, the parking and vehicle taking efficiency is improved, and meanwhile the modification cost of the parking lot is saved.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware or any other combination. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server-side, data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a Digital Video Disk (DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), among others.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (18)

1. An automatic parking method for a parking lot, which is applied to a server, the automatic parking method comprising:
receiving an automatic parking request sent by a first vehicle, wherein the automatic parking request comprises first position information of the first vehicle in a parking lot and is used for requesting a server to take over automatic driving permission of the first vehicle;
according to the automatic parking request, sending a first automatic driving instruction to the first vehicle to control the first vehicle to travel to a first target position in the parking lot.
2. The automatic parking method according to claim 1, wherein said transmitting a first automatic driving instruction to the first vehicle to control the first vehicle to travel to a first target position in the parking lot according to the automatic parking information comprises:
planning a first driving path of the first vehicle according to the automatic parking request, wherein the first driving path is used for driving the first vehicle to the first target position;
sending the first autopilot command to the first vehicle to control the first vehicle to travel to the first target location according to the first travel path, the first autopilot command including the first travel path.
3. The automatic parking method according to claim 2, further comprising:
receiving second position information sent by a second vehicle of the parking lot, the server having taken over automatic driving authority of the second vehicle;
planning a second driving path of the second vehicle according to the first driving path and the second position information, wherein the second driving path is used for avoiding the second vehicle so that the first vehicle can drive to the first target position;
sending a second autopilot command to the second vehicle in the parking lot to control the second vehicle to travel along the second travel path, the second autopilot command including the second travel path.
4. The automated parking method of claim 1, wherein said sending a first automated driving instruction to the first vehicle to control the first vehicle to travel to a first target location in the parking lot in accordance with the automated parking request comprises:
determining a first target position of the first vehicle in the parking lot according to the automatic parking request;
sending the first autopilot command to the first vehicle to control the first vehicle to travel to the first target location in an autopilot manner, the first autopilot command including the first target location.
5. The automatic parking method according to claim 4, further comprising:
receiving second position information sent by a second vehicle of the parking lot, the server having taken over automatic driving authority of the second vehicle;
determining a second target position of the second vehicle according to the first target position and the second position information, wherein the second target position is used for avoiding the second vehicle so that the first vehicle can drive to the first target position;
sending a second autopilot command to the second vehicle in the parking lot to control the second vehicle to travel to a second location, the second autopilot command including the second target location.
6. The automatic parking method according to claim 2 or 5, wherein said transmitting a first automatic driving instruction to the first vehicle to control the first vehicle to travel to a first target position in the parking lot according to the automatic parking request includes:
according to the automatic parking request, sending a first automatic driving instruction to the first vehicle based on a preset rule so as to control the first vehicle to travel to a first target position in the parking lot, wherein the preset rule comprises the following steps:
the second vehicles are closely arranged into a queue, the queue is provided with a plurality of rows, and the second vehicles run along the periphery of the queue according to a preset direction to avoid, so that the first vehicles can run to the first target position.
7. The automated parking method according to claim 6, wherein the preset rule further comprises:
and determining a second vehicle needing to be avoided and a driving direction according to the distance between the first vehicle and the periphery of the queue.
8. An automatic parking method for a parking lot, comprising:
sending an automatic parking request, wherein the automatic parking request comprises first position information of a first vehicle in a parking lot and is used for requesting a server to take over automatic driving permission of the first vehicle;
and receiving a first automatic driving instruction sent by the server in response to the automatic parking request so as to control the first vehicle to travel to a first target position in the parking lot.
9. The automated parking method of claim 8 wherein said receiving a first autopilot command sent by said server in response to said automated parking request to control said first vehicle to travel to a first target location in said parking lot comprises:
receiving the first automatic driving instruction to control the first vehicle to travel to the first target position according to a first travel path of the first vehicle, wherein the first automatic driving instruction comprises the first travel path, and the first travel path is planned by the server according to the automatic parking request and is used for enabling the first vehicle to travel to the first target position.
10. The automated parking method according to claim 9, further comprising:
transmitting second location information of a second vehicle of the parking lot, the server having taken over an autonomous driving authority of the second vehicle;
receiving a second automatic driving instruction sent by the server to the second vehicle in the parking lot to control the second vehicle to travel according to a second travel path of the second vehicle, wherein the second automatic driving instruction comprises the second travel path, the second travel path is planned by the server according to the first travel path and the second position information, and the second travel path is used for avoiding the second vehicle so that the first vehicle travels to the first target position.
11. The automated parking method of claim 8 wherein said receiving a first autopilot command sent by said server in response to said automated parking request to control said first vehicle to travel to a first target location in said parking lot comprises:
receiving a first automatic driving instruction sent by the server to control the first vehicle to travel to a first target position of the first vehicle in the parking lot in an automatic driving mode, wherein the first automatic driving instruction comprises the first target position, and the first target position is determined by the server according to the automatic parking request.
12. The automated parking method according to claim 11, further comprising:
transmitting second location information of a second vehicle of the parking lot, the server having taken over an autonomous driving authority of the second vehicle;
receiving a second automatic driving instruction sent by the server to the second vehicle in the parking lot to control the second vehicle to travel to a second target position of the second vehicle, wherein the second automatic driving instruction comprises the second target position, the second target position is determined by the server according to the first target position and the second position information, and the second target position is used for avoiding the second vehicle so that the first vehicle travels to the first target position.
13. The automated parking method according to claim 9 or 12, wherein the receiving of the first automated driving instruction sent by the server in response to the automated parking request to control the first vehicle to travel to the first target position in the parking lot comprises:
the first automatic driving instruction is sent to the first vehicle by the server according to the automatic parking request based on a preset rule so as to control the first vehicle to travel to a first target position in the parking lot, wherein the preset rule comprises:
the second vehicles are closely arranged into a queue, the queue is provided with a plurality of rows, and the second vehicles run along the periphery of the queue according to a preset direction to avoid, so that the first vehicles can run to the first target position.
14. The automated parking method according to claim 13, wherein the preset rule further comprises:
and determining a second vehicle needing to be avoided and a driving direction according to the distance between the first vehicle and the periphery of the queue.
15. An automatic parking device for a parking lot, applied to a server, comprising:
the system comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for receiving an automatic parking request sent by a first vehicle, the automatic parking request comprises first position information of the first vehicle in a parking lot, and the automatic parking request is used for requesting a server to take over the automatic driving permission of the first vehicle;
the sending module is used for sending a first automatic driving instruction to the first vehicle according to the automatic parking request so as to control the first vehicle to drive to a first target position in the parking lot.
16. An automatic parking apparatus for a parking lot, comprising:
the system comprises a sending module, a judging module and a judging module, wherein the sending module is used for sending an automatic parking request, the automatic parking request comprises first position information of a first vehicle in a parking lot, and the automatic parking request is used for requesting a server to take over the automatic driving permission of the first vehicle;
the receiving module is used for receiving a first automatic driving instruction sent by the server in response to the automatic parking request so as to control the first vehicle to travel to a first target position in the parking lot.
17. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions,
wherein the processor is configured to perform the automated parking method of any of the above claims 1 to 14.
18. A computer-readable storage medium storing a computer program for executing the automatic parking method according to any one of claims 1 to 14.
CN202111659091.6A 2021-12-30 2021-12-30 Automatic parking method and device for parking lot Pending CN114495550A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111659091.6A CN114495550A (en) 2021-12-30 2021-12-30 Automatic parking method and device for parking lot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111659091.6A CN114495550A (en) 2021-12-30 2021-12-30 Automatic parking method and device for parking lot

Publications (1)

Publication Number Publication Date
CN114495550A true CN114495550A (en) 2022-05-13

Family

ID=81507736

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111659091.6A Pending CN114495550A (en) 2021-12-30 2021-12-30 Automatic parking method and device for parking lot

Country Status (1)

Country Link
CN (1) CN114495550A (en)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106575476A (en) * 2014-01-30 2017-04-19 波尔图大学 Device and method for self-automated parking lot for autonomous vehicles based on vehicular networking
CN107074233A (en) * 2014-10-27 2017-08-18 罗伯特·博世有限公司 For the method for the automatic parking process for performing vehicle
CN107077789A (en) * 2014-10-27 2017-08-18 罗伯特·博世有限公司 Method and apparatus for guiding vehicle on parking lot
US20170329342A1 (en) * 2016-05-11 2017-11-16 Hitachi, Ltd. Parking Management System and Its Control Method
CN108389426A (en) * 2018-04-20 2018-08-10 驭势科技（北京）有限公司 A kind of method and apparatus for controlling vehicle parking
CN110276983A (en) * 2019-07-17 2019-09-24 东软睿驰汽车技术（沈阳）有限公司 A kind of method, system and the vehicle of automatic valet parking
CN110782696A (en) * 2019-01-25 2020-02-11 长城汽车股份有限公司 Control system for passenger-riding parking
CN111739302A (en) * 2020-08-07 2020-10-02 宁波均联智行科技有限公司 Method and system for automatic passenger-replacing parking
CN112071082A (en) * 2020-09-11 2020-12-11 江苏小白兔智造科技有限公司 Intelligent prediction method for big data of parking lot condition
CN112863225A (en) * 2019-11-28 2021-05-28 长城汽车股份有限公司 Method and device for passenger-replacing parking
CN113012467A (en) * 2021-02-23 2021-06-22 中国联合网络通信集团有限公司 Parking control method and device

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106575476A (en) * 2014-01-30 2017-04-19 波尔图大学 Device and method for self-automated parking lot for autonomous vehicles based on vehicular networking
CN107074233A (en) * 2014-10-27 2017-08-18 罗伯特·博世有限公司 For the method for the automatic parking process for performing vehicle
CN107077789A (en) * 2014-10-27 2017-08-18 罗伯特·博世有限公司 Method and apparatus for guiding vehicle on parking lot
US20170329342A1 (en) * 2016-05-11 2017-11-16 Hitachi, Ltd. Parking Management System and Its Control Method
CN108389426A (en) * 2018-04-20 2018-08-10 驭势科技（北京）有限公司 A kind of method and apparatus for controlling vehicle parking
CN110782696A (en) * 2019-01-25 2020-02-11 长城汽车股份有限公司 Control system for passenger-riding parking
CN110276983A (en) * 2019-07-17 2019-09-24 东软睿驰汽车技术（沈阳）有限公司 A kind of method, system and the vehicle of automatic valet parking
CN112863225A (en) * 2019-11-28 2021-05-28 长城汽车股份有限公司 Method and device for passenger-replacing parking
CN111739302A (en) * 2020-08-07 2020-10-02 宁波均联智行科技有限公司 Method and system for automatic passenger-replacing parking
CN112071082A (en) * 2020-09-11 2020-12-11 江苏小白兔智造科技有限公司 Intelligent prediction method for big data of parking lot condition
CN113012467A (en) * 2021-02-23 2021-06-22 中国联合网络通信集团有限公司 Parking control method and device

Similar Documents

Publication Publication Date Title
US10586457B2 (en) Dynamic space definition
JP6614464B6 (en) Vehicle scheduling method, apparatus, equipment, and storage medium
WO2018113602A1 (en) Parking management robot, and parking management method and system
US9286587B2 (en) Roadside assistance management
US10062283B2 (en) Device and method for operating a parking lot
CN104008642B (en) The system and the method for selection leader's vehicle that vehicle fitting and control in a row travel
KR101753872B1 (en) Smart electric vehicle charging and parking management system and method thereof
CN105390017A (en) Method and system for vehicle parking
US20180261017A1 (en) Method and apparatus for operating parking space for autonomous smart car
CN108597233A (en) Recommend method, apparatus and computer readable storage medium in parking stall
CN110531761A (en) Unmanned vehicle dispatching method, device and the system for executing unmanned vehicle dispatching method
CN107481548A (en) Parking management method and system
CN108255181A (en) Reverse car seeking method and computer readable storage medium based on robot
CN107466469A (en) Method for drawing map, its high in the clouds platform and server
CN113537883B (en) Method and related device for vehicle allocation and monitoring in logistics park
WO2017181854A1 (en) Parking method, device, and system
CN110246355A (en) Vehicle scheduling control method, device, computer equipment and storage medium
CN108827332A (en) Combination of paths planing method, system, equipment and the storage medium driven with subway
CN113352926A (en) Charging processing method and device and scheduling system
CN111766859A (en) Method, device, equipment, system and storage medium for controlling distribution robot
WO2019010580A1 (en) System and method for managing parking queries
KR20140087083A (en) Apparatus and method for providing parking information using visit information of vehicle
JP6761457B2 (en) Systems and methods for managing taxi dispatches, as well as programs for controlling taxi dispatch requests
CN114495550A (en) Automatic parking method and device for parking lot
CN113810849B (en) Parking control method and system, control device and medium for airport

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB03 Change of inventor or designer information
CB03 Change of inventor or designer information

Inventor after: Cui Wenliang

Inventor after: Jiang Junhui

Inventor after: Liu Wei

Inventor after: Kou Cen

Inventor after: Jiang Junwei

Inventor after: Wang Zheng

Inventor after: Luo Zhefu

Inventor before: Jiang Junwei

Inventor before: Cui Wenliang

Inventor before: Luo Zhefu

Inventor before: Jiang Junhui

Inventor before: Liu Wei

Inventor before: Kou Cen

Inventor before: Wang Zheng

RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20220513