CN115909801A

CN115909801A - Parking assisting method and device and cloud equipment

Info

Publication number: CN115909801A
Application number: CN202110968616.8A
Authority: CN
Inventors: 沈沛鸿; 汪建球; 张磊; 张青山; 邹慧珍
Original assignee: China Mobile Communications Group Co Ltd; China Mobile Shanghai ICT Co Ltd; CM Intelligent Mobility Network Co Ltd
Current assignee: China Mobile Communications Group Co Ltd; China Mobile Shanghai ICT Co Ltd; CM Intelligent Mobility Network Co Ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2023-04-04

Abstract

The invention provides an auxiliary parking method, an auxiliary parking device and cloud equipment, wherein the auxiliary parking method comprises the following steps: acquiring parking space data information sent by parking space monitoring equipment and data information of a vehicle to be parked sent by road monitoring equipment; according to the parking space data information and the data information of the vehicles to be parked, distributing parking spaces of the vehicles to be parked under the condition that the total driving distance of all the vehicles to be parked is shortest; and sending a running path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked. According to the scheme, the cooperative scheduling of a plurality of vehicles in the parking lot can be realized, the problems of road congestion and low parking space utilization rate in the parking lot are solved, the vehicles are guided to safely and efficiently enter the parking spaces, and the parking experience of a user is improved.

Description

Parking assisting method and device and cloud equipment

Technical Field

The invention relates to the technical field of communication, in particular to a parking assisting method and device and cloud equipment.

Background

With the rapid increase of the quantity of automobiles kept in China, the difficulty in parking in a parking lot gradually becomes a social problem. Considering that the driving route and the parking space utilization condition of a single vehicle in a parking lot can influence the driving route and the parking space utilization of other vehicles, the parking space distribution and the driving route among the vehicles in the parking lot are mutually coupled and associated; simultaneously, whether the vehicle parks in the parking stall is standardized also can influence the utilization of adjacent parking stall, further influences holistic parking stall utilization ratio.

The existing automobile navigation products cannot cover route navigation in a parking lot, and an automobile owner often faces the problems that the optimal target parking space of the parking lot is not known, an idle parking space is difficult to find quickly, and the phenomenon that a plurality of automobiles simultaneously find the parking space and the road inside the parking lot is jammed also often occurs in the parking lot; meanwhile, partial vehicles are not parked in the parking lot in a standard mode, so that adjacent parking spaces are too narrow, and the problem that the idle parking spaces cannot be optimally utilized is caused.

Therefore, there is a need for an auxiliary parking method that improves the parking space utilization rate in the parking lot and the traffic efficiency of the road network in the parking lot.

Disclosure of Invention

The embodiment of the invention provides a parking assisting method, a parking assisting device and cloud equipment, and aims to solve the problems that in the prior art, the utilization rate of parking spaces in a parking lot is low and the passing efficiency of a road network in the parking lot is low.

In order to solve the above technical problem, an embodiment of the present invention provides the following technical solutions:

the embodiment of the invention provides an auxiliary parking method which is applied to cloud equipment, and the method comprises the following steps:

acquiring parking space data information sent by parking space monitoring equipment and data information of vehicles to be parked sent by road monitoring equipment;

according to the parking space data information and the data information of the vehicles to be parked, distributing parking spaces of the vehicles to be parked under the condition that the total driving distance of all the vehicles to be parked is shortest;

and sending a running path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.

Optionally, the method further comprises:

after the vehicle to be parked is parked in the parking stall, receiving parking information sent by the stall monitoring equipment;

and under the condition that the parking of the vehicle to be parked is confirmed to be failed according to the parking information, sending a first parking instruction to the vehicle to be parked, and indicating the vehicle to be parked to park again until the parking information indicates that the vehicle to be parked parks successfully.

Optionally, the parking information includes a vehicle edge and a parking space edge;

the method further comprises the following steps:

and determining that the vehicle to be parked successfully parks under the condition that the edge of the vehicle is positioned in the edge of the parking space and the distance between the edge of the vehicle and the edge of the parking space is greater than or equal to a first preset distance.

Optionally, after acquiring the parking space data information sent by the parking space monitoring device, the method further includes:

determining that a first parking space is the parking space under the condition that the vehicle is not parked in the first parking space and the vehicle is not parked in a second parking space and a third parking space which are adjacent to the first parking space on the basis of the parking space data information;

or the like, or a combination thereof,

and determining that the first parking space is the parking space under the condition that the vehicle is not parked in the first parking space, the vehicle is parked in a second parking space and/or a third parking space adjacent to the first parking space, and the distance between the edge of the vehicle in the second parking space and/or the third parking space and the edge of the vehicle in the first parking space is greater than or equal to a second preset distance based on the parking space data information.

Optionally, the method further comprises:

and obtaining the parking space position and the parking space size of the parking space according to the parking lot map.

Optionally, the method further comprises:

and updating the parking spaces every other first preset time.

Optionally, after obtaining data information of a vehicle to be parked sent by the road monitoring device, the method further includes:

and determining the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked according to the data information of the vehicle to be parked.

Optionally, the method further comprises:

and updating the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked every second preset time.

Optionally, the method further comprises:

and obtaining the traffic flow and the traffic flow speed of each road section in the parking lot according to the parking lot map, the vehicle position and the vehicle speed.

Optionally, the method further comprises:

and updating the traffic flow and the traffic speed of each road section in the parking lot every third preset time.

Optionally, the allocating parking spaces of the vehicles to be parked according to the parking space data information and the data information of the vehicles to be parked under the condition that the total driving distance of all the vehicles to be parked is shortest includes:

determining a matching combination of the vehicle to be parked and the parking space according to the parking space position and the parking space size of the parking space, and the vehicle position and the vehicle size of the vehicle to be parked;

under each matching combination, determining the total driving distance of the vehicles to be parked;

and when the total driving distance is shortest, determining the parking spaces corresponding to the vehicles to be parked.

Optionally, the determining, according to the parking space position and the parking space size of the parking space, the vehicle position and the vehicle size of the vehicle to be parked, a matching combination of the vehicle to be parked and the parking space includes:

determining whether the vehicle to be parked is matched with the parking space or not according to the parking space size and the vehicle size;

and under the condition that the vehicle to be parked is matched with the parking space, determining the matching combination of the vehicle to be parked and the parking space according to the parking space position and the vehicle position.

Optionally, the determining a total driving distance between the vehicle to be parked and the parking space under each of the matching combinations includes:

determining the congestion coefficient of each road section according to the traffic flow of each road section in the parking lot;

according to the congestion coefficient of each road section, the actual length of each road section, the road speed limit of each road section and the traffic flow speed of each road section, carrying out length punishment on each road section to obtain the punishment length of each road section;

and determining the total driving distance of the vehicle to be parked under each matching combination according to the punishment length of each road section.

The embodiment of the invention also provides an auxiliary parking device, which is applied to the cloud equipment, and the device comprises:

the first acquisition module is used for acquiring parking space data information sent by the parking space monitoring equipment and data information of vehicles to be parked sent by the road monitoring equipment;

the distribution module is used for distributing the parking stall of each vehicle to be parked under the condition that the total running distance of all vehicles to be parked is shortest according to the stall data information and the data information of the vehicles to be parked;

the parking system comprises a first sending module and a second sending module, wherein the first sending module is used for sending a running path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.

Optionally, the apparatus further comprises:

the parking space monitoring device is used for monitoring parking spaces of vehicles to be parked;

and the second sending module is used for sending a first parking instruction to the vehicle to be parked to indicate the vehicle to be parked to park again under the condition that the parking information confirms that the vehicle to be parked fails to park, until the parking information indicates that the vehicle to be parked successfully parks.

the device further comprises:

the first determining module is used for determining that the vehicle to be parked successfully parks under the condition that the vehicle edge is located in the parking space edge and the distance between the vehicle edge and the parking space edge is greater than or equal to a first preset distance.

Optionally, the apparatus further comprises:

the second determining module is used for determining that the first parking space is the parking space under the condition that the vehicle is not parked in the first parking space and the vehicle is not parked in a second parking space and a third parking space which are adjacent to the first parking space on the basis of the parking space data information;

or the like, or, alternatively,

Optionally, the apparatus further comprises:

and the second acquisition module is used for acquiring the parking space position and the parking space size of the parking space according to the parking lot map.

Optionally, the apparatus further comprises:

and the first updating module is used for updating the parking spaces every other first preset time.

Optionally, the apparatus further comprises:

and the third determining module is used for determining the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked according to the data information of the vehicle to be parked.

Optionally, the apparatus further comprises:

and the second updating module is used for updating the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked every second preset time.

Optionally, the apparatus further comprises:

and the third acquisition module is used for acquiring the traffic flow and the traffic flow speed of each road section in the parking lot according to the parking lot map, the vehicle position and the vehicle speed.

Optionally, the apparatus further comprises:

and the third updating module is used for updating the traffic flow and the traffic flow speed of each road section in the parking lot every third preset time.

Optionally, the allocation module comprises:

the first determining unit is used for determining a matching combination of the vehicle to be parked and the parking space according to the parking space position and the parking space size of the parking space, and the vehicle position and the vehicle size of the vehicle to be parked;

a second determination unit configured to determine a total travel distance of the vehicle to be parked in each of the matching combinations;

and the third determining unit is used for determining the parking spaces corresponding to the vehicles to be parked when the total travel distance is shortest.

Optionally, the first determining unit is specifically configured to:

Optionally, the second determining unit is specifically configured to:

An embodiment of the present invention further provides a cloud device, including: a processor, a memory, and a program stored on the memory and executable on the processor, the program, when executed by the processor, implementing the method for assisting parking as set forth in any one of the above.

An embodiment of the present invention further provides a readable storage medium, where a program is stored, and when the program is executed by a processor, the program implements the parking assist method according to any one of the above.

The invention has the beneficial effects that:

according to the scheme, parking spaces of all vehicles to be parked are distributed under the condition that the total driving distance of all vehicles to be parked is shortest by acquiring parking space data information sent by parking space monitoring equipment and vehicle data information to be parked sent by road monitoring equipment, and driving paths between the vehicles to be parked and the corresponding parking spaces are sent to the vehicles to be parked, so that the cooperative scheduling of a plurality of vehicles in a parking lot can be realized, the problems of road congestion and low utilization rate of the parking spaces in the parking lot are solved, the vehicles are guided to safely and efficiently enter the parking spaces, and the parking experience of users is improved.

Drawings

Fig. 1 is a flowchart illustrating an auxiliary parking method according to an embodiment of the present invention;

FIG. 2 is a flow chart illustrating a cooperative optimal allocation of parking spaces according to an embodiment of the present invention;

fig. 3 is a second flowchart of a parking assist method according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a parking assist apparatus according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a cloud device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

The invention provides a parking assisting method, a parking assisting device and cloud equipment, aiming at the problems that in the prior art, the utilization rate of parking spaces in a parking lot is low and the passing efficiency of a road network in the parking lot is low.

step 101: and acquiring parking space data information sent by the parking space monitoring equipment and data information of a vehicle to be parked sent by the road monitoring equipment.

It should be noted that the auxiliary parking method provided by the embodiment of the present invention is applied to a cloud device, and the cloud device is respectively connected to a parking space monitoring device installed on a parking space in a parking lot and a road monitoring device installed on a road in the parking lot.

Parking stall supervisory equipment is used for shooing the parking stall data information on the parking stall, including whether stop the vehicle on the parking stall to and the information of the vehicle of parking on the parking stall, road supervisory equipment is used for shooing the information of all vehicles on the road in the parking lot.

It should be noted that the parking space monitoring device and the road monitoring device are only used for uploading shot original video stream data to the cloud end device, the cloud end device performs identification and calculation according to the video stream, and the parking space monitoring device and the road monitoring device do not have an algorithm and calculation capability, so that the parking space monitoring device and the road monitoring device are low in cost.

Step 102: and according to the parking space data information and the data information of the vehicles to be parked, distributing the parking spaces of the vehicles to be parked under the condition that the total driving distance of all the vehicles to be parked is shortest.

In the embodiment of the invention, after receiving the parking space data information and the data information of the vehicles to be parked, the cloud device starts an internal algorithm, allocates the parking spaces of the vehicles to be parked based on the optimization target that the total driving distance of all the vehicles to be parked is shortest, and plans the driving route, so that the purpose of maximizing the parking space utilization rate of the whole parking lot is realized, the parking spaces are allocated to all the vehicles entering the parking lot, the driving route is planned, the utilization rate of the parking spaces is improved, and the problem of road congestion in the parking lot is solved.

Step 103: and sending a running path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.

In the embodiment of the invention, the cloud equipment is connected with the vehicles to be parked, the cloud equipment sends the driving path, the vehicle speed information and the like to the vehicles to be parked under the condition that the total driving distance of all the vehicles to be parked is determined to be shortest, the vehicles to be parked run to the front of the parking stalls according to the received driving path, and the vehicles to be parked adopt the automatic parking function to realize parking.

It should be noted that, because the planned driving path and the vehicle speed information need to serve for assisting or automatic parking of the vehicle, and have a high requirement on the time delay, the embodiment of the present invention adopts 5G to implement information transmission of millisecond time delay, and assist the vehicle in parking.

According to the embodiment of the invention, by acquiring the parking space data information sent by the parking space monitoring equipment and the data information of the vehicles to be parked sent by the road monitoring equipment, distributing the parking spaces of the vehicles to be parked under the condition that the total driving distance of all the vehicles to be parked is shortest according to the parking space data information and the data information of the vehicles to be parked, and sending the driving path between the vehicles to be parked and the corresponding parking spaces to the vehicles to be parked, the cooperative scheduling of a plurality of vehicles in a parking lot can be realized, the problems of road congestion and low utilization rate of the parking spaces in the parking lot are solved, the vehicles are guided to safely and efficiently enter the parking spaces, and the parking experience of users is improved.

Optionally, the method further comprises:

and under the condition that the parking of the vehicle to be parked is confirmed to be failed according to the parking information, sending a first parking instruction to the vehicle to be parked, and indicating the vehicle to be parked to park again until the parking information indicates that the vehicle to be parked is parked successfully.

In the embodiment of the invention, after a vehicle to be parked is parked in a parking space, the cloud device determines whether the vehicle to be parked is accurately parked or not through the parking information shot by the parking space monitoring device, if the parking is considered to be failed, a first parking instruction for indicating to park again is sent to the vehicle to be parked, and the vehicle parks again according to the first parking instruction until the parking composite requirement is met.

the method further comprises the following steps:

and determining that the vehicle to be parked successfully parks under the condition that the vehicle edge is positioned in the parking space edge and the distance between the vehicle edge and the parking space edge is greater than or equal to a first preset distance.

Correspondingly, under the condition that the edge of the vehicle exceeds the edge of the parking space, or the edge of the vehicle is positioned in the edge of the parking space, and the distance between the edge of the vehicle and the edge of the parking space is smaller than a first preset distance, the vehicle to be parked is determined to be failed to park.

In the embodiment of the invention, the cloud equipment identifies whether the vehicle is accurately parked or not based on the parking information shot by the parking space monitoring equipment. After the vehicle is parked in the parking space, the relative position and the distance between the edge of the vehicle and the edge of the parking space are calculated according to the sensing result of the parking space monitoring equipment. When the vehicle exceeds the edge line of the parking space or is in the edge line of the parking space, but the shortest distance between the edge line of the vehicle and the edge line of the parking space is smaller than a first preset distance, the parking state of the vehicle is considered to be failed, the cloud device needs to send a first parking instruction to an automatic driving vehicle or a manned vehicle, and the automatic driving vehicle or the manned vehicle is required to be parked again until the requirement of the parking success state is met, that is, the vehicle is located in the edge line of the parking space, and the distance between the edge line of the vehicle and the edge line of the parking space is larger than or equal to the first preset distance.

or the like, or a combination thereof,

In the embodiment of the invention, after the parking space monitoring equipment uploads the shot original video data to the cloud equipment, the cloud equipment runs a deployment algorithm to detect whether a vehicle is parked in a parking space. If no vehicle exists in the parking space line of the first parking space (A parking space), and no vehicle exists in a second parking space (B parking space) and a third parking space (C parking space) which are adjacent to the first parking space (A parking space); or the vehicle does not exist in the parking space line of the first parking space (a parking space), and the vehicles exist in a second parking space (B parking space) and a third parking space (C parking space) adjacent to the first parking space (a parking space), but the minimum distance between the existing vehicle and the parking space line of the a parking space is greater than or equal to a second preset distance, the a parking space is determined as the parking space, and the Identity Document (ID) of the parking space is uploaded.

Optionally, the method further comprises:

In the embodiment of the invention, the parking space position and the length and width information of the parking space can be obtained by searching the parking space ID according to the parking space ID obtained by the parking space monitoring equipment and combining with a high-precision map of a parking lot.

Optionally, the method further comprises:

and updating the parking spaces every other first preset time.

In the embodiment of the invention, the obtained parking spaces, including the ID, the positions and the sizes of the parking spaces, are updated according to a certain frequency, a dynamic parking space database of the parking spaces is established, and a parking space allocation basis is provided for vehicles entering a parking lot.

In the embodiment of the invention, vehicles entering the parking lot are monitored in real time through road monitoring equipment arranged on roads in the parking lot, and are positioned and tracked. The used positioning and tracking technology is based on the perception information of the road monitoring equipment, adopts a perception algorithm to identify the vehicle, determine the position, the speed, the size and other information of the vehicle, and tracks the vehicle.

When a vehicle to be parked on a road in a parking lot is identified, the road monitoring equipment uploads original video stream data to the cloud equipment, and the vehicle to be parked is identified through a perception algorithm of the cloud equipment.

The process of positioning and state detection of the vehicle to be parked in the parking lot comprises the following steps: the road monitoring equipment (road perception camera) has a determined position in a geodetic coordinate system, the positioning of the vehicle to be parked in the camera coordinate system can be obtained according to the depth information of the vehicle image obtained by the road monitoring equipment, and the absolute positioning of the vehicle to be parked in the geodetic coordinate system is obtained through the conversion between the camera coordinate system and the geodetic coordinate system. On the basis of obtaining the positioning data of the vehicle to be parked, the speed of the vehicle to be parked can be calculated further based on the sampling time. And the size parameters (length, width) and the like of the vehicle to be parked can be calculated by extracting the positions of the feature points of the vehicle to be parked.

The continuous vehicle tracking technology in the parking lot needs to solve the problem that the identification of vehicle IDs by different cameras is not uniform. In the embodiment of the invention, the identification ID of the vehicle does not depend on the ID identified by a single camera, the vehicle characteristics are extracted according to the vehicle image data acquired by each camera, and the unified ID of the vehicle in the parking lot is determined by matching the vehicle characteristic parameters acquired by each camera, so that the tracking of the vehicle is realized.

Optionally, the method further comprises:

In the embodiment of the invention, vehicle information of the vehicle to be parked entering the parking lot is obtained by monitoring, positioning and tracking the vehicle in the parking lot, wherein the vehicle information comprises information such as vehicle position, vehicle size, vehicle speed and the like, the position of the vehicle to be parked is recorded, the data of the vehicle to be parked is stored in a vehicle dynamic database, and the data is updated according to a certain frequency.

Optionally, the method further comprises:

and obtaining the traffic flow and the traffic speed of each road section in the parking lot according to the parking lot map, the vehicle position and the vehicle speed.

In the embodiment of the invention, the traffic flow (the number of vehicles in a unit distance) and the traffic speed of each road section of a road network of the parking lot are counted by monitoring, positioning and tracking the vehicles in the parking lot and combining a high-precision map of the road of the parking lot. The specific method comprises the following steps: the map structure of the high-precision map of the parking lot is described in sections, and the traffic flow speed of each section of road are described through the following formulas.

Wherein p is the serial number of the road section in the parking lot; n is a radical of hydrogen _p The traffic flow of the p-th road section is shown; m is the total number of vehicles on the p-th road; l is _p The length of the p-th road section; v _p The traffic flow rate of the p-th road section; v. of _i The speed of the ith vehicle on the p-th road is obtained.

Optionally, the method further comprises:

In the embodiment of the invention, the traffic flow and the traffic flow speed of each road section in the parking lot are updated according to a certain frequency, and the real-time monitoring system for the traffic flow and the traffic flow speed of the road network of the parking lot provides a basis for the parking space distribution, the driving path and the vehicle speed planning of the vehicle.

Optionally, the allocating parking spaces of vehicles to be parked according to the parking space data information and the data information of the vehicles to be parked under the condition that the total driving distance of all vehicles to be parked is shortest includes:

determining the total travel distance of the vehicle to be parked under each matching combination;

In the embodiment of the invention, the parking spaces of all vehicles to be parked are distributed based on the optimization target with the shortest total driving distance of all vehicles to be parked according to the parking space dynamic database, the vehicle dynamic database of the parking lot and the real-time monitoring statistics of the traffic flow and the traffic flow rate of the road network in the parking lot.

The cooperative optimization allocation flow of parking spaces provided by the embodiment of the invention is shown in fig. 2, wherein the parking space allocation optimization model refers to a mapping relation between a vehicle to be parked and a parking space, which is established according to a parking space dynamic database and a vehicle dynamic database. According to the matching of the sizes of the vehicle to be parked and the parking space, X matching combinations of the vehicle to be parked and the parking space are determined through an exhaustion method.

And for any matching combination, determining the total driving distance from the current position to the parking space of each vehicle to be parked, and realizing the allocation of the parking spaces for the vehicles to be parked in the shortest total driving distance in the allocation relation between the vehicles to be parked and the parking spaces.

In the embodiment of the present invention, please refer to fig. 2, by matching the parking space size of the parking space with the vehicle size of the vehicle to be parked, that is, the length and width of the parking space need to be greater than the length and width of the vehicle by a certain threshold, so as to ensure that the vehicle to be parked can successfully enter the parking space. Further, by an exhaustion method, X matching combinations of the vehicle to be parked and the parking space can be obtained.

In the embodiment of the present invention, please continue to refer to fig. 2, punishment is performed on the distance of each road segment according to the traffic flow and the traffic speed of each road segment (the punishment increases on the vehicle travel distance corresponding to the road segment with large traffic flow and congestion), and the specific punishment method is according to the traffic flow N _p The congestion levels are divided, and each congestion level corresponds to a different congestion coefficient alpha ₁ 、α ₂ 、α ₃ 、α ₄ Values 1, 1.1, 1.2, 1.3 respectively. Then according to the vehicle flow velocity V _p The vehicle flow rate coefficient is determined as shown in the following equation.

Wherein, beta _p The traffic flow coefficient of the p-th road section is obtained; v. of _lim,p The speed limit is the speed limit of the p-th road; d _p The length of the p-th road after punishment; d _act,p Is the actual length of the p-th road.

Correspondingly, the length of each road section after punishment according to the traffic flow and the flow velocity is shown as the following formula.

D _p ＝D _act,p ×α _1,2,3,4 ×β _p

Wherein, beta _p Is the traffic flow coefficient of the p-th road, D _p The length of the p-th road after punishment; d _act,p For the actual length of the p-th road，α ₁ 、α ₂ 、α ₃ 、α ₄ Is the congestion coefficient.

Therefore, the purpose that the more congested the road is, the longer the corresponding penalty travel distance is can be achieved.

Then, for any one of the above-mentioned X matching combinations, for each of the vehicles to be parked, the total travel distance from the current position to the parking space is the path with the shortest punished distance among all the travel routes of the vehicles to be parked from the current position to the parking space, as shown in the following formula.

d _i ＝min∑D _p

Wherein d is _i For the path with the shortest punishment distance in all driving routes from the current position to the parking space of the vehicle to be parked, D _p The length of the p-th road after punishment.

The calculation scheme of the shortest distance adopts a classical a-algorithm, and correspondingly, the total travel distance of all the vehicles to be parked is shown as the following formula.

Wherein d is _all Total distance traveled by all vehicles to be parked, d _i And punishing a path with the shortest distance from the current position to all driving routes of the parking space for the vehicle to be parked.

The total driving distance under any combination of the vehicles to be parked and the parking stalls can be calculated through the formula, the distribution relation between the vehicles to be parked and the parking stalls with the shortest total driving distance can be obtained by optimizing the X types of matching combinations of the vehicles to be parked and the parking stalls through a genetic algorithm, and therefore the parking stalls are determined and distributed for all the vehicles to be parked.

According to the embodiment of the invention, the distribution relation between the vehicle to be parked and the parking spaces is obtained according to the collaborative optimization distribution method of the parking spaces, the shortest distance from the current position of the vehicle to be parked to the parking spaces can be calculated by adopting an A-x algorithm according to the punishment distance of the road sections, and correspondingly, the driving paths of the vehicle to be parked and the distributed parking spaces can be determined. And the speed of the vehicle to be parked on each road section is planned according to the traffic flow speed of the road section.

And then, transmitting parking spaces distributed by each vehicle to be parked, the planned driving path and the vehicle speed information from the cloud equipment to the vehicle terminal. Because the planned path and the vehicle speed information need to serve the auxiliary or automatic parking of the vehicle to be parked, and have higher requirements on time delay, the embodiment of the invention adopts 5G to realize the information transmission of millisecond time delay and assist the vehicle parking. The auxiliary parking method in the parking lot provided by the embodiment of the invention is based on cloud deployment, can realize the expansion of navigation application to the parking lot outside the public road through docking with navigation application software, can push navigation information in the parking lot to a driver, and prompts the position of the target parking lot of the driver, and the path and the speed of driving to the target parking lot. Therefore, the embodiment of the invention can be packaged into indoor navigation application software in a parking lot to provide assistance for drivers to drive.

And then, the vehicle drives to the front of the parking space according to the planned driving path, and the parking is realized by adopting the function of automatic parking or manual parking.

The following describes the parking assist method according to an embodiment of the present invention with reference to fig. 3.

The method comprises the steps that original camera video stream data are uploaded to a cloud device by a monitoring camera of a parking space, an operation perception algorithm is deployed at the cloud, whether the parking space is a parking space is detected, a parking space ID is uploaded, the parking space ID obtained through the monitoring camera of the parking space is combined with a high-precision map in the parking lot, the position and length and width size information of the parking space can be obtained by searching the parking space ID, the parking space is updated in real time according to a certain frequency, a dynamic parking space database is established, and a basis for parking space allocation is provided for vehicles entering the parking lot. And monitoring, positioning and tracking vehicles entering the parking lot in real time through a monitoring camera arranged at the road end in the parking lot. And obtaining information of the vehicles to be parked in the parking lot, including the ID, the positions and the speed of the vehicles to be parked, recording the positions of the vehicles, storing the data of the vehicles to be parked in a dynamic database of the vehicles, and updating according to a certain frequency. Through vehicle monitoring, positioning and tracking in the parking lot, the vehicle flow and the vehicle flow speed of each road section of the road network are counted by combining a high-precision map of the parking lot road. The method comprises the steps of allocating parking spaces based on the target with the shortest total parking driving distance of all vehicles to be parked in a cooperative optimization mode, planning the driving path and the speed of the vehicles to be parked, transmitting the parking path and the speed information to a vehicle terminal, detecting the parking positions of the vehicles in the parking spaces and detecting the parking states of the vehicles based on the parking space monitoring equipment.

The method provided by the embodiment of the invention comprises the following steps: the method comprises the steps of parking space monitoring based on a field-side sensing camera, parking space dynamic database management, to-be-parked vehicle monitoring, positioning and tracking in a parking lot, to-be-parked vehicle dynamic database management, real-time traffic monitoring and statistics in a parking lot road network, cooperative optimization and allocation of parking spaces, vehicle running path and speed planning, information transmission and vehicle parking. The parking space monitoring equipment provided with the parking space in the parking lot monitors whether the parking space is free or not according to the sensing data of the parking space monitoring equipment, and then a dynamic database of the parking space is established. In addition, a road perception camera is installed in the parking lot, all vehicles on the road in the parking lot can be identified, the vehicles can be monitored, positioned and tracked in the whole process, a dynamic database is established for the vehicles to be parked, and the real-time position, the speed, the size and the like of each vehicle are recorded. Meanwhile, the real-time traffic flow and the flow rate of the road in the parking lot can be obtained through analysis based on the sensing information of the road sensing equipment. And according to the parking space data, the data of the vehicles to be parked and the traffic flow and velocity information of the road network, cooperatively optimizing and distributing the parking spaces for all the vehicles to be parked entering the parking lot, planning the parking running path and the speed of each vehicle, transmitting the information of the target parking space, the planned path and the speed to the vehicle end through a 5G or other communication mode, and guiding the vehicles to run to the target parking spaces. And finally, parking the vehicle, and checking whether the vehicle is in a successful parking state to finish the whole parking process. Through the collaborative optimization of a plurality of vehicles, the maximization of the parking space utilization rate of the whole parking lot is realized, the road congestion is relieved, and the parking experience of a user is improved.

When the optimal parking path is calculated for all the vehicles to be parked, the available size of the free parking space is calculated at the same time, and the parking state of the vehicles is checked and the vehicles are required to be parked again in a standardized manner after the vehicles are parked. Through carrying out the scheduling of planning in coordination to many vehicles in the parking area, solved road traffic in the parking area and blocked up, parking area parking stall utilization ratio is not high and the partial vehicle in parking area parks irregular core pain point problem in the parking stall. According to the embodiment of the invention, road network congestion in the parking lot can be relieved, vehicles can be intelligently guided to safely and efficiently run to the target parking space, and better parking experience can be brought to car owners, so that more passenger flows are attracted to the parking lot owners, and a greater potential commercial value is created.

The embodiment of the invention provides a target with the shortest total driving distance, and provides a cooperative optimization method for parking space allocation and driving path planning for all vehicles entering a parking lot. The method comprises the steps of calculating the driving distance from each vehicle to each parking space based on an established dynamic parking space database, a vehicle database to be parked and a parking lot high-precision map, punishing the driving distance of each road section based on the road network vehicle flow and the vehicle flow rate obtained by sensing of a road end camera, obtaining the matching relation between the vehicle with the shortest total driving distance and the parking spaces by optimizing with an optimization algorithm, distributing the parking spaces for all the vehicles to be parked entering the parking lot, and planning corresponding driving paths and speeds. Meanwhile, the embodiment of the invention also provides a vehicle parking state detection method, which prevents the influence of the nonstandard parking on the utilization condition of the adjacent parking spaces. Therefore, the embodiment of the invention provides a cooperative optimization method for the parking space allocation, the path planning and the vehicle speed planning of all vehicles entering a parking lot, so that the parking space utilization rate of the parking lot is comprehensively improved, the traffic jam condition of a road network of the parking lot is relieved, and the parking experience of a user is improved.

The auxiliary parking method provided by the embodiment of the invention is deployed based on a cloud end, can be butted with navigation application software and transmitted to a vehicle through 5G, realizes indoor navigation application of a parking lot, and has strong practicability and commercial value.

As shown in fig. 4, an embodiment of the present invention further provides a parking assistance device, which is applied to a cloud device, and the parking assistance device includes:

the first obtaining module 401 is configured to obtain parking space data information sent by a parking space monitoring device and data information of a vehicle to be parked sent by a road monitoring device;

the allocation module 402 is configured to allocate parking stalls of vehicles to be parked under the condition that the total driving distance of all vehicles to be parked is shortest according to the stall data information and the data information of the vehicles to be parked;

a first sending module 403, configured to send a travel path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.

According to the auxiliary parking device provided by the embodiment of the invention, the parking spaces of all vehicles to be parked are distributed under the condition that the total driving distance of all vehicles to be parked is shortest by acquiring the parking space data information sent by the parking space monitoring equipment and the data information of the vehicles to be parked sent by the road monitoring equipment according to the parking space data information and the data information of the vehicles to be parked, and the driving path between the vehicles to be parked and the corresponding parking spaces is sent to the vehicles to be parked, so that the cooperative scheduling of a plurality of vehicles in the parking lot can be realized, the problems of road congestion and low utilization rate of the parking spaces in the parking lot are solved, the vehicles are guided to safely and efficiently enter the parking spaces, and the parking experience of users is improved.

Optionally, the apparatus further comprises:

the device further comprises:

the first determining module is used for determining that the vehicle to be parked successfully parks under the condition that the edge of the vehicle is located in the edge of the parking space and the distance between the edge of the vehicle and the edge of the parking space is greater than or equal to a first preset distance.

Optionally, the apparatus further comprises:

the second determining module is used for determining that the first parking space is the parking space under the condition that the vehicle does not stop in the first parking space and the vehicle does not stop in a second parking space and a third parking space which are adjacent to the first parking space on the basis of the parking space data information;

or the like, or a combination thereof,

and determining that the first parking space is the parking space under the condition that the vehicle does not stop in the first parking space, the vehicle stops in a second parking space and/or a third parking space adjacent to the first parking space, and the distance between the edge of the vehicle in the second parking space and/or the third parking space and the edge of the vehicle in the first parking space is larger than or equal to a second preset distance on the basis of the parking space data information.

Optionally, the apparatus further comprises:

and the third updating module is used for updating the traffic flow and the traffic flow speed of each road section in the parking lot every other third preset duration.

Optionally, the allocating module 402 includes:

and a third determining unit, configured to determine the parking space corresponding to each vehicle to be parked when the total travel distance is shortest.

Optionally, the first determining unit is specifically configured to:

Optionally, the second determining unit is specifically configured to:

The parking assist device provided by the embodiment of the invention is a device capable of executing the parking assist method, so that all the embodiments of the parking assist method are applicable to the device and can achieve the same or similar technical effects.

As shown in fig. 5, an embodiment of the present invention further provides a cloud device, including: a processor 500; and a memory 510 connected to the processor 500 through a bus interface, wherein the memory 510 is used for storing programs and data used by the processor 500 in executing operations, and the processor 500 calls and executes the programs and data stored in the memory 510.

The internet of things access management system further comprises a transceiver 520, wherein the transceiver 520 is connected with the bus interface and used for receiving and sending data under the control of the processor 500; the processor 500 is used to read programs in the memory 510.

The cloud device further includes a transceiver 520, and the transceiver 520 is connected to the bus interface and is configured to receive and transmit data under the control of the processor 500; the processor 500 is used to read programs in the memory 510.

Specifically, the transceiver 520 is configured to obtain parking space data information sent by the parking space monitoring device and data information of a vehicle to be parked sent by the road monitoring device.

The processor 500 is configured to allocate parking stalls of each vehicle to be parked according to the stall data information and the data information of the vehicles to be parked, under the condition that the total driving distance of all vehicles to be parked is shortest.

The transceiver 520 is further configured to send a travel path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.

Optionally, the transceiver 520 is further configured to receive parking information sent by the parking space monitoring device after the vehicle to be parked is parked in the parking space; and sending a first parking instruction to the vehicle to be parked to indicate the vehicle to be parked to park again under the condition that the parking of the vehicle to be parked is confirmed to fail according to the parking information until the parking information indicates that the vehicle to be parked parks successfully.

the processor 500 is further configured to determine that the vehicle to be parked is parked successfully when the edge of the vehicle is located within the edge of the parking space and the distance between the edge of the vehicle and the edge of the parking space is greater than or equal to a first preset distance.

Optionally, the processor 500 is further configured to, based on the parking space data information, determine that a first parking space is the parking space when no vehicle is parked in the first parking space, and when no vehicle is parked in a second parking space and a third parking space adjacent to the first parking space;

or the like, or, alternatively,

Optionally, the processor 500 is further configured to obtain a parking space position and a parking space size of the parking space according to a parking lot map.

Optionally, the processor 500 is further configured to update the parking spaces every first preset time.

Optionally, the processor 500 is further configured to determine a vehicle position, a vehicle size, and a vehicle speed of a vehicle to be parked according to the vehicle data information to be parked.

Optionally, the processor 500 is further configured to update the vehicle position, the vehicle size, and the vehicle speed of the vehicle to be parked every second preset time period.

Optionally, the processor 500 is further configured to obtain a traffic flow and a traffic speed of each road segment in the parking lot according to the parking lot map, the vehicle position, and the vehicle speed.

Optionally, the processor 500 is further configured to update the traffic flow and the traffic speed of each road segment in the parking lot every third preset time.

Optionally, the processor 500 is specifically configured to determine a matching combination of the vehicle to be parked and the parking space according to the parking space position and the parking space size of the parking space, and the vehicle position and the vehicle size of the vehicle to be parked; and, at each of said matching combinations, determining a total distance traveled by said vehicles to be parked; and when the total travel distance is shortest, determining the parking spaces corresponding to the vehicles to be parked.

Optionally, the processor 500 is specifically configured to determine whether the vehicle to be parked is matched with the parking space according to the space size and the vehicle size; and under the condition that the vehicle to be parked is matched with the parking space, determining the matching combination of the vehicle to be parked and the parking space according to the parking space position and the vehicle position.

Optionally, the processor 500 is specifically configured to determine a congestion coefficient of each road segment according to a traffic flow of each road segment in the parking lot; according to the congestion coefficient of each road section, the actual length of each road section, the road speed limit of each road section and the traffic flow speed of each road section, carrying out length punishment on each road section to obtain the punishment length of each road section; and determining the total driving distance of the vehicle to be parked under each matching combination according to the punishment length of each road section.

Wherein in fig. 5, the bus architecture may include any number of interconnected buses and bridges, with one or more processors, represented by processor 500, and various circuits, represented by memory 510, being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 520 may be a number of elements, including a transmitter and a transceiver, providing a means for communicating with various other apparatus over a transmission medium. For different terminals, the user interface 530 may also be an interface capable of interfacing with a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 500 is responsible for managing the bus architecture and general processing, and the memory 510 may store data used by the processor 500 in performing operations.

Furthermore, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step may be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of performing the series of processes described above may naturally be performed chronologically in the order described, but need not necessarily be performed chronologically, and some steps may be performed in parallel or independently of each other. It will be understood by those skilled in the art that all or any of the steps or elements of the method and apparatus of the present invention may be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or any combination thereof, which can be implemented by those skilled in the art using their basic programming skills after reading the description of the present invention.

The object of the invention is thus also achieved by a program or a set of programs running on any computing device. The computing device may be a general purpose device as is well known. The object of the invention is thus also achieved solely by providing a program product comprising program code for implementing the method or the apparatus. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is to be understood that the storage medium may be any known storage medium or any storage medium developed in the future. It is also noted that in the apparatus and method of the present invention, it is apparent that each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of executing the series of processes described above may naturally be executed chronologically in the order described, but need not necessarily be executed chronologically. Some steps may be performed in parallel or independently of each other.

While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.

Claims

1. A parking assisting method is applied to a cloud device, and comprises the following steps:

2. A method for assisting in parking a vehicle as claimed in claim 1, further comprising:

3. The parking assist method according to claim 2, characterized in that the parking information includes a vehicle edge and a parking space edge;

the method further comprises the following steps:

4. The method for assisting in parking a vehicle according to claim 1, wherein after acquiring the parking space data information transmitted by the parking space monitoring device, the method further comprises:

or the like, or a combination thereof,

5. A method for assisting parking according to claim 4, further comprising:

6. A method for assisting in parking a vehicle as claimed in claim 4, further comprising:

and updating the parking spaces every other first preset time.

7. A method for assisting parking according to claim 1, wherein after acquiring data information of a vehicle to be parked transmitted from a road monitoring apparatus, the method further comprises:

8. A method for assisting parking according to claim 7, further comprising:

9. A method for assisting parking according to claim 7, further comprising:

10. A method for assisting in parking a vehicle as claimed in claim 9, further comprising:

11. An auxiliary parking method according to claim 1, wherein the allocating parking spaces of the vehicles to be parked in the case where the total travel distance of all the vehicles to be parked is shortest according to the space data information and the vehicle data information to be parked comprises:

12. An auxiliary parking method according to claim 11, wherein the determining a matching combination of the vehicle to be parked and the parking space according to the space position and the space size of the parking space, the vehicle position and the vehicle size of the vehicle to be parked comprises:

determining whether the vehicle to be parked is matched with the parking space or not according to the size of the parking space and the size of the vehicle;

13. A method for assisting parking of a vehicle according to claim 11 wherein said determining a total distance traveled between said vehicle to be parked and a parking space for each of said matching combinations comprises:

14. An auxiliary parking device is applied to a cloud device, and the device comprises:

the distribution module is used for distributing the parking stall of each vehicle to be parked under the condition that the total driving distance of all vehicles to be parked is shortest according to the stall data information and the data information of the vehicles to be parked;

15. A cloud device, comprising: a processor, a memory and a program stored on the memory and executable on the processor, which when executed by the processor implements the parking assist method according to any one of claims 1 to 13.

16. A readable storage medium, characterized in that the readable storage medium has stored thereon a program that, when executed by a processor, implements the parking assist method according to any one of claims 1 to 13.