TWI832153B

TWI832153B - Planning method of vehicle transportating for park lot and computing apparatus for parking planning

Info

Publication number: TWI832153B
Application number: TW111104747A
Authority: TW
Inventors: 張鴻誠; 劉宏彥
Original assignee: 兆竑智聯股份有限公司
Priority date: 2022-02-09
Filing date: 2022-02-09
Publication date: 2024-02-11
Also published as: TW202333118A

Abstract

A planning method of vehicle transportation and a computing apparatus for parking planning are provided. In the method, the vehicle specification of a vehicle is identified. The vehicle specification is related to vehicle type or model. The field condition is determined. The field condition includes the space of the parking lot. The parking location of the vehicle in the parking lot is determined according to the vehicle specification and the field condition, and the parking location is determined according to the space usage rate of the parking lot. The automated mobile device is controlled to move the vehicle to the parking location. Accordingly, the parking space utilization and parking efficiency can be improved.

Description

車輛停車搬運的規劃方法及用於停車規劃的運算裝置Planning method for vehicle parking and transportation and computing device for parking planning

本發明是有關於一種自動化停車技術，且特別是有關於一種車輛停車搬運的規劃方法及用於停車規劃的運算裝置。 The present invention relates to an automated parking technology, and in particular, to a planning method for vehicle parking and transportation and a computing device for parking planning.

停車場的車位有限。一般停車場是以人工導引停車位置。然而，人力資源也有限，且人會有疏忽或失常情況，進而影響停車場的空間利用性及停車效率。 Parking spaces are limited. Generally, parking lots use manual guidance for parking locations. However, human resources are also limited, and people may be negligent or abnormal, which will affect the space utilization and parking efficiency of the parking lot.

有鑑於此，本發明實施例提供一種車輛停車搬運的規劃方法及用於停車規劃的運算裝置，可動態反映當前情境且自動搬運車輛至停車位。 In view of this, embodiments of the present invention provide a planning method for vehicle parking and transportation and a computing device for parking planning, which can dynamically reflect the current situation and automatically transport vehicles to parking spaces.

本發明實施例的車輛停車搬運的規劃方法適用於停車場。規劃方法包括(但不僅限於)下列步驟：辨識車輛的車輛規格。車輛規格相關於車型或車款。判斷場域條件。場域條件包括停車場的空間。依據車輛規格及場域條件決定車輛在停車場的停車位置，並依據停車場的空間使用率決定停車位置。控制自走裝置搬運車輛至停車位置。 The planning method for vehicle parking and transportation according to the embodiment of the present invention is suitable for parking lots. Planning methods include (but are not limited to) the following steps: Identify the vehicle specifications of the vehicle. vehicle Specifications relate to the car model or model. Determine site conditions. Site conditions include space for parking. The parking location of the vehicle in the parking lot is determined based on the vehicle specifications and site conditions, and the parking location is determined based on the space usage rate of the parking lot. Control the self-propelled device to transport the vehicle to the parking position.

本發明實施例的用於停車規劃的運算裝置。運算裝置包括(但不僅限於)儲存器及處理器。儲存器用以儲存程式碼。處理器耦接儲存器。處理器經配置用以載入且執行程式碼以辨識車輛的車輛規格，判斷場域條件，依據車輛規格及場域條件決定車輛在停車場的停車位置，並控制自走裝置搬運車輛至停車位置。處理器更經配置用以依據停車場的空間利用率決定停車位置。車輛規格相關於車型或車款。場域條件包括停車場的空間。 A computing device for parking planning according to an embodiment of the present invention. Computing devices include, but are not limited to, storage and processors. Memory is used to store program code. The processor is coupled to the memory. The processor is configured to load and execute program code to identify vehicle specifications of the vehicle, determine site conditions, determine the parking position of the vehicle in the parking lot based on the vehicle specifications and site conditions, and control the self-propelled device to transport the vehicle to the parking location. The processor is further configured to determine the parking location based on space utilization in the parking lot. Vehicle specifications relate to the car model or model. Site conditions include space for parking.

基於上述，依據本發明實施例的車輛停車搬運的規劃方法及用於停車規劃的運算裝置，判斷車輛規格及場域條件(例如，停車場的空間使用率)，並據以提供合適的停車位置。接著，透過自走裝置直接搬運車輛到這停車位置。藉此，可提升停車效率，並有效利用停車空間。 Based on the above, according to the vehicle parking and transportation planning method and the computing device for parking planning according to the embodiment of the present invention, the vehicle specifications and site conditions (for example, the space utilization rate of the parking lot) are determined, and a suitable parking location is provided accordingly. Then, the vehicle is directly transported to the parking position through the self-propelled device. This can improve parking efficiency and effectively utilize parking space.

為讓本發明的上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。 In order to make the above-mentioned features and advantages of the present invention more obvious and easy to understand, embodiments are given below and described in detail with reference to the accompanying drawings.

1:停車場系統 1: Parking lot system

50:影像擷取裝置 50:Image capture device

70:自走裝置 70:Self-propelled device

100:運算裝置 100:Computing device

110:通訊模組 110: Communication module

130:儲存器 130:Storage

150:處理器 150:processor

S210~S240:步驟 S210~S240: steps

A1:第一型停車位 A1: Type 1 parking space

A2:第二型停車位 A2: Type 2 parking space

A3:第三型停車位 A3: Type 3 parking space

A4:電動車位 A4: Electric parking space

A5:緩衝交換車位 A5: Buffer exchange parking space

E1、E2:出入口 E1, E2: entrance and exit

PW:運行車道 PW: running lane

RS1、RS2:迴旋空間 RS1, RS2: Wiggle room

AGV-1、AGV-2:自走裝置 AGV-1, AGV-2: self-propelled device

圖1是依據本發明一實施例的停車場系統的元件方塊圖。 FIG. 1 is a component block diagram of a parking lot system according to an embodiment of the present invention.

圖2是依據本發明一實施例的車輛停車搬運的規劃方法的流程圖。 Figure 2 is a flow chart of a planning method for vehicle parking and transportation according to an embodiment of the present invention.

圖3是依據本發明一實施例說明停車場空間的示意圖。 Figure 3 is a schematic diagram illustrating a parking space according to an embodiment of the present invention.

圖1是依據本發明一實施例的停車場系統1的元件方塊圖。請參照圖1，停車場系統1包括(但不僅限於)一台或更多台影像擷取裝置50、一台或更多台自走裝置70及運算裝置100。 FIG. 1 is a component block diagram of a parking lot system 1 according to an embodiment of the present invention. Referring to FIG. 1 , the parking lot system 1 includes (but is not limited to) one or more image capturing devices 50 , one or more self-propelled devices 70 and a computing device 100 .

影像擷取裝置50可以是相機、攝影機、雷射掃描器或監視器，並用以指定區域拍攝，從而擷取影像。在一實施例中，影像擷取裝置50包括影像感測器、影像處理器及鏡頭，且其規格(例如，取像光圈、倍率、焦距、取像可視角度、影像感測器大小等)及組態可依據實際需求而自行變更。在一實施例中，影像擷取裝置50用以拍攝停車場中的特定空間(例如，出入口、運行車道或停車位)。 The image capture device 50 may be a camera, a video camera, a laser scanner or a monitor, and is used to capture a designated area to capture images. In one embodiment, the image capture device 50 includes an image sensor, an image processor and a lens, and its specifications (for example, imaging aperture, magnification, focal length, imaging viewing angle, image sensor size, etc.) and The configuration can be changed according to actual needs. In one embodiment, the image capturing device 50 is used to capture a specific space in a parking lot (for example, an entrance or exit, a driving lane or a parking space).

自走裝置70例如是自主移動機器人(Autonomous Mobile Robot，AMR)、自動導引車(Automated Guided Vehicle，AGV)、或其他程式化的移動機器人/車。例如，自主移動機器人是結合定位及自動導航的無軌道無人搬運車，並可使熄火的車輛具備自主移動能力。而自動導引車可藉由電線、磁條、色帶等軌道辨識路線。 The self-propelled device 70 is, for example, an autonomous mobile robot (Autonomous Mobile Robot, AMR), an automatic guided vehicle (Automated Guided Vehicle, AGV), or other programmed mobile robots/vehicles. For example, an autonomous mobile robot is a trackless unmanned guided vehicle that combines positioning and automatic navigation, and can enable stalled vehicles to move autonomously. Automatic guided vehicles can identify routes through tracks such as wires, magnetic strips, and ribbons.

在一實施例中，自走裝置70用以搬運車輛。自走裝置70可透過內部或外部機構連接車輛或將車輛置於其承載平台，使車輛可隨自走裝置70移動。 In one embodiment, the self-propelled device 70 is used to transport vehicles. The self-propelled device 70 can connect the vehicle through an internal or external mechanism or place the vehicle on its carrying platform, so that the vehicle can The vehicle can move with the self-propelled device 70.

運算裝置100耦接影像擷取裝置50。運算裝置100可以是桌上型電腦、筆記型電腦、AIO電腦、智慧型手機、平板電腦、或伺服器等裝置。運算裝置100可包括(但不僅限於)通訊模組110、儲存器130及處理器150。 The computing device 100 is coupled to the image capturing device 50 . The computing device 100 may be a desktop computer, a notebook computer, an AIO computer, a smart phone, a tablet computer, or a server. The computing device 100 may include (but is not limited to) a communication module 110, a storage 130, and a processor 150.

通訊模組110可以是支援Wi-Fi、行動網路、藍芽、乙太網路、光纖網路或其他類型通訊協定的收發器。在一實施例中，通訊模組110用以將訊息傳送至外部裝置(例如，影像擷取裝置50、自走裝置70、電腦、伺服器、或手機)。在一些實施例中，訊息可以是簡訊、網路封包、通話或其他形式。在一實施例中，通訊模組110用以傳送指令給影像擷取裝置50或自走裝置70，並使影像擷取裝置50或自走裝置70可依據指令而執行對應功能。在另一實施例中，通訊模組110用以接收來自影像擷取裝置50及自走裝置70的回報訊息(例如，狀態、通知或警報)。 The communication module 110 may be a transceiver supporting Wi-Fi, mobile network, Bluetooth, Ethernet, optical fiber network or other types of communication protocols. In one embodiment, the communication module 110 is used to transmit information to an external device (eg, image capture device 50, autonomous device 70, computer, server, or mobile phone). In some embodiments, the message may be in the form of a text message, a network packet, a call, or other forms. In one embodiment, the communication module 110 is used to transmit instructions to the image capture device 50 or the self-propelled device 70, so that the image capture device 50 or the self-propelled device 70 can perform corresponding functions according to the instructions. In another embodiment, the communication module 110 is used to receive reporting messages (eg, status, notification or alarm) from the image capturing device 50 and the autonomous device 70 .

儲存器130可以是任何型態的固定或可移動隨機存取記憶體(Radom Access Memory，RAM)、唯讀記憶體(Read Only Memory，ROM)、快閃記憶體(flash memory)、傳統硬碟(Hard Disk Drive，HDD)、固態硬碟(Solid-State Drive，SSD)、非揮發性(nonvolatile)記憶體或類似元件。在一實施例中，儲存器130用以儲存程式碼、軟體模組、組態配置、資料(例如，影像、車輛規格、場域條件、導航路線等)或檔案。 The storage 130 can be any type of fixed or removable random access memory (Radom Access Memory, RAM), read only memory (Read Only Memory, ROM), flash memory (flash memory), traditional hard disk (Hard Disk Drive, HDD), solid-state drive (Solid-State Drive, SSD), non-volatile memory or similar components. In one embodiment, the storage 130 is used to store program codes, software modules, configurations, data (eg, images, vehicle specifications, site conditions, navigation routes, etc.) or files.

處理器150耦接通訊模組110及儲存器130，處理器150 並可以是中央處理單元(Central Processing Unit，CPU)、圖形處理單元(Graphic Processing unit，GPU)，或是其他可程式化之一般用途或特殊用途的微處理器(Microprocessor)、數位信號處理器(Digital Signal Processor，DSP)、可程式化控制器、現場可程式化邏輯閘陣列(Field Programmable Gate Array，FPGA)、特殊應用積體電路(Application-Specific Integrated Circuit，ASIC)、神經網路加速器或其他類似元件或上述元件的組合。在一實施例中，處理器150用以執行運算裝置100的所有或部份作業，且可載入並執行儲存器130所記錄的各程式碼、軟體模組、檔案及資料。 The processor 150 is coupled to the communication module 110 and the storage 130. The processor 150 It can be a central processing unit (CPU), a graphics processing unit (GPU), or other programmable general-purpose or special-purpose microprocessor (Microprocessor), digital signal processor ( Digital Signal Processor (DSP), programmable controller, Field Programmable Gate Array (FPGA), Application-Specific Integrated Circuit (ASIC), neural network accelerator or others Similar elements or combinations of the above elements. In one embodiment, the processor 150 is used to execute all or part of the operations of the computing device 100, and can load and execute each program code, software module, file and data recorded in the storage 130.

下文中，將搭配停車場系統1中的各項元件、模組及裝置說明本發明實施例所述之方法。本方法的各個流程可依照實施情形而隨之調整，且並不僅限於此。 In the following, the method described in the embodiment of the present invention will be described with reference to various components, modules and devices in the parking lot system 1 . Each process of this method can be adjusted according to the implementation situation, and is not limited to this.

圖2是依據本發明一實施例的車輛停車搬運的規劃方法的流程圖。請參照圖2，處理器150辨識車輛的車輛規格(步驟S210)。具體而言，車輛規格相關於車型或車款。例如，一般轎式車輛、豪華轎車、休旅車、或電動車。又例如，車輛重量、車輛寬度、高度、及底盤高度。 Figure 2 is a flow chart of a planning method for vehicle parking and transportation according to an embodiment of the present invention. Referring to FIG. 2 , the processor 150 identifies the vehicle specifications of the vehicle (step S210 ). Specifically, vehicle specifications relate to a vehicle model or model. For example, general sedan vehicles, luxury cars, SUVs, or electric vehicles. Another example is vehicle weight, vehicle width, height, and chassis height.

在一實施例中，處理器150可取得影像擷取裝置50拍攝車輛所得的影像。處理器150可透過影像特徵比對(例如，方向梯度直方圖(Histogram of Oriented Gradient，HOG)、Harr、或加速穩健特徵(Speeded Up Robust Features，SURF)等的特徵比對)或基於神經網路演算法(例如，YOLO(You only look once)、基於區域的卷積神經網路(Region Based Convolutional Neural Networks，R-CNN)、或快速R-CNN(Fast R-CNN)等)的分類器辨識車輛的車款或車型。在一些實施例中，儲存器130或外部資料庫記錄車款及/或車型資料，以供處理器150辨識車輛。 In one embodiment, the processor 150 can obtain the image captured by the image capturing device 50 of the vehicle. The processor 150 can perform the processing through image feature comparison (for example, feature comparison such as Histogram of Oriented Gradient (HOG), Harr, or Speeded Up Robust Features (SURF), etc.) or based on neural network roadshow. Algorithms (e.g., YOLO (You only look once), region-based volumes The classifier of Region Based Convolutional Neural Networks (R-CNN), or Fast R-CNN (Fast R-CNN), etc.) is used to identify the model or model of the vehicle. In some embodiments, the storage 130 or an external database records vehicle model and/or model information for the processor 150 to identify the vehicle.

須說明的是，本發明實施例不加以限制車輛辨識所用的演算法。在一實施例中，前述車輛辨識也可能是由外部裝置執行並提供辨識結果給運算裝置100。 It should be noted that the embodiment of the present invention does not limit the algorithm used for vehicle identification. In one embodiment, the aforementioned vehicle recognition may also be performed by an external device and the recognition result is provided to the computing device 100 .

處理器150判斷場域條件(步驟S220)。在一實施例中，場域條件包括停車場的空間。空間例如是相關於全部或特定類型停車位的數量、停車位的可容納空間、運行車道的位置及路線、迴旋轉向位置、緩衝交換區域、及/或出入口位置。 The processor 150 determines the field conditions (step S220). In one embodiment, the site conditions include the space of a parking lot. The space is, for example, related to the number of all or specific types of parking spaces, the accommodating space of the parking spaces, the location and route of the operating lane, the location of the rotation direction, the buffer exchange area, and/or the location of the entrance and exit.

例如，停車位的可容納空間限制車體寬度、車身長度及/或車身高度(還可能進一步限制承載重量)。若當前車輛的車型超過可容納空間限制，則處理器150可透過通訊模組110即時通知車主關於無法入場的訊息，以避免這車輛入場後讓場域設施或車輛受損。 For example, the accommodating space of the parking space limits the vehicle body width, vehicle length and/or vehicle height (which may further limit the load capacity). If the model of the current vehicle exceeds the space limit, the processor 150 can immediately notify the vehicle owner through the communication module 110 that the vehicle cannot enter the vehicle, so as to avoid damage to the venue facilities or vehicles after the vehicle enters the vehicle.

在一實施例中，場域條件包括供自走裝置70行走的一條或更多條運行車道。例如，運行車道的長度、寬度、及/或彎道處。又例如，運行車道與停車位及/或出入口的位置關係。 In one embodiment, the field conditions include one or more operating lanes for the self-propelled device 70 to travel. For example, the length, width, and/or curves of the operating lane. Another example is the positional relationship between the driving lane and the parking spaces and/or entrances and exits.

在一實施例中，場域條件包括停車場的設置性質。例如，停車場設於住宅區、辦公區、商業區或機場周邊。不同設置性質的停車場可能有不同需求的車主。例如，住宅區的停車場通常在上下班時段有大量車流。又例如，機場周邊的車輛有長時間停車的需求。 In one embodiment, the site conditions include the nature of the parking lot setting. For example, parking lots are located in residential areas, office areas, commercial areas or around airports. Parking lots with different settings may have car owners with different needs. For example, parking lots in residential areas are usually located above and below There is a lot of traffic during shift hours. For another example, vehicles around the airport need to park for a long time.

在一實施例中，場域條件包括多個充電車位及一個或更多一般車位。充電車位是指這車位設有充電樁、充電設備或電源接頭。而一般車位是指這車位未設有充電樁、充電設備或電源接頭。 In one embodiment, the site conditions include multiple charging parking spaces and one or more general parking spaces. A charging parking space refers to a parking space equipped with charging piles, charging equipment or power connectors. A general parking space means that the parking space is not equipped with charging piles, charging equipment or power connectors.

在一實施例中，場域條件包括多個出入口。例如，出入口在停車場的位置、出入口與聯外道路的位置關係或出入口的數量。 In one embodiment, the field conditions include multiple entrances and exits. For example, the location of the entrance and exit in the parking lot, the relationship between the entrance and exit and the external road, or the number of entrances and exits.

舉例而言，圖3是依據本發明一實施例說明停車場空間的示意圖。請參照圖3，這停車場包括第一型停車位A1、第二型停車位A2及第三型停車位A3。第一型停車位A1所適用的車型不同於第二停車位A2。例如，第一型停車位A1適用於中小型轎車，而第二型停車位A2適用於休旅車或中大型轎車。而第三型停車位A3所適用於車型包括第一型停車位A1及第二型停車位A2所適用的車型。例如，第三型停車位A3的車位大致相同於第二型停車位A2的車位。 For example, FIG. 3 is a schematic diagram illustrating a parking space according to an embodiment of the present invention. Please refer to Figure 3. This parking lot includes Type 1 parking space A1, Type 2 parking space A2 and Type 3 parking space A3. The first parking space A1 is suitable for different vehicle types than the second parking space A2. For example, the first type of parking space A1 is suitable for small and medium-sized cars, while the second type of parking space A2 is suitable for SUVs or medium and large cars. The third-type parking space A3 is applicable to the models including the first-type parking space A1 and the second-type parking space A2. For example, the parking spaces of type 3 parking space A3 are roughly the same as the parking spaces of type 2 parking space A2.

停車場包括電動車位A4，以供電動車停放。此外，停車場更包括緩衝交換車位A5，以供充電完成或其他電源狀態的電動車停放。 The parking lot includes electric parking spaces A4 for parking electric vehicles. In addition, the parking lot also includes a buffer exchange parking space A5 for parking electric vehicles that have been charged or in other power states.

停車場設有兩個出入口E1及E2、一條運行車道PW及兩個迴旋空間RS1及RS2。自走裝置AGV-1及AGV-2可在運行車道PW移動，並在迴旋空間RS1及RS2轉向。 The parking lot has two entrances and exits E1 and E2, a running lane PW and two swing spaces RS1 and RS2. The self-propelled devices AGV-1 and AGV-2 can move in the running lane PW and turn in the swing space RS1 and RS2.

請參照圖2，處理器150依據車輛規格及場域條件決定車輛在停車場的停車位置(步驟S230)。在一實施例中，處理器150可依據停車場的空間使用率決定停車位置。例如，處理器150可依據面積最佳使用效率，規劃運行車道、迴旋轉向位置、緩衝交換區域、規劃適合於不同款式車輛數量置放區域、及長時間停放或短暫停放車輛流動效率。處理器150可基於有效空間最大化或是容納車款數量最佳化的需求決定空間使用率。例如，單位時間內最多占有空間、特定時段的特定車款數量、相鄰車位的占有機率、及/或車位的停放時間。 Referring to Figure 2, the processor 150 determines the vehicle The parking position of the vehicle in the parking lot (step S230). In one embodiment, the processor 150 may determine the parking location based on the space usage rate of the parking lot. For example, the processor 150 can plan operating lanes, turnaround locations, buffer exchange areas, plan placement areas suitable for the number of vehicles of different styles, and flow efficiency of long-term parking or short-term parking vehicles based on the optimal utilization efficiency of the area. The processor 150 can determine the space usage based on the need to maximize the effective space or optimize the number of vehicles accommodated. For example, the maximum occupied space per unit time, the number of specific car models in a specific period, the occupancy rate of adjacent parking spaces, and/or the parking time of the parking spaces.

以圖3為例，處理器150可判斷第一型停車位A1及/或第二型停車位A2是否擁塞。例如，剩餘未占用車位的數量是否大於擁塞數量。又例如，是否尚有未占用車位。 Taking FIG. 3 as an example, the processor 150 can determine whether the first type parking space A1 and/or the second type parking space A2 is congested. For example, whether the number of remaining unoccupied parking spaces is greater than the congestion number. Another example is whether there are unoccupied parking spaces.

若車輛適用於第一型停車位A1但第一型停車位A1擁塞，則處理器150將停車位置設於第三型停車位A3。或者，若車輛適用於第二型停車位A2但第二型停車位A2擁塞，則處理器150將停車位置設於第三型停車位A3。 If the vehicle is suitable for the first type of parking space A1 but the first type of parking space A1 is congested, the processor 150 sets the parking position in the third type of parking space A3. Alternatively, if the vehicle is suitable for the second type of parking space A2 but the second type of parking space A2 is congested, the processor 150 sets the parking position in the third type of parking space A3.

另一方面，若車輛適用於第一型停車位A1且第一型停車位A1未擁塞，則處理器150將停車位置設於第一型停車位A1。或者，若車輛適用於第二型停車位A2且第二型停車位A2未擁塞，則處理器150將停車位置設於第二型停車位A2。 On the other hand, if the vehicle is suitable for the first type of parking space A1 and the first type of parking space A1 is not congested, the processor 150 sets the parking position in the first type of parking space A1. Alternatively, if the vehicle is suitable for the second type of parking space A2 and the second type of parking space A2 is not congested, the processor 150 sets the parking position in the second type of parking space A2.

也就是說，第三型停車位A3是混合交疊(Overlapping)區域，並可適用於多種車款。當第一型停車位A1或第二型停車位A2已經被占滿，處理器150開始安排混合交疊區域供後續入場的車輛停放，直到混合交疊區域被占滿為止。藉此，當適用於特定車款的車位擁塞時，車輛停放規劃可更加彈性，進而增進空間使用效益。 In other words, the third type of parking space A3 is a mixed overlapping area and can be applied to a variety of car models. When the first type of parking space A1 or the second type of parking space A2 has been occupied, the processor 150 begins to arrange a mixed overlapping area for subsequent cars to enter. Vehicles are parked until the mixed overlap area is occupied. In this way, when parking spaces suitable for specific car models are congested, vehicle parking planning can be more flexible, thereby improving space utilization efficiency.

在一實施例中，處理器150可出入口E1及E2或是升降車梯設計數量，提供適當數量的緩衝交換車位A5，以作為車輛進出調整移位的交換空間。例如，當停放於較深處的車輛欲離開時，自走裝置70可將停放於較近處的車輛暫放於緩衝交換車位A5並待後續歸位或易位。 In one embodiment, the processor 150 can provide an appropriate number of buffer exchange parking spaces A5 according to the designed number of entrances and exits E1 and E2 or lifts, as exchange spaces for vehicle entry and exit adjustment shifts. For example, when a vehicle parked further away wants to leave, the self-propelled device 70 can temporarily place the vehicle parked nearby in the buffer exchange parking space A5 and wait for subsequent return or shifting.

在一實施例中，處理器150可依據車輛的車款、使用者進入停車出入口位置、停車位使用狀況及/或臨時或是長時間停車需求，決定設定停車位置，並安排自走裝置70的移動路徑。 In one embodiment, the processor 150 can decide to set the parking location and arrange the self-propelled device 70 based on the vehicle model, the user's parking entrance and exit location, parking space usage status, and/or temporary or long-term parking requirements. Movement path.

在一實施例中，處理器150可得在運行車道上移動至多個候選位置的多個路徑。這些候選位置是當前可供車輛停放的停車位置。處理器150可決定由出入口移動至這些候選位置的最短路徑、最快路徑、避開特定位置的路徑或符合其他需求的路徑，或綜合考量移載其他車輛的路徑。 In one embodiment, the processor 150 may obtain multiple paths to multiple candidate locations on the operating lane. These candidate locations are parking locations currently available for vehicles. The processor 150 may determine the shortest path from the entrance to these candidate locations, the fastest path, a path that avoids specific locations, a path that meets other needs, or a path that comprehensively considers moving other vehicles.

處理器150可依據車輛的停車需求自那些路徑中挑選其中一者。在一實施例中，處理器150可判斷停車時間或位置異動。例如，若有移出停放於內層車輛的需求，則外層車輛需先移載至交換緩衝車位。因此，處理器150可依據移載路徑與交換緩衝車位的需求預先規劃，並據以調整車輛停放位置對照表(記錄車輛與停車位置的對應關係)。又例如，處理器150可依據使用者預約取用車輛時間及/或停車場設定性質的平均停車時間，事先編列或調整車輛的停車位置或移動路徑，以縮短車輛移載所需等候時間，進而提高停車場的運轉效率。值得注意的是，停車時間或位置異動將影響路徑的選擇，且所挑選的路徑相關於決定的停車位置。例如，先決定停車位置，再挑選最短移動路徑。又例如，先決定最快移動路徑，再確定停車位置。 The processor 150 may select one of those paths based on the vehicle's parking requirements. In one embodiment, the processor 150 may determine parking time or location changes. For example, if there is a need to move the vehicles parked in the inner layer, the vehicles in the outer layer need to be moved to the exchange buffer parking space first. Therefore, the processor 150 can pre-plan according to the transfer path and the demand for exchange of buffer parking spaces, and adjust the vehicle parking position comparison table (recording the corresponding relationship between vehicles and parking positions) accordingly. For another example, the processor 150 can access according to the user's reservation Vehicle time and/or the average parking time of the parking lot set nature, the parking position or movement path of the vehicle is arranged or adjusted in advance to shorten the waiting time required for vehicle transfer, thereby improving the operating efficiency of the parking lot. It is worth noting that changes in parking time or location will affect the choice of route, and the selected route is related to the determined parking location. For example, first decide where to park and then choose the shortest moving path. For another example, first determine the fastest moving path and then determine the parking location.

在一實施例中，停車位置的決定相關於停車場的設置性質對應的管理規則。若停車場設於住宅區，則處理器150可設定管理規則為上班或下班時段為尖峰時間。若停車場設於辦公區，則處理器150可設定管理規則為上班或下班時段作為尖峰時間、以及高流動性訪客。若停車場設於商業區，則處理器150可設定管理規則為高流動性客戶。若停車場設於機場周邊，則處理器150可設定管理規則為分短時接送旅客車輛與長時間停車的旅客。 In one embodiment, the parking location is determined based on management rules corresponding to the setting properties of the parking lot. If the parking lot is located in a residential area, the processor 150 can set the management rule so that the working or off-duty hours are peak hours. If the parking lot is located in an office area, the processor 150 can set management rules for on-off or off-duty hours as peak hours and high-traffic visitors. If the parking lot is located in a commercial area, the processor 150 can set management rules for high-traffic customers. If the parking lot is located around the airport, the processor 150 can set management rules to separate vehicles for picking up and dropping off passengers for short periods of time and passengers for long-term parking.

處理器150可依據管理規則決定停車位置。例如，短時間停車或高動性需求的車輛置於外層的停車位，且長時間停車需求的車輛置於內層的停車位。又例如，在尖峰時間到達前，先將位於內層的車輛移載至緩衝或混和車位，以利於車輛在尖峰時間到達時快速移出。 The processor 150 can determine the parking location according to management rules. For example, vehicles with short-term parking or high mobility requirements are placed in the outer parking spaces, and vehicles with long-term parking requirements are placed in the inner parking spaces. For another example, before peak hours arrive, vehicles located on the inner floor are first moved to buffer or mixed parking spaces to facilitate the rapid removal of vehicles when peak hours arrive.

在一實施例中，針對車款為電動車的車輛，可依據額定容許可充電最大容量作為限制充電車輛數量的前提條件。例如，當最大容許電量達到一定百分比(例如，90、80或95%)或是可調度容量小於通用充電功率值(例如，7.5、7.2或8千瓦(KW))，運算裝置100可透過通訊模組110通知管理員，並控制顯示螢幕顯示關於「充電車位已滿並需車主等候」的訊息給後續進場的電動車車主。 In one embodiment, for vehicles that are electric vehicles, the rated maximum charging capacity can be used as a prerequisite to limit the number of charging vehicles. For example, when the maximum allowable power reaches a certain percentage (for example, 90, 80 or 95%) or the dispatchable capacity is less than the universal charging power value (for example, 7.5, 7.2 or 8 kilowatts (KW)), the computing device Setting 100 can notify the administrator through the communication module 110, and control the display screen to display a message about "the charging parking space is full and the owner needs to wait" to subsequent electric vehicle owners entering the venue.

而針對已充飽電池的車輛，處理器150可依據充電機制通訊協定或是充電機充電電流變化測知電量，依據車輛充電所使用之瓦時能量計算收費金額，並透過通訊模組110發出訊息，以通知車主關於電池已充飽、使用電力度數等資訊。此外，處理器150更可關閉這車位的電力開關，並將車輛脫離供電機構。 For a vehicle with a fully charged battery, the processor 150 can detect the power according to the charging mechanism communication protocol or the charger charging current change, calculate the charge amount based on the watt-hour energy used for vehicle charging, and send a message through the communication module 110 , to notify the car owner of information such as the battery is fully charged, the power usage, etc. In addition, the processor 150 can also turn off the power switch of the parking space and disconnect the vehicle from the power supply mechanism.

若有電動車在等候排序充電，則處理器150可進行充電調度。在一實施例中，若有電動車移入充電車位，則處理器150可開啟這充電車位的供電設備的電力，以開始對電動車進行充電。在一實施例中，若充電車位擁塞，則處理器150可決定車輛規格為電動車的車輛的該停車位置位於一般車位(例如，圖3的緩衝交換車位A5或第一型停車位A1)。擁塞情況的決定可能是比較門檻值或剩餘車位。而若那些充電車位由擁塞轉變為未擁塞，則處理器150可決定一般車位至那些充電車位中的一者的移動路徑。即，處理器150判斷如何將等待充電的電動車移載至充電車位。此外，處理器150可透過通訊模組110通知車主關於開始充電的訊息。 If there are electric vehicles waiting to be charged in sequence, the processor 150 can perform charging scheduling. In one embodiment, if an electric vehicle moves into the charging parking space, the processor 150 can turn on the power of the power supply device of the charging parking space to start charging the electric vehicle. In one embodiment, if the charging parking space is congested, the processor 150 may determine that the parking position of the vehicle whose vehicle specification is an electric vehicle is in a general parking space (for example, the buffer exchange parking space A5 or the first type parking space A1 in FIG. 3 ). Decisions about congestion may be based on comparison of thresholds or remaining parking spaces. If those charging parking spaces change from congested to uncongested, the processor 150 can determine a moving path from a general parking space to one of those charging parking spaces. That is, the processor 150 determines how to move the electric vehicle waiting to be charged to the charging parking space. In addition, the processor 150 can notify the car owner about starting charging through the communication module 110 .

請參照圖2，處理器150控制自走裝置70搬運車輛至停車位置(步驟S240)。具體而言，處理器150可依據停車位置與出入口的位置關係、運行車道與停車位置的位置關係、軌道路線、迴旋空間的位置等場域空間關係決定自走裝置70的移動路線。處理器150可透過通訊模組110發送關於移動路線的指令，使自走裝置70可依據移動路線搬運車輛至指定的停車位置。 Referring to FIG. 2 , the processor 150 controls the self-propelled device 70 to transport the vehicle to the parking position (step S240 ). Specifically, the processor 150 can determine the moving route of the self-propelled device 70 based on field spatial relationships such as the location relationship between the parking location and the entrance and exit, the location relationship between the operating lane and the parking location, the track route, and the location of the swing space. handle The device 150 can send instructions about the moving route through the communication module 110, so that the self-propelled device 70 can transport the vehicle to the designated parking location according to the moving route.

在一實施例中，處理器150可透過通訊模組110接收多個出入口中的第一出入口的選擇。例如，應用程式接收使用者對於指定的出入口的選擇操作，並經由網路將選擇操作對應的通知訊息給運算裝置100。處理器150可控制自走裝置70搬運車輛至第一出入口，並透過通訊模組110通知第一出入口有這車輛。例如，自走裝置70將車輛移載至指定出入口之乘場處，且運算裝置100通知使用者取車時一併告知取車時間與乘車位置(即，第一出入口)。 In one embodiment, the processor 150 may receive the selection of the first entrance among the plurality of entrances through the communication module 110 . For example, the application receives the user's selection operation for a designated entrance and exit, and sends a notification message corresponding to the selection operation to the computing device 100 via the network. The processor 150 can control the self-propelled device 70 to transport the vehicle to the first entrance and exit, and notify the first entrance and exit of the presence of the vehicle through the communication module 110 . For example, the self-propelled device 70 moves the vehicle to the boarding area at the designated entrance, and the computing device 100 notifies the user of the pickup time and boarding location (ie, the first entrance) when picking up the vehicle.

在一實施例中，自走裝置70使用電池供電。當電池的容量低於一定百分比(例如，15、20或30%)時，則自走裝置70可進入預設的充電位置進行充電，並在電力充飽後進入待命位置。 In one embodiment, the self-propelled device 70 is battery powered. When the battery capacity is lower than a certain percentage (for example, 15, 20 or 30%), the self-propelled device 70 can enter a preset charging position for charging, and enter a standby position after the battery is fully charged.

在一實施例中，處理器150可判斷判斷自走裝置70的運作時段。運作時段包括高頻率運作時段及低頻率運作時段。自走裝置70在高頻率運作時段的運作頻率高於在低頻率運作時段的運作頻率。運作頻率例如是單位時間內搬運車輛的次數或時間。若運作時段為該高頻率運作時段，則處理器150可偵測自走裝置70是否待命，並控制待命的自走裝置70充電。也就是說，只要偵測到自走裝置70處於待命狀態，運算裝置100即呼叫自走裝置70進入充電位置並進行充電，讓自走裝置70盡可能維持在高電量狀態，進而讓搬運作業順暢。 In one embodiment, the processor 150 may determine the operation period of the autonomous device 70 . The operation period includes a high-frequency operation period and a low-frequency operation period. The operating frequency of the self-propelled device 70 in the high-frequency operation period is higher than the operation frequency in the low-frequency operation period. The operation frequency is, for example, the number of times or time the vehicle is transported per unit time. If the operation period is the high-frequency operation period, the processor 150 can detect whether the self-propelled device 70 is on standby, and control the charging of the self-propelled device 70 on standby. That is to say, as long as it detects that the self-propelled device 70 is in the standby state, the computing device 100 will call the self-propelled device 70 to enter the charging position and charge, so that the self-propelled device 70 can be maintained in a high power state as much as possible, thereby making the transportation operation smooth. .

在一實施例中，處理器150可依據運作時段決定自走裝置70的充電模式。充電模式包括快速充電模式、平均充電模式及低速充電模式。快速充電模式例如是以3C/20分鐘快速充電，其中C為充放電率並用於表示電池充放電時電流大小的比率。快速充電模式可用於高頻率運作時段。平均充電模式用於維持電池電量在特定量。例如，以平均服務間隔時間足以補充一次運作的電能消耗的充電速度來進行充電。而低速充電模式可用於夜間供電。例如，以0.2C/5小時低速充電。 In one embodiment, the processor 150 can determine whether the autonomous device Set the charging mode to 70. Charging modes include fast charging mode, average charging mode and low-speed charging mode. The fast charging mode is, for example, fast charging at 3C/20 minutes, where C is the charge and discharge rate and is used to represent the ratio of the current size when the battery is charged and discharged. Fast charging mode is available for periods of high frequency operation. Average charging mode is used to maintain battery power at a specific amount. For example, charging is performed at a charging rate such that the average service interval is sufficient to replenish the power consumption of an operation. The low-speed charging mode can be used for power supply at night. For example, charge at a low speed of 0.2C/5 hours.

例如，處理器150可依據場域運作高度情境(例如，對應於高頻率運作時段)或低度繁忙情境(例如，對應於低頻率運作時段)，設定自走裝置70在待命狀態下使用充電模式平均充電模式，或是設定自走裝置70在低電量時進行快速充電模式，或於夜間或是低度繁忙時進行低速充電。藉此，可延長自走裝置70的電池服務時效與使用壽命。此外，運算裝置100可隨時監控自走裝置70的電池電量狀態，調整自走裝置70的充電模式，以確保場域服務的妥善性。 For example, the processor 150 can set the self-propelled device 70 to use the charging mode in the standby state according to the high field operation situation (for example, corresponding to the high-frequency operation period) or the low busy situation (for example, corresponding to the low-frequency operation period). The average charging mode either sets the autonomous device 70 to perform fast charging mode when the battery is low, or to perform low-speed charging at night or during low-busy times. In this way, the battery service life and service life of the self-propelled device 70 can be extended. In addition, the computing device 100 can monitor the battery power status of the autonomous device 70 at any time and adjust the charging mode of the autonomous device 70 to ensure the appropriateness of field services.

在一實施例中，運算裝置100可偵測自走裝置70的異常情況。例如，運算裝置100基於自走裝置70回報的訊息或影像擷取裝置50所拍攝到包括自走裝置70的影像判斷異常情況。例如，特定警示訊息、或錯誤路線。處理器150可透過通訊模組110通知異常情況。藉此，可調度備用的自走裝置70或是進行場域內自走裝置70調度，以確保設施正常運作。此外，業者可盡早安排自走裝置70進行保養或維修。 In one embodiment, the computing device 100 can detect abnormal conditions of the autonomous device 70 . For example, the computing device 100 determines the abnormal situation based on the information reported by the self-propelled device 70 or the image captured by the image capture device 50 including the self-propelled device 70 . For example, specific warning messages, or wrong routes. The processor 150 can notify the abnormal situation through the communication module 110 . In this way, the backup autonomous device 70 can be dispatched or the autonomous device 70 in the field can be dispatched to ensure the normal operation of the facility. In addition, the operator can arrange maintenance or repair of the self-propelled device 70 as early as possible.

綜上所述，在本發明實施例的車輛停車搬運的規劃方法及用於停車規劃的運算裝置中，利用自走裝置(例如，引導式的AGV或非引導式AMR)進行車輛停車搬運程序，無須其他機械結構體。本發明實施例可依據場域條件及車輛規格決定停車位置，以有效利用停車場空間。此外，本發明實施例可彈性容納不同車款車輛，進而提高使用效益。 To sum up, in the vehicle parking and transportation planning method and the computing device for parking planning according to the embodiment of the present invention, a self-propelled device (such as a guided AGV or an unguided AMR) is used to perform the vehicle parking and transportation procedure. No other mechanical structure is required. Embodiments of the present invention can determine parking locations based on site conditions and vehicle specifications to effectively utilize parking space. In addition, the embodiment of the present invention can flexibly accommodate vehicles of different models, thereby improving usage efficiency.

雖然本發明已以實施例揭露如上，然其並非用以限定本發明，任何所屬技術領域中具有通常知識者，在不脫離本發明的精神和範圍內，當可作些許的更動與潤飾，故本發明的保護範圍當視後附的申請專利範圍所界定者為準。 Although the present invention has been disclosed above through embodiments, they are not intended to limit the present invention. Anyone with ordinary knowledge in the technical field may make some modifications and modifications without departing from the spirit and scope of the present invention. Therefore, The protection scope of the present invention shall be determined by the appended patent application scope.

S210~S240:步驟 S210~S240: steps

Claims

一種車輛停車搬運的規劃方法，適用於一停車場，該規劃方法包括：辨識一車輛的一車輛規格，其中該車輛規格相關於車型或車款；判斷一場域條件，其中該場域條件包括該停車場的空間以及供一自走裝置行走的至少一運行車道；依據該車輛規格及該場域條件決定該車輛在該停車場的一停車位置，其中該停車場包括一第一型停車位、一第二型停車位及一第三型停車位，該第一型停車位所適用的車型不同於該第二型停車位，該第三型停車位所適用於車型包括該第一型停車位及該第二型停車位所適用的車型，包括：判斷該第一型停車位是否擁塞；若該車輛適用於該第一型停車位但該第一型停車位擁塞，則將該停車位置設於該第三型停車位；若該車輛適用於該第一型停車位且該第一型停車位未擁塞，則將該停車位設於該第一型停車位；依據該停車場的空間使用率決定該停車位置；取得在該至少一運行車道上移動至多個候選位置的多個路徑；依據該車輛的停車需求自該些路徑中挑選其中一者，包括：判斷停車時間或停車位置異動，其中所挑選的路徑相關於該停車位置；以及控制該自走裝置搬運該車輛至該停車位置。 A planning method for vehicle parking and transportation, suitable for a parking lot. The planning method includes: identifying a vehicle specification of a vehicle, wherein the vehicle specification is related to a vehicle type or model; determining a site condition, wherein the site condition includes the parking lot space and at least one running lane for a self-propelled device to travel; determine a parking position for the vehicle in the parking lot based on the vehicle specifications and the site conditions, where the parking lot includes a first-type parking space and a second-type parking space. A parking space and a third-type parking space. The applicable car models of the first-type parking space are different from the second-type parking space. The applicable car models of the third-type parking space include the first-type parking space and the second-type parking space. The vehicle types applicable to the first-type parking space include: determining whether the first-type parking space is congested; if the vehicle is suitable for the first-type parking space but the first-type parking space is congested, then set the parking position in the third-type parking space. Type 1 parking space; if the vehicle is suitable for the Type 1 parking space and the Type 1 parking space is not congested, the parking space will be located in the Type 1 parking space; the parking location will be determined based on the space usage rate of the parking lot. ; Obtain multiple paths for moving to multiple candidate positions on the at least one operating lane; select one of the paths according to the parking requirements of the vehicle, including: determining the parking time or parking position change, among which the selected path Related at the parking position; and control the self-propelled device to transport the vehicle to the parking position.

如請求項1所述的車輛停車搬運的規劃方法，其中該場域條件包括該停車場的設置性質，且依據該車輛規格及該場域條件決定該車輛在該停車場的該停車位置的步驟包括：若該停車場設於住宅區，則設定一管理規則為上班或下班時段為尖峰時間；若該停車場設於辦公區，則設定該管理規則為上班或下班時段作為尖峰時間、以及高流動性訪客；若該停車場設於商業區，則設定該管理規則為高流動性客戶；若該停車場設於機場周邊，則設定該管理規則為分短時接送旅客車輛與長時間停車的旅客；依據該管理規則決定該停車位置。 The planning method for vehicle parking and transportation as described in claim 1, wherein the site conditions include the nature of the parking lot, and the step of determining the parking position of the vehicle in the parking lot based on the vehicle specifications and the site conditions includes: If the parking lot is located in a residential area, set a management rule such that working or off-duty hours are peak hours; if the parking lot is located in an office area, set the management rule to be working or off-duty hours as peak hours and high-flow visitors; If the parking lot is located in a business district, set the management rules for high-traffic customers; if the parking lot is located around the airport, set the management rules for short-term pick-up and drop-off passenger vehicles and long-term parking passengers; according to the management rules Decide where to park.

如請求項1所述的車輛停車搬運的規劃方法，其中該場域條件包括多個充電車位及至少一個一般車位，且依據該車輛規格及該場域條件決定該車輛在該停車場的該停車位置的步驟包括：若該些充電車位擁塞，則決定該車輛規格為一電動車的該車輛的該停車位置位於該一般車位；以及若該些充電車位由擁塞轉變為未擁塞，則決定該一般車位至該些充電車位中的一者的移動路徑。 The planning method for vehicle parking and transportation as described in claim 1, wherein the site conditions include multiple charging parking spaces and at least one general parking space, and the parking position of the vehicle in the parking lot is determined based on the vehicle specifications and the site conditions. The steps include: if the charging parking spaces are congested, determine that the parking position of the vehicle with an electric vehicle specification is located in the general parking space; and if the charging parking spaces change from congested to uncongested, determine that the general parking space A moving path to one of the charging parking spaces.

如請求項1所述的車輛停車搬運的規劃方法，其中該場域條件包括多個出入口，且該規劃方法更包括：接收該些出入口中的一第一出入口的選擇；控制該自走裝置搬運該車輛至該第一出入口；以及通知該第一出入口有該車輛。 The planning method for vehicle parking and transportation as described in claim 1, wherein the site conditions include multiple entrances and exits, and the planning method further includes: receiving a selection of a first entrance and exit among the entrances and exits; controlling the transportation of the self-propelled device The vehicle arrives at the first entrance; and notifies the first entrance that the vehicle is present.

如請求項1所述的車輛停車搬運的規劃方法，更包括：判斷該自走裝置的一運作時段，其中該運作時段包括一高頻率運作時段及一低頻率運作時段，該自走裝置在該高頻率運作時段的運作頻率高於在該低頻率運作時段的運作頻率；以及若該運作時段為該高頻率運作時段，則偵測該自走裝置是否待命，並控制待命的該自走裝置充電。 The planning method for vehicle parking and transportation as described in claim 1 further includes: determining an operation period of the self-propelled device, wherein the operation period includes a high-frequency operation period and a low-frequency operation period, and the self-propelled device is in the The operating frequency of the high-frequency operation period is higher than the operation frequency of the low-frequency operation period; and if the operation period is the high-frequency operation period, detect whether the self-propelled device is on standby and control the charging of the self-propelled device on standby. .

如請求項5所述的車輛停車搬運的規劃方法，更包括：依據該運作時段決定該自走裝置的一充電模式，其中該充電模式包括快速充電模式、平均充電模式及低速充電模式。 The planning method for vehicle parking and transportation as described in claim 5 further includes: determining a charging mode of the self-propelled device according to the operation period, wherein the charging mode includes a fast charging mode, an average charging mode and a low-speed charging mode.

如請求項1所述的車輛停車搬運的規劃方法，更包括：偵測該自走裝置的一異常情況；以及通知該異常情況。 The planning method for vehicle parking and transportation as described in claim 1 further includes: detecting an abnormality of the self-propelled device; and notifying the abnormality.

一種用於停車規劃的運算裝置，適用於一停車場，包括：一儲存器，用以儲存一程式碼；以及一處理器，耦接該儲存器，並經配置用以載入且執行該程式碼以：辨識一車輛的一車輛規格，其中該車輛規格相關於車型或車款；判斷一場域條件，其中該場域條件包括該停車場的空間以及供一自走裝置行走的至少一運行車道；依據該車輛規格及該場域條件決定該車輛在該停車場的一停車位置，其中該停車場包括一第一型停車位、一第二型停車位及一第三型停車位，該第一型停車位所適用的車型不同於該第二型停車位，該第三型停車位所適用於車型包括該第一型停車位及該第二型停車位所適用的車型，包括：判斷該第一型停車位是否擁塞；若該車輛適用於該第一型停車位但該第一型停車位擁塞，則將該停車位置設於該第三型停車位；若該車輛適用於該第一型停車位且該第一型停車位未擁塞，則將該停車位設於該第一型停車位；依據該停車場的空間使用率決定該停車位置；取得在該至少一運行車道上移動至多個候選位置的多個路徑；依據該車輛的停車需求自該些路徑中挑選其中一者，包括：判斷停車時間或停車位置異動，其中所挑選的路徑相關於該停車位置；以及控制該自走裝置搬運該車輛至該停車位置。 A computing device for parking planning, suitable for a parking lot, including: a memory for storing a program code; and a processor coupled to the memory and configured to load and execute the program code to: identify a vehicle specification of a vehicle, wherein the vehicle specification relates to Car model or car model; determine a site condition, where the site condition includes the space of the parking lot and at least one operating lane for a self-propelled device to travel; determine a location of the vehicle in the parking lot based on the vehicle specifications and the site conditions. Parking space, in which the parking lot includes a first-type parking space, a second-type parking space and a third-type parking space. The first-type parking space is suitable for different models than the second-type parking space. The third-type parking space is The car models applicable to the type 1 parking space include the car types applicable to the first type parking space and the applicable type 2 parking space, including: determining whether the first type parking space is congested; if the vehicle is suitable for the first type parking space but If the first type parking space is congested, the parking space will be located in the third type parking space; if the vehicle is suitable for the first type parking space and the first type parking space is not congested, the parking space will be located in the third type parking space. The first type of parking space; determine the parking location based on the space utilization rate of the parking lot; obtain multiple paths to move to multiple candidate locations on the at least one operating lane; select one of the paths based on the parking needs of the vehicle One, including: Determine the parking time or parking position change, where the selected path is related to the parking position; and control the self-propelled device to transport the vehicle to the parking position.