CN115862330A - Vehicle control method and device, vehicle and computer readable storage medium - Google Patents
Vehicle control method and device, vehicle and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a vehicle control method and device, a vehicle and a computer-readable storage medium. The method is applied to the field of intelligent automobiles and comprises the following steps: in response to detecting that the target vehicle enters the parking lot, acquiring current data of the parking lot and vehicle information of the target vehicle; determining a target parking space satisfying the vehicle information from a plurality of parking spaces based on the current data; sending a takeover request to the target vehicle based on the vehicle information; and controlling the target vehicle to park in the target parking space in response to receiving a confirmation instruction corresponding to the takeover request sent by the target vehicle. The invention solves the technical problem of low parking efficiency caused by the fact that the parking lot is not in place.
Description
Technical Field
The invention relates to the field of intelligent automobiles, in particular to a vehicle control method and device, a vehicle and a computer readable storage medium.
Background
The automatic driving technology is developing rapidly, vehicles are an indispensable part of people's lives, however, with the increase of vehicles, parking is difficult to become a key problem of society, the management of a parking lot also needs to consume a large amount of manpower and financial resources, after a traditional vehicle enters the parking lot, a proper parking space still needs to be searched by a driver in the parking lot, and the operation of specifically how to arrive at the parking space and how to park the vehicle still needs to be completed by the driver, when a large number of vehicles are in the parking lot, the vehicle cannot find the proper parking space rapidly and arrive, so that the parking efficiency in the parking lot is low.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method and device, a vehicle and a computer readable storage medium, which at least solve the technical problem of low parking efficiency caused by the fact that a parking lot is not managed at a right place.
According to an aspect of an embodiment of the present invention, there is provided a vehicle control method including: in response to detecting that the target vehicle enters the parking lot, obtaining current data of the parking lot and vehicle information of the target vehicle, wherein the current data at least comprises: the map of parking area, the information of occuping of a plurality of parking stalls in the parking area inside, vehicle information includes at least: license plate information of the target vehicle, position information of the target vehicle and motion information of the target vehicle; determining a target parking space satisfying the vehicle information from a plurality of parking spaces based on the current data; sending a takeover request to a target vehicle based on the vehicle information, wherein the takeover request is used for requesting to control the target vehicle, and the takeover request at least comprises parking space information of a target parking space; and controlling the target vehicle to park in the target parking space in response to receiving a confirmation instruction corresponding to the takeover request sent by the target vehicle.
Optionally, the current data further comprises: the motion information of the object in motion state in the parking lot controls the target vehicle to park in the target parking space, and the method comprises the following steps: acquiring first state data sent by a target vehicle; generating a first driving route of the target vehicle based on the parking space information and the motion information of the target parking space, wherein the first driving route is used for representing a route of the target vehicle from the entrance position of the parking lot to the target parking space; based on the first state data, the control target vehicle travels along the first travel route.
Optionally, in response to not receiving the confirmation instruction, the method further comprises: generating a first driving route of the target vehicle based on the parking space information and the motion information of the target parking space; the first travel route is sent to the target vehicle.
Optionally, determining a target parking space satisfying the vehicle information from the plurality of parking spaces based on the current data includes: determining a parking space set in the parking spaces based on the occupation information of the parking spaces, wherein the parking spaces contained in the parking space set are in an unoccupied state; sending the parking space set to a target vehicle; and receiving a target parking space returned by the target vehicle, wherein the target parking space is the selected parking space in the parking space set.
Optionally, the method further comprises: responding to the detected target vehicle running out of the target parking space, and acquiring second state data of the target vehicle; generating a second driving route based on the parking space information of the target parking space, wherein the second driving route is used for representing a route from the target parking space to an exit position of the parking lot; based on the second state data, the control target vehicle travels according to the second travel route.
Optionally, in the process of controlling the target vehicle to travel along the second travel route, the method further includes: in response to the target vehicle reaching an exit location of the parking lot, sending parking bill information to the target vehicle; and controlling an exit barrier at an exit position of the parking lot to be opened in response to receiving a payment result corresponding to the parking bill information.
Optionally, the method further comprises: acquiring a first time when a target vehicle enters a parking lot and a second time when the target vehicle reaches an exit position of the parking lot, wherein the first time is used for representing the time when an entrance barrier at the entrance position of the parking lot is opened; based on the difference between the second time and the first time, parking bill information is generated.
According to another aspect of the embodiments of the present invention, there is also provided a vehicle control apparatus including: an obtaining module, configured to obtain current data of a parking lot and vehicle information of a target vehicle in response to detecting that the target vehicle enters the parking lot, where the current data at least includes: the map in parking area, the occupation condition of a plurality of parking stalls in the parking area inside, vehicle information includes at least: license plate information of the target vehicle, position information of the target vehicle and motion information of the target vehicle; the determining module is used for determining a target parking space meeting the vehicle information from a plurality of parking spaces based on the current data; the system comprises a sending module, a receiving module and a sending module, wherein the sending module is used for sending a taking-over request to a target vehicle based on vehicle information, the taking-over request is used for requesting to control the target vehicle, and the taking-over request at least comprises parking space information of a target parking space; and the control module is used for controlling the target vehicle to park in the target parking space in response to receiving a confirmation instruction corresponding to the take-over request sent by the target vehicle.
According to another aspect of the embodiments of the present invention, there is also provided a vehicle including: the remote take-over system is used for remotely sending a control instruction; the communication system is connected with the remote takeover system and is used for receiving information and control instructions sent by the parking lot system; and the guiding system is connected with the communication module and the remote takeover system and is used for displaying that the guiding target vehicle runs according to the route.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein when the program runs, an apparatus in which the computer-readable storage medium is controlled performs the control method of the vehicle of the above-described embodiments.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including: one or more processors; storage means for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the control method of the vehicle of the above-described embodiment.
In the embodiment of the invention, when the target vehicle is detected to enter the parking lot, the current data of the parking lot and the vehicle information of the target vehicle are acquired, the target parking space meeting the vehicle information is determined from a plurality of parking spaces based on the current data, the takeover request is sent to the target vehicle, and the target vehicle is controlled to park in the target parking space after the confirmation instruction corresponding to the takeover request sent by the target vehicle is received. It should be noted that, the parking lot system rapidly acquires the parking spaces meeting the vehicle information through the current data of the parking lot and the vehicle information of the target vehicle, sends the take-over request to the target vehicle, and controls the target vehicle to drive to the target parking spaces according to the generated route, so that the vehicle can rapidly arrive at the target parking spaces, the technical effects of intelligent management and guidance of the vehicle in the parking lot are achieved, and the technical problem of low parking efficiency caused by the fact that the parking lot is not managed in place is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the invention;
FIG. 2 is a flow chart of an alternative overall vehicle control method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a vehicle control apparatus according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a vehicle control method, it should be noted that the steps illustrated in the flowchart of the accompanying drawings may be executed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be executed in an order different than that illustrated herein.
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention, as shown in fig. 1, including the steps of:
step S102, responding to the detection that the target vehicle enters the parking lot, acquiring current data of the parking lot and vehicle information of the target vehicle, wherein the current data at least comprises: the map of parking area, the information of occuping of a plurality of parking stalls in the parking area inside, vehicle information includes at least: the license plate information of the target vehicle, the position information of the target vehicle and the motion information of the target vehicle.
The target vehicle may be a vehicle currently required to park in a parking lot, and the vehicle may establish a connection with a parking lot management system, including but not limited to: a communication system, a remote takeover system and a guidance system. The parking area can be the parking area of unmanned operation management, utilizes the equipment that sets up in the parking area to establish the contact with parking area management system, realizes parking area automated management, accomplishes intelligent management and the guide to the vehicle, and wherein, this equipment includes but not limited to: millimeter wave radar, camera.
The current data may be data related to the current parking lot, including but not limited to: parking area real-time map, the occupation condition of a plurality of parking stalls in the parking area. The map of the parking lot can be a real-time millimeter wave radar point cloud map covering the whole parking lot range, and the map is obtained by splicing point cloud data detected by the millimeter wave radar. The occupation information may be the occupation condition of the parking space in the parking lot, including but not limited to: the occupied parking space position, the unoccupied parking space position and the parking space position to be occupied can be obtained through the detected vehicle data of the map and the millimeter wave radar.
The vehicle information may be current information of the target vehicle, including but not limited to: the license plate information of the target vehicle, the position information of the target vehicle, the motion information of the target vehicle and the type information of the target vehicle. The license plate information may be a license plate number of the target vehicle, the position information may be current coordinate position information of the target vehicle, and the motion information may be a current motion state of the target vehicle, including but not limited to: the type information may be a vehicle type of the target vehicle, including but not limited to: trucks, cars, motorcycles.
In an optional embodiment, when a camera at an entrance of a parking lot captures that a target vehicle is about to enter the parking lot, the target vehicle is immediately captured and uploaded to a parking lot management system, so that vehicle information of the target vehicle is obtained, and meanwhile, the parking lot system obtains a map of the parking lot and occupation information of a plurality of parking spaces inside the current parking lot in real time.
It should be noted that, the millimeter wave radar covers the whole parking lot, and the data processing module acquires the original data inside the parking lot in real time, and the original data includes but is not limited to: point cloud data, vehicle data. The point cloud data includes, but is not limited to: coordinates, RCS (Rich Communication), magnitude intensity, vehicle data may be data of a vehicle that is parking or has been parked, including but not limited to: coordinates of the vehicle, current speed of the vehicle, vehicle type. And an information processing module in the parking lot system splices the acquired millimeter wave radar point cloud data, so that a real-time millimeter wave radar point cloud map in the whole parking lot range is established, and the occupation information of a plurality of parking spaces in the current parking lot is acquired according to the established map and vehicle data.
And step S104, determining a target parking space meeting the vehicle information from the plurality of parking spaces based on the current data.
The target parking space may be a parking space where the target vehicle determines to be parked.
In an optional embodiment, the parking lot system obtains occupation information of a plurality of parking spaces in the parking lot, determines that the parking spaces which are not occupied and meet vehicle information are a parking space set, sends the parking space set to the target vehicle, selects the target parking space from the parking space set according to needs, and receives the target parking space returned by the target vehicle.
In another optional embodiment, the parking lot system obtains occupation information of a plurality of parking spaces in the parking lot, determines the parking spaces which are unoccupied and meet vehicle information in the plurality of parking spaces, further selects the parking spaces closer to the entrance and the exit to determine a parking space set, and sends the parking space set to the target vehicle, the user selects the target parking space from the parking space set as required, and the parking lot system receives the target parking space returned by the target vehicle.
In yet another alternative embodiment, the parking lot system obtains the occupation information of the multiple parking spaces in the parking lot, determines the parking spaces which are not occupied and meet the vehicle information, and then further selects the parking space with the shortest driving route to the entrance as the target parking space.
In yet another alternative embodiment, the parking lot system obtains the occupation information of the multiple parking spaces inside the parking lot, determines the parking space which is not occupied and satisfies the vehicle information among the multiple parking spaces, and further selects the target parking space according to the parking preference of the user of the target vehicle, where the parking preference includes but is not limited to: whether the parking position is close to the doorway or a building, whether the parking position has a ceiling or a tree shade, or the like.
And S106, sending a takeover request to the target vehicle based on the vehicle information, wherein the takeover request is used for requesting to control the target vehicle, and the takeover request at least comprises the parking space information of the target parking space.
The take-over request can be a request that the parking lot system sends take-over to the target vehicle, and the parking lot system can take over the control of the target vehicle and control the vehicle to park in the target parking space, so that the purpose of automatic parking is achieved. The parking space information may be related information of the target parking space, including but not limited to: and position coordinates of the target parking space.
In an optional embodiment, after the target parking space returned by the target vehicle is obtained, it may be determined that the target vehicle will park in the target parking space, the parking lot management module may open the corresponding entrance barrier, record the time when the target vehicle enters the parking lot, and send a takeover request to the remote takeover system of the target vehicle according to the vehicle information.
In another alternative embodiment, after determining the target parking space, the parking lot management module may open the corresponding entrance barrier, record the time when the target vehicle enters the parking lot, and send a takeover request to the remote takeover system of the target vehicle according to the vehicle information.
And step S108, controlling the target vehicle to park in the target parking space in response to receiving a confirmation instruction corresponding to the takeover request sent by the target vehicle.
The confirmation instruction may be an instruction for confirming acceptance of take-over by the target vehicle, and may be generated by a user operating on the target vehicle, or generated by a user operating on a terminal device, for example: and displaying a take-over confirmation prompt 'you accept take-over' on the mobile phone of the user, and sending a confirmation instruction to the parking lot system after the user clicks a confirmation button.
In an optional embodiment, after receiving a confirmation instruction corresponding to a takeover request sent by a target vehicle, motion information of the vehicle in a motion state in a parking lot and current vehicle running state data of the target vehicle are obtained, an optimal route from the target vehicle to a target parking lot is generated according to parking lot information of the target parking lot and motion information of an object in the motion state in the parking lot, and a corresponding control instruction is sent to the target vehicle according to the running state data of the target vehicle in real time, so that real-time control over the vehicle is achieved, an effect of controlling the vehicle to automatically park is achieved, and the target vehicle is parked at the target parking lot. Through the steps, the current data of the parking lot and the vehicle information of the target vehicle can be acquired after the target vehicle is detected to enter the parking lot, the target parking space meeting the vehicle information is determined from the parking spaces based on the current data, the takeover request is sent to the target vehicle, and the target vehicle is controlled to park in the target parking space after the confirmation instruction corresponding to the takeover request sent by the target vehicle is received. It should be noted that, the parking lot system rapidly obtains the parking space meeting the vehicle information through the current data of the parking lot and the vehicle information of the target vehicle, and sends the takeover request to the target vehicle, and controls the target vehicle to travel to the target parking space according to the generated route, so that the vehicle can rapidly reach the target parking space, the technical effects of intelligent management and guidance of the vehicle in the parking lot are achieved, and the technical problem of low vehicle parking efficiency caused by more vehicles in the parking lot is solved.
Optionally, the current data further comprises: the motion information of the object in motion state in the parking lot controls the target vehicle to park in the target parking space, and the method comprises the following steps: acquiring first state data sent by a target vehicle; generating a first driving route of the target vehicle based on the parking space information and the motion information of the target parking space, wherein the first driving route is used for representing a route of the target vehicle from the entrance position of the parking lot to the target parking space; based on the first state data, the control target vehicle travels along the first travel route.
The first state data may be vehicle driving state data in which the target vehicle is driven from the entrance of the parking lot to the target parking space. The first travel route may be a route in which the target vehicle travels from a parking lot entrance to a target parking space.
In an optional embodiment, the driving state data sent by the target vehicle is obtained in real time, parking space information of the target parking space and motion information of the vehicle in the parking space are determined according to a parking lot point cloud map and data detected by a millimeter wave radar, an optimal driving route corresponding to the current position of the target vehicle to the target parking space is generated, meanwhile, the corresponding driving route is sent to terminal equipment of a user, a parking lot system sends a corresponding control instruction to the target vehicle according to the real-time driving state and the driving route of the target vehicle, the target vehicle is controlled to drive according to a planned route until the vehicle enters the corresponding target parking space, when the target vehicle enters the parking space, a flameout instruction is sent, information such as a parking position corresponding to the vehicle is recorded, and meanwhile, a message that parking is successful is pushed to a terminal such as a smart phone of the user.
In another optional embodiment, the driving state data sent by the target vehicle is obtained in real time, the parking space information of the target parking space and the motion information of the vehicle in the parking space are determined according to the parking lot point cloud map and the data detected by the millimeter wave radar, and a plurality of driving routes corresponding to the target vehicle from the current position to the target parking space are generated, where the plurality of driving routes include, but are not limited to: the parking lot system sends a corresponding control instruction to a target vehicle according to the real-time running state and the running route of the target vehicle after receiving the running route selected by the user, controls the target vehicle to run according to the planned route until the vehicle enters a corresponding target parking space, sends a flameout instruction after the target vehicle enters the parking space and finishes parking, records information such as a parking position corresponding to the vehicle, and simultaneously pushes a message of successful parking to a terminal such as a smart phone of the user.
In yet another alternative embodiment, the driving state data sent by the target vehicle is obtained in real time, and the parking space information of the target parking space and the motion information of the object in the parking space are determined according to the parking space point cloud map and the data detected by the millimeter wave radar, where the motion information of the object in the parking space includes, but is not limited to: motion information of the vehicle, motion information of the person. Generating an optimal driving route corresponding to the current position of the vehicle to the target parking space according to the acquired data, generating a corresponding control instruction according to the driving route, the driving state data of the target vehicle and the motion information of the vehicle in the parking space, sending the control instruction to the target vehicle, controlling the vehicle to drive according to the planned route until the vehicle enters the corresponding target parking space, sending a flameout instruction after parking is completed, recording the parking place and time of the target vehicle, and sending the flameout instruction to terminals of a user such as a smart phone.
Optionally, in response to not receiving the confirmation instruction, the method further comprises: generating a first driving route of the target vehicle based on the parking space information and the motion information of the target parking space; the first travel route is sent to the target vehicle.
In an optional embodiment, when an instruction of confirming to take over returned by the target vehicle is not received, the parking lot system generates an optimal driving route of the target vehicle from the current position to the target parking space according to the parking space position of the target parking space and the motion information of the object in the parking lot in the motion state, and sends the mobile intelligent terminal of the user of the route map through the communication module to guide the user to drive the target vehicle to the target parking space. And when the target vehicle runs to the target parking space, the parking lot system records corresponding parking information.
In another optional embodiment, when the command of confirming to take over returned by the target vehicle is not received, the parking lot system generates an optimal driving route of the target vehicle from the current position to the target parking space according to the parking space position of the target parking space and the motion information of the object in the motion state in the parking lot, the driving route command is sent to the vehicle-mounted system through the communication module, and the vehicle-mounted system displays the route through the control panel and guides the user to drive the target vehicle to the target parking space through voice.
It should be noted that the instruction of confirming to accept the takeover that is not returned by the target vehicle may be that the target vehicle is not provided with a remote takeover system or a guidance system, or that the user wants to park the vehicle by himself, so that the parking lot system may send the acquired information to an intelligent terminal such as a mobile phone of the user in real time, and guide the user to arrive at the target parking space according to the generated optimal driving route.
Optionally, determining a target parking space satisfying the vehicle information from the plurality of parking spaces based on the current data includes: determining a parking space set in a plurality of parking spaces based on the occupation information of the plurality of parking spaces, wherein the parking spaces contained in the parking space set are in an unoccupied state; sending the parking space set to a target vehicle; and receiving a target parking space returned by the target vehicle, wherein the target parking space is the selected parking space in the parking space set.
The parking space set can be a set of unoccupied parking spaces, and the parking spaces can be selected by the target vehicle.
In an optional embodiment, parking spaces suitable for a target vehicle are obtained according to a map of a current parking lot and occupation information of a plurality of parking spaces in the parking lot, the parking spaces which are unoccupied and meet the vehicle information in the parking lot are determined, the unoccupied vehicles which can be selected by the target vehicle are determined to be a parking space set, the parking space set is sent to the target vehicle, a user selects the target parking space as required, and a parking lot management system receives the target parking space returned by the target vehicle. If the parking spaces suitable for the target vehicle are not obtained or the parking spaces are not vacant at present according to the map of the current parking lot and the occupation information of the parking spaces in the parking lot, prompting the user that no suitable parking spaces exist.
Optionally, the method further comprises: responding to the detected target vehicle running out of the target parking space, and acquiring second state data of the target vehicle; generating a second driving route based on the parking space information of the target parking space, wherein the second driving route is used for representing a route from the target parking space to an exit position of the parking lot; based on the second state data, the control target vehicle travels according to the second travel route.
The above-mentioned second state data may be vehicle travel state data in which the target vehicle exits the parking lot.
The second travel route described above may be a route in which the target vehicle travels out of the parking lot from the current space.
In an optional embodiment, when it is detected that the target vehicle runs out of the target parking space, the current running state data of the target vehicle is obtained in real time, a route from the target parking space to an exit of the parking lot is generated according to the parking space information of the target parking space, and a corresponding control instruction is sent to the vehicle according to the running state data of the target vehicle in real time until the target vehicle reaches the designated exit position.
In another optional embodiment, when a user needs to exit from a parking lot, the user controls a Vehicle to start through an intelligent terminal such as a mobile phone, and sends an exit request to a field end V2X (Vehicle to outside information exchange), so that the parking lot system obtains the request that a target Vehicle needs to exit from a target parking lot, obtains a parking position of the corresponding Vehicle according to Vehicle information, determines position information and motion information of the target Vehicle according to a parking lot point cloud map and information of the target Vehicle detected by a millimeter wave radar in real time, generates a driving route from the target parking lot to an exit, sends a corresponding control instruction according to the obtained driving state data of the Vehicle, and controls the target Vehicle until the target Vehicle reaches a specified exit position.
Further, in the course of the control target vehicle traveling according to the second travel route, the method further includes: in response to the target vehicle reaching an exit location of the parking lot, sending parking bill information to the target vehicle; and controlling an exit barrier at an exit position of the parking lot to be opened in response to receiving a payment result corresponding to the parking bill information.
The exit location may be a location within an exit gate of a parking lot. The exit barrier can be a barrier for managing vehicles to enter and exit the parking lot, and can be automatically opened after a user pays a parking bill, so that a target vehicle can leave the parking lot.
The parking bill information may be parking fee information generated when the target vehicle parks the vehicle in the parking lot. The payment result may be the result of the target vehicle paying the parking bill information, and may be, but is not limited to: paid parking fee, unpaid parking fee.
In an optional embodiment, when the target vehicle arrives at the position of the exit of the parking lot, the parking bill information of the target vehicle is sent to the target vehicle, the user can pay the parking bill in modes of code scanning, ETC payment, point deduction and the like, and after the parking lot management system receives the payment result corresponding to the parking bill information, the barrier gate corresponding to the exit is controlled to be opened, and the target vehicle is driven out of the parking lot.
In another alternative embodiment, when the target vehicle arrives at the exit of the parking lot, if it is detected that the target vehicle has purchased a parking space in the parking lot or paid for the parking fee at a fixed time, the fixed time includes but is not limited to: monthly payment, quarterly payment, and annually payment. And when the parking lot management system receives a payment result corresponding to the parking bill information, controlling to open a barrier gate corresponding to the exit, and enabling the target vehicle to exit the parking lot.
Further, the method further comprises: acquiring a first time when a target vehicle enters a parking lot and a second time when the target vehicle reaches an exit position of the parking lot, wherein the first time is used for representing the time when an entrance barrier at the entrance position of the parking lot is opened; based on the difference between the second time and the first time, parking bill information is generated.
The first time mentioned above may be a time when the target vehicle enters the parking lot, and may be, but is not limited to: the time the entrance gate is open. The second time may be a time when the target vehicle exits the parking lot, and may be, but is not limited to: time to exit the exit gate.
In an alternative embodiment, when the target vehicle arrives at the exit of the parking lot, the parking management system immediately obtains the time T1 when the target vehicle enters the parking lot and the time T2 when the target vehicle arrives at the exit of the parking lot, and the time T1 when the target vehicle enters the parking lot is subtracted from the time T2 when the target vehicle arrives at the exit of the parking lot to obtain the parking time T of the target vehicle, and the specific formula may be as follows: T2-T1= T, and generates a corresponding parking bill.
As shown in fig. 2, when a vehicle arrives at an entrance of a parking lot, a camera captures a target vehicle and obtains corresponding vehicle information, and simultaneously obtains detection data of a millimeter wave radar and an established point cloud map, determines a current parking space occupation condition, selects an unoccupied parking space satisfying the vehicle information as a parking space set according to the vehicle information of the target vehicle, and sends the parking space set to the target vehicle, the target vehicle selects a target parking space according to the parking space set, after determining the target parking space, a parking lot management system opens an entrance barrier gate and sends a take-over request, and simultaneously plans a driving route according to the parking space information of the target parking space, and after receiving a confirmation instruction corresponding to the take-over request, controls the target vehicle to drive to the target parking space according to the driving route, and records corresponding parking information. When the target vehicle needs to exit from the parking lot, the driving state of the target vehicle is obtained, a driving route from the target parking space to the exit of the parking lot is generated, the target vehicle is controlled to drive to the exit of the parking lot, corresponding bill information is sent, and after a payment result is received, a corresponding exit barrier is opened to enable the target vehicle to exit from the parking lot.
Example 2
According to another aspect of the embodiments of the present invention, a vehicle control device is further provided, where the vehicle control method in the foregoing embodiments can be executed by the device, and a specific implementation manner and a preferred application scenario are the same as those in the foregoing embodiments, and are not described herein again.
Fig. 3 is a schematic diagram of a vehicle control apparatus according to an embodiment of the present invention, which includes, as shown in fig. 3: a first acquisition module 30, a determination module 32, a first transmission module 34, and a first control module 36.
The first obtaining module 30 is configured to, in response to detecting that the target vehicle enters the parking lot, obtain current data of the parking lot and vehicle information of the target vehicle, where the current data at least includes: the map of parking area, the occupation condition of a plurality of parking stalls in the parking area inside, vehicle information includes at least: license plate information of the target vehicle, position information of the target vehicle and motion information of the target vehicle;
a determining module 32, configured to determine, based on the current data, a target parking space that satisfies the vehicle information from the plurality of parking spaces;
the first sending module 34 is configured to send a takeover request to the target vehicle based on the vehicle information, where the takeover request is used to request control of the target vehicle, and the takeover request at least includes parking space information of the target parking space;
and the first control module 36 is configured to, in response to receiving a confirmation instruction corresponding to the takeover request sent by the target vehicle, control the target vehicle to park in the target parking space.
Optionally, a control module comprising: the acquisition unit is used for acquiring first state data sent by a target vehicle; the parking space information processing device comprises a generating unit, a processing unit and a processing unit, wherein the generating unit is used for generating a first driving route of a target vehicle based on the parking space information and the motion information of the target parking space, and the first driving route is used for representing a route from an entrance position of a parking lot to the target parking space of the target vehicle; and a control unit for controlling the target vehicle to travel according to the first travel route based on the first state data.
Optionally, in response to not accepting the confirmation instruction, the apparatus further comprises: the first generation module is used for generating a first driving route of the target vehicle based on the parking space information and the motion information of the target parking space; and the second sending module is used for sending the first driving route to the target vehicle.
Optionally, the determining module includes: the parking space acquisition unit is used for acquiring parking space information of a plurality of parking spaces, wherein the parking space information comprises parking space information of the parking spaces; the transmitting unit is used for transmitting the parking space set to the target vehicle; and the receiving unit is used for receiving the target parking space returned by the target vehicle, wherein the target parking space is the selected parking space in the parking space set.
Optionally, the apparatus further comprises: the second acquisition module is used for responding to the detection that the target vehicle runs out of the target parking space and acquiring second state data of the target vehicle; the second generation module is used for generating a second driving route based on the parking space information of the target parking space, wherein the second driving route is used for representing a route from the target parking space to an exit position of the parking lot; and the second control module is used for controlling the target vehicle to run according to the second running route based on the second state data.
Optionally, in the process of the control target vehicle traveling according to the second travel route, the apparatus further includes: a third sending module, configured to send parking bill information to the target vehicle in response to the target vehicle reaching an exit location of the parking lot; and the third control module is used for responding to the received payment result corresponding to the parking bill information and controlling the opening of an exit barrier at the exit position of the parking lot.
Optionally, the apparatus further comprises: the third acquisition module is used for acquiring a first time when the target vehicle enters the parking lot and a second time when the target vehicle arrives at the exit position of the parking lot, wherein the first time is used for representing the time when an entrance barrier at the entrance position of the parking lot is opened; and the third generation module is used for generating parking bill information based on the difference value between the second time and the first time.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a vehicle including: the remote take-over system is used for remotely sending a control instruction; the communication system is connected with the remote takeover system and used for receiving information and control instructions sent by the parking lot system; and the guiding system is connected with the communication module and the remote takeover system and is used for displaying that the guiding target vehicle runs according to the route.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein when the program runs, an apparatus in which the computer-readable storage medium is controlled performs the control method of the vehicle of the above-described embodiments.
Example 5
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including: one or more processors; storage means for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the control method of the vehicle of the above-described embodiment.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be 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, units or modules, and may be in an electrical 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 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 invention 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 integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A vehicle control method characterized by comprising:
in response to detecting that a target vehicle enters a parking lot, obtaining current data of the parking lot and vehicle information of the target vehicle, wherein the current data at least comprises: the map of the parking area, the information of the occupation of a plurality of parking stalls in the parking area, vehicle information includes at least: the license plate information of the target vehicle, the position information of the target vehicle and the motion information of the target vehicle;
determining a target parking space satisfying the vehicle information from the plurality of parking spaces based on the current data;
sending a takeover request to the target vehicle based on the vehicle information, wherein the takeover request is used for requesting to control the target vehicle, and the takeover request at least comprises parking space information of the target parking space;
and controlling the target vehicle to stop at the target parking space in response to receiving a confirmation instruction corresponding to the takeover request sent by the target vehicle.
2. The method of claim 1, wherein the current data further comprises: the motion information of the object in motion state in the parking lot controls the target vehicle to park in the target parking space, and the method comprises the following steps:
acquiring first state data sent by the target vehicle;
generating a first driving route of the target vehicle based on the parking space information and the motion information of the target parking space, wherein the first driving route is used for representing a route of the target vehicle from an entrance position of the parking lot to the target parking space;
controlling the target vehicle to travel according to the first travel route based on the first state data.
3. The method of claim 1, wherein in response to not receiving the confirmation instruction, the method further comprises:
generating a first driving route of the target vehicle based on the parking space information and the motion information of the target parking space;
transmitting the first travel route to the target vehicle.
4. The method of claim 1, wherein determining a target space from the plurality of spaces that satisfies the vehicle information based on the current data comprises:
determining a parking space set in the parking spaces based on the occupation information of the parking spaces, wherein the parking spaces contained in the parking space set are in an unoccupied state;
sending the parking space set to the target vehicle;
and receiving the target parking space returned by the target vehicle, wherein the target parking space is the selected parking space in the parking space set.
5. The method of claim 1, further comprising:
responding to the detection that the target vehicle drives out of the target parking space, and acquiring second state data of the target vehicle;
generating a second driving route based on the parking space information of the target parking space, wherein the second driving route is used for representing a route of the target vehicle from the target parking space to an exit position of the parking lot;
and controlling the target vehicle to travel according to the second travel route based on the second state data.
6. The method according to claim 5, wherein in controlling the target vehicle to travel according to the second travel route, the method further comprises:
sending parking bill information to the target vehicle in response to the target vehicle arriving at an exit location of the parking lot;
and controlling an exit barrier at an exit position of the parking lot to be opened in response to receiving a payment result corresponding to the parking bill information.
7. The method of claim 6, further comprising:
acquiring a first time when the target vehicle enters the parking lot and a second time when the target vehicle arrives at an exit position of the parking lot, wherein the first time is used for representing the time when an entrance barrier at the entrance position of the parking lot is opened;
generating the parking bill information based on a difference between the second time and the first time.
8. A vehicle control apparatus characterized by comprising:
the vehicle information acquisition method includes a first acquisition module, configured to acquire current data of a parking lot and vehicle information of a target vehicle in response to detection that the target vehicle enters the parking lot, where the current data at least includes: the map of the parking area, the occupation condition of a plurality of parking stalls in the parking area, vehicle information includes at least: the license plate information of the target vehicle, the position information of the target vehicle and the motion information of the target vehicle;
the determining module is used for determining a target parking space meeting the vehicle information from the plurality of parking spaces based on the current data;
a first sending module, configured to send a takeover request to the target vehicle based on the vehicle information, where the takeover request is used to request control of the target vehicle, and the takeover request at least includes parking space information of the target parking space;
and the first control module is used for controlling the target vehicle to stop at the target parking space in response to receiving a confirmation instruction corresponding to the take-over request sent by the target vehicle.
9. A vehicle, characterized by comprising:
the remote take-over system is used for remotely sending a control instruction;
the guiding system is connected with the communication module and used for displaying and guiding the target vehicle to run according to the route;
and the communication system is connected with the remote takeover system and the guide system and is used for receiving the information sent by the parking lot system and the control instruction.
10. A computer-readable storage medium characterized by comprising a stored program, wherein an apparatus in which the computer-readable storage medium is located is controlled to execute a control method of a vehicle according to any one of claims 1 to 7 when the program is executed.
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| CN202211509941.9A CN115862330A (en) | 2022-11-29 | 2022-11-29 | Vehicle control method and device, vehicle and computer readable storage medium |
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| CN202211509941.9A CN115862330A (en) | 2022-11-29 | 2022-11-29 | Vehicle control method and device, vehicle and computer readable storage medium |
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