WO2021120691A1

WO2021120691A1 - Dynamic parking stall planning and vehicle parking method and apparatus, and automatic parking system

Info

Publication number: WO2021120691A1
Application number: PCT/CN2020/112648
Authority: WO
Inventors: 白寒
Original assignee: 杭州海康机器人技术有限公司
Priority date: 2019-12-19
Filing date: 2020-08-31
Publication date: 2021-06-24
Also published as: CN113012462B; CN113012462A

Abstract

A dynamic parking stall planning and vehicle parking method and apparatus, and an automatic parking system. The method comprises: acquiring vehicle dimensions of a vehicle to be parked (S101); determining, according to the vehicle dimensions, parking space dimensions required for said vehicle (S102); and according to the parking space dimensions, dividing the free space of a parking region to obtain a target parking sub-region that matches the parking space dimensions (S103). Before a vehicle is parked, no specific parking stall division is performed on the parking region, instead, the parking space dimensions required for the vehicle to be parked are determined according to the vehicle dimensions of said vehicle, and the free space of the parking region is divided to obtain a target parking sub-region that matches the parking space dimensions, wherein the target parking sub-region used for parking said vehicle is obtained by means of dynamic division according to the vehicle dimensions of said vehicle, and the target parking sub-region obtained by means of division can match the actual dimensions of said vehicle. Therefore, the mismatch between the parking stall and the actual dimensions of the vehicle caused due to advanced division of the parking stall is avoided, and the utilization rate of the parking stall is improved.

Description

Dynamic parking space planning and vehicle parking method, device and automatic parking system

This application claims the priority of the Chinese patent application filed with the Chinese Patent Office on December 19, 2019, the application number is 201911318407.8, and the invention title is "A dynamic parking space planning and vehicle parking method, device, and automatic parking system", all of which The content is incorporated in this application by reference.

Technical field

This application relates to the field of intelligent transportation technology, in particular to a dynamic parking space planning and vehicle parking method, device, dispatch server, computer readable storage medium, computer program product, and automatic parking system.

Background technique

With the sustained and rapid economic development, the rapid spread of automobiles and the extreme shortage of urban land have caused the problem of "difficult parking" in many cities. How to park efficiently and reasonably has become an urgent problem to be solved in the construction of a smart city.

In traditional automatic parking systems, parking spaces are generally pre-defined according to a fixed size. In order to ensure that the parking space can park vehicles of various sizes, the parking space size is usually set to a preset fixed size that can park the largest size vehicle. When small-sized vehicles are parked in a parking space, the utilization rate of the parking space is low.

Summary of the invention

The purpose of the embodiments of the present application is to provide a dynamic parking space planning and vehicle parking method, device, dispatch server, computer readable storage medium, computer program product, and automatic parking system to improve the utilization of parking space. The specific technical solutions are as follows:

In the first aspect, an embodiment of the present application provides a method for parking a vehicle, the method including:

Obtain the vehicle size of the vehicle to be parked;

Determine the size of the parking space required by the vehicle to be parked according to the size of the vehicle to be parked;

According to the size of the parking space, the target parking sub-areas that meet the size of the parking space are divided from the free space of the parking area.

In a second aspect, an embodiment of the present application provides a vehicle parking control method, the method including:

Obtain the parking request for parking the vehicle to be parked;

According to the method provided in the first aspect of the embodiments of the present application, divide the target parking sub-areas of the vehicle to be parked;

Instruct the target vehicle handling equipment to park the to-be-parked vehicle in the target parking sub-area.

In a third aspect, an embodiment of the present application provides a dynamic parking space planning device, which includes:

The acquisition module is used to acquire the vehicle size of the vehicle to be parked;

The determination module is used to determine the size of the parking space required by the vehicle to be parked according to the vehicle size of the vehicle to be parked;

The dividing module is used to divide the target parking sub-areas that meets the size of the parking space from the free space of the parking area according to the size of the parking space.

In a fourth aspect, an embodiment of the present application provides a vehicle parking control device, which includes: an acquisition module, a determination module, a division module, and an indication module;

The acquisition module is used to acquire the parking request for parking the vehicle to be parked and the vehicle size of the vehicle to be parked;

The dividing module is used to divide the target parking sub-area that meets the size of the parking space from the free space of the parking area according to the size of the parking space;

The indication module is used to instruct the vehicle handling equipment to park the vehicle to be parked in the target parking sub-area.

In the fifth aspect, an embodiment of the present application provides a scheduling server, including a processor and a memory; the memory is used to store computer programs; the processor is used to execute the computer programs stored in the memory to implement the first embodiment of the present application. The method provided in one aspect or the method provided in the second aspect.

In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium that stores a computer program in the computer-readable storage medium, and when the computer program is executed by a processor, the method provided in the first aspect of the embodiment of the present application or The method provided in the second aspect.

In a seventh aspect, an embodiment of the present application provides a computer program product for executing at runtime: the method provided in the first aspect of the embodiment of the present application or the method provided in the second aspect.

In an eighth aspect, an embodiment of the present application provides a vehicle parking system, which includes: a dispatch server and at least one vehicle handling device;

The dispatch server is used to obtain the parking request for parking the vehicle to be parked and the vehicle size of the vehicle to be parked; determine the size of the parking space required by the vehicle to be parked according to the vehicle size of the vehicle to be parked; according to the parking space size, from the free parking area The space is divided into a target parking subarea that meets the size of the parking space; instructs the target vehicle handling equipment to park the vehicle to be parked in the target parking subarea, where the target vehicle handling equipment is any vehicle handling equipment in at least one vehicle handling equipment;

The target vehicle handling equipment is used to park the to-be-parked vehicle to the target parking sub-area.

The dynamic parking space planning and vehicle parking method, device, dispatch server, computer readable storage medium, computer program product, and automatic parking system provided by the embodiments of the application. During dynamic parking space planning, the vehicle size of the vehicle to be parked is obtained according to the vehicle to be parked. Determine the size of the parking space required by the vehicle to be parked, and divide the target parking sub-areas that meets the size of the parking space from the free space of the parking area according to the size of the parking space. Before parking the vehicle, the parking area is not divided into specific parking spaces, but the size of the parking space required by the vehicle to be parked is determined according to the size of the vehicle to be parked, and then the target that meets the size of the parking space is divided from the free space of the parking area Parking sub-area, the target parking sub-area used to park the vehicle to be parked is dynamically divided according to the size of the vehicle to be parked. The divided target parking sub-area can meet the actual size of the vehicle to be parked, avoiding the division in advance The parking space caused by the parking space does not match the actual size of the vehicle, which improves the utilization rate of the parking space.

Description of the drawings

In order to explain the embodiments of the present application and the technical solutions of the prior art more clearly, the following briefly introduces the drawings that need to be used in the embodiments and the prior art. Obviously, the drawings in the following description are merely the present invention. For some of the embodiments of the application, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is a schematic flowchart of a dynamic parking space planning method according to an embodiment of this application;

Figure 2 is a schematic diagram of parking space planning according to an embodiment of the application;

Fig. 3 is a schematic diagram of parking space planning according to another embodiment of the application;

4 is a schematic flowchart of a dynamic parking space planning method according to another embodiment of this application;

Fig. 5 is a schematic diagram of parking space selection when not parking in an embodiment of the application;

FIG. 6 is a schematic flowchart of a dynamic parking space planning method according to still another embodiment of this application;

FIG. 7 is a schematic flowchart of a vehicle parking control method according to an embodiment of the application;

FIG. 8 is a schematic flowchart of a vehicle parking control method according to another embodiment of the application;

FIG. 9 is a schematic flowchart of a vehicle parking control method according to still another embodiment of the application;

10 is a schematic flowchart of a vehicle parking process when a new vehicle to be parked is detected according to an embodiment of the application;

FIG. 11 is a schematic flow chart of the parking space planning of the first vehicle to be parked when the entire parking area has not been parked according to an embodiment of the application;

FIG. 12 is a schematic diagram of parking space planning and parking sequence according to an embodiment of the application;

FIG. 13 is a schematic diagram of a parking process according to an embodiment of the application;

FIG. 14 is a schematic diagram of a parking process when there are new vehicles to be parked continuously according to an embodiment of the application;

15 is a schematic structural diagram of a dynamic parking space planning device according to an embodiment of the application;

FIG. 16 is a schematic structural diagram of a vehicle parking control device according to an embodiment of the application;

FIG. 17 is a schematic structural diagram of a dispatch server according to an embodiment of the application;

FIG. 18 is a schematic structural diagram of a vehicle parking system according to an embodiment of the application.

Detailed ways

In order to make the purpose, technical solutions, and advantages of the present application clearer, the following further describes the present application in detail with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

In order to improve the utilization of parking space, embodiments of the present application provide a dynamic parking space planning and vehicle parking method, device, dispatch server, computer readable storage medium, computer program product, and automatic parking system, which are described in detail below.

The dynamic parking space planning method and the vehicle parking method provided in the embodiments of the present application can be implemented by a dispatch server, which is a server with dispatch and control functions in the background and is used to dispatch vehicle handling equipment for parking operations. The method for realizing the dynamic parking space planning method and the vehicle parking method provided in the embodiments of the present application may be at least one of the software, hardware circuit, and logic circuit provided in the dispatch server.

As shown in FIG. 1, an embodiment of the present application provides a dynamic parking space planning method, which may include the following steps.

S101: Acquire the vehicle size of the vehicle to be parked.

S102: Determine the size of the parking space required by the vehicle to be parked according to the vehicle size of the vehicle to be parked.

S103: According to the size of the parking space, a target parking sub-areas that meets the size of the parking space is divided from the free space of the parking area.

Applying the embodiment of this application, during dynamic parking space planning, the size of the vehicle to be parked is obtained, and the size of the parking space required by the vehicle to be parked is determined according to the size of the vehicle to be parked. According to the size of the parking space, from the free space of the parking area Divide the target parking sub-areas that meets the size of the parking space. Before parking the vehicle, the parking area is not divided into specific parking spaces, but the size of the parking space required by the vehicle to be parked is determined according to the size of the vehicle to be parked, and then the target that meets the size of the parking space is divided from the free space of the parking area Parking sub-area, the target parking sub-area used to park the vehicle to be parked is dynamically divided according to the size of the vehicle to be parked. The divided target parking sub-area can meet the actual size of the vehicle to be parked, avoiding the division in advance The parking space caused by the parking space does not match the actual size of the vehicle, which improves the utilization rate of the parking space.

The dispatch server can obtain the real-time measured vehicle size of the vehicle to be parked from the vehicle detection equipment, and can also obtain the vehicle size of the vehicle to be parked based on the vehicle size corresponding to different vehicle types by identifying the vehicle type of the vehicle to be parked. In an implementation manner of the embodiment of the present application, S101 may specifically be: receiving the vehicle size obtained by the vehicle detection device detecting the vehicle to be parked; or, identifying the vehicle type of the vehicle to be parked, from the pre-configured vehicle type and vehicle size In the corresponding relationship, the vehicle size of the vehicle to be parked is obtained by matching.

In actual application scenarios, vehicle detection equipment (such as laser sensors, vision sensors, photoelectric sensors, etc.) can be installed at the entrance of the parking lot. The vehicle detection equipment can measure the length, width and height of the vehicle to be parked to obtain the vehicle to be parked. size. Or, the corresponding relationship between vehicle type and vehicle size can be pre-configured locally in the dispatch server, such as the length, width and height corresponding to the A series of XXX brand. If the vehicle to be parked is identified as the A series of XXX brand, it can be based on The configured correspondence matches the vehicle size of the vehicle to be parked.

In order to avoid the phenomenon of vehicle scratching when parking, it is generally necessary to leave a certain margin for the parking space of the vehicle, that is, a certain amount of space needs to be reserved in the length direction and the width direction. Therefore, it is necessary to determine the parking space according to the size of the vehicle. The size of the parking space required by the vehicle. For example, if the length of the vehicle to be parked is 5 meters and the width is 1.8 meters, and 0.5 meters in length and 0.4 meters in width are required, the size of the parking space required to park the vehicle should be 5.5 meters* 2.2 meters.

After obtaining the size of the parking space required by the vehicle to be parked, based on the size of the parking space, park the vehicle to be parked in the free space of the parking area. The parking area refers to the three-dimensional garage, parking lot, etc., and the free space refers to the space that has not been parked. , The parking space size refers to the size that the vehicle to be parked needs to occupy. It can be divided from the free space to divide the target parking sub-area that meets the size of the parking space. There is no restriction on how to divide it, as long as it can be divided from the free space. A certain size area can cover the size of the parking space. For example, the determined parking space size is 5.5 meters * 2.2 meters. As long as the length of the free space is greater than or equal to 5.5 meters and the width is greater than or equal to 2.2 meters, it must be divided. An area with a size of 5.5 meters*2.2 meters is used as the target parking sub-area, and the target parking sub-area is a sub-area for parking vehicles to be parked.

In an implementation of the embodiment of the present application, a map of the parking area can be stored in the dispatch server, which contains the location information of each parking space, the real-time location information of the vehicle handling equipment, the coordinate location of the parked vehicle, and the parking sub For parking information such as area size, the dispatch server can plan a target parking sub-area for parking vehicles to be parked based on the map.

In an implementation manner of the embodiment of the present application, S103 may specifically be: determining the location information of the occupied space in the parking area; determining the adjacent free space of the occupied space according to the location information of the occupied space; according to the size of the parking space , Divide the target parking sub-areas that meets the size of the parking space from the adjacent free space.

The occupied space in the parking area is the space where vehicles have been parked. The position information of the occupied space can be represented by the center coordinates of the occupied space plus the length and width, or the edge coordinates. This position information is generally in the process of planning parking spaces. After determining the location information of the occupied space, the adjacent free space of the occupied space can be determined according to the location information of the occupied space, and the adjacent free space can be divided according to the size of the parking space. The target parking sub-area of the parking space required by the vehicle to be parked.

In an implementation manner of the embodiment of the present application, according to the size of the parking space, the step of dividing the target parking sub-area that meets the size of the parking space from the adjacent free space may be specifically: obtaining any one of the occupied space and the occupied space. The first size of the adjacent free space in the same row of the occupied sub-region, where the occupied sub-region is the sub-region where a vehicle has been parked; if the first size is not less than the size of the parking space, the size of the parking space will be compared with the occupied sub-region. The adjacent free space in the same row of the sub-area is divided into the target parking sub-areas that meets the size of the parking space; if the first size is smaller than the size of the parking space, according to the size of the parking space, from the free space adjacent to the occupied sub-areas Divide the target parking sub-areas that meets the size of the parking space.

When planning parking spaces, for any occupied sub-area in the occupied space (the occupied sub-area is a sub-area where a vehicle has been parked), obtain the first adjacent free space in the same row as the occupied sub-area. Size, and determine whether the first size is not less than the size of the parking space. If it is not smaller, it means that the adjacent free space of this row can park vehicles to be parked. According to the size of the parking space, the target parking sub-area that meets the size of the parking space can be divided from the adjacent free space of this row; if it is smaller, It means that the adjacent free space of this row cannot park the vehicles to be parked. According to the size of the parking space, the target parking sub-areas that meets the size of the parking space can be divided from the free space of the adjacent rows of the row.

In the embodiments of the present application, the rows are not limited to the traditional horizontal arrangement, and the specific arrangement direction can be determined according to actual needs, for example, it can be a horizontal arrangement, a vertical arrangement, an oblique arrangement, and so on. The parking spaces in each row are not limited to being arranged along the long side of the parking space. They can be arranged along the long side or the short side. Even the parking spaces and the parking spaces can be arranged diagonally, as long as they are arranged in a row.

In an implementation of the embodiment of the present application, every time a car comes, dynamic parking space planning is performed on the vehicle, and the planning is carried out in a way that the vehicles are connected head to tail along the length direction. When the length direction cannot be parked and waited When parking the vehicle, re-select the area plan in the width direction, and divide the target parking sub-areas that meets the size of the parking space required by the vehicle to be parked in the free space of the adjacent row. As shown in Figure 2, the parking in the first row The space P is smaller than the size of the parking space required by the vehicle to be parked, so it is divided in the second row. Specifically, the parking space Q in the second row is divided into a target parking sub-area that meets the size of the parking space required by the vehicle to be parked. By analogy, until no more vehicles can be parked in the length direction and width direction, it means that the parking space has been fully utilized. Assuming that no vehicle leaves after parking, the parking space planning and parking of this parking space are completed. In order to ensure the efficiency of vehicle parking, reasonable use of parking space, when vehicles are parked in a head-to-tail manner, vehicles in the same row are generally required to have the same width. In another implementation manner of the embodiments of the present application, planning can be done in a left-to-right way along the width direction. Similarly, in order to ensure the efficiency of vehicle parking, reasonable use of the parking space, when the vehicle is parked in a left-to-right way, Vehicles in the same row generally require the same length.

In an implementation manner of the embodiment of the present application, according to the size of the parking space, the step of dividing the target parking sub-areas that meets the size of the parking space from the adjacent free space in the same row as the occupied sub-areas can be specifically as follows: The first size is less than twice the size of the preset parking space, and then according to the size of the parking space, the target parking sub-areas meeting the size of the parking space is divided from the adjacent free space in the same row as the occupied sub-areas.

On the premise that the first size is not less than the size of the parking space, in order to improve parking efficiency, it can be judged whether the free space of this row can park two medium-sized vehicles (that is, whether the first size is equal to twice the size of the preset parking space) If the first size is less than twice the size of the preset parking space, it means that the free space in this row can no longer park two medium-sized vehicles. The adjacent free space is divided into target parking sub-areas that meet the size of the parking space. On this basis, a preset multiple between 1 and 1.5 can also be introduced, such as 1.05. If the first size is greater than the preset multiple of twice the size of the preset parking space, it can also be based on the size of the parking space. In the adjacent free space in the same row as the occupied sub-areas, the target parking sub-areas meeting the size of the parking space is divided.

In an implementation manner of the embodiment of the present application, the method may further include: if the first size is not less than twice the size of the preset parking space and the size of the parking space is greater than the preset parking space size, then according to the size of the parking space, The target parking sub-areas that meets the size of the parking space are divided from the free space in the row adjacent to the occupied sub-areas.

If the first size is not less than twice the size of the preset parking space, it means that the free space of this row can park two medium-sized vehicles. In order to improve the utilization of parking space and avoid space waste, you can reduce the free space of this row Reserve a medium-sized vehicle. If the size of the parking space required by the current vehicle to be parked is greater than the preset parking space size, then the vehicle to be parked can be parked in an adjacent row. Specifically, according to the size of the parking space, from The free space of adjacent rows of the row is divided into target parking sub-areas that meet the size of the parking space.

As shown in Figure 3, the free space P in the first row can be planned to park two medium-sized vehicles in the parking sub-area, and the parking space required by the vehicle to be parked is larger than the preset parking space size, then in the width direction The second line re-plans the target parking sub-areas for parking the vehicles to be parked, that is, divides the target parking sub-areas in the parking space Q that meets the size of the parking space required by the vehicles to be parked. On this basis, you can also introduce a preset multiple between 1 and 1.5, such as 1.05, if the first size is not less than twice the size of the preset parking space, and the first size is not greater than the size of the preset parking space. A preset multiple of twice, and the size of the parking space is greater than the preset size of the parking space, then the target parking sub-areas meeting the size of the parking space can be divided from the free space adjacent to the occupied sub-areas according to the size of the parking space.

As a specific manner that can be implemented in the embodiments of the present application, the parking area may include multiple parking spaces, and the free space is a space in each parking space where no vehicles are parked.

Since the parking area is generally large, there will be multiple entrances, and in scenarios such as three-dimensional garages, there are parking areas on multiple floors. Therefore, the parking area is generally divided into multiple parking spaces, such as one parking space on the first floor, Divide multiple parking spaces according to areas A, B, C, D, etc. The free space is the space in each parking space where no vehicles are parked.

In this scenario, the embodiment of the present application provides a dynamic parking space planning method. As shown in FIG. 4, the method may include the following steps.

S401: Acquire the vehicle size of the vehicle to be parked.

S402: Determine the size of the parking space required by the vehicle to be parked according to the vehicle size of the vehicle to be parked.

S403: Acquire the size of the free space in each parking space, the location information of each parking space, and the current location information of the vehicle to be parked.

S404: According to the size of the free space in each parking space, the location information of each parking space, and the current position information of the vehicle to be parked, find from multiple parking spaces that the size of the free space is not less than the size of the parking space and is away from the vehicle to be parked The nearest first parking space.

S405: According to the size of the parking space, divide the target parking sub-areas that meets the size of the parking space from the free space of the first parking space.

For the scenario where the parking area is divided into multiple parking spaces, there may be multiple parking spaces with free space that can meet the size of the parking space required by the vehicle to be parked. In order to improve the efficiency of vehicle parking and reduce the energy consumption of transport vehicles, this In the application example, the size of the free space in each parking space, the location information of each parking space, and the current location information of the vehicle to be parked are acquired, based on the size of the free space in each parking space, the location information of each parking space, and the waiting space. The current position information of the parked vehicle can be used to find the first parking space that is not less than the size of the parking space and is closest to the vehicle to be parked from among multiple parking spaces. For example, there are a total of 10 parking spaces in the parking area. The size of the free space in the five parking spaces 2, 3, 5, 7, and 9 can cover the size of the parking space required by the vehicle to be parked. The current location information of the parked vehicle (usually obtained by entrance detection) and the location information of the five parking spaces 2, 3, 5, 7, and 9, to determine which parking space the vehicle to be parked is currently closest to, assuming that the vehicle to be parked is away from the parking space 3 Recently, according to the size of the parking space required by the vehicle to be parked, the parking space 3 can be divided into the target parking sub-areas that meets the size of the parking space.

In the following, the above dynamic parking space planning process will be described with reference to Figure 5. As shown in Figure 5, there are four parking spaces A, B, C and D, and the size of the free space of each parking space can cover the parking space of the vehicle to be parked. The size of the parking space required. When the vehicle to be parked is located at entrance 1, it can be known that the vehicle to be parked is the closest to parking space A. Therefore, according to the size of the parking space required by the vehicle to be parked, the target parking space that meets the size of the parking space can be divided from the parking space A. Area ("target parking sub-area" in parking space A).

Based on the embodiment shown in FIG. 1, the embodiment of the present application also provides a dynamic parking space planning method. As shown in FIG. 6, the method may include the following steps.

S601: Acquire the vehicle size of the vehicle to be parked.

S602: Determine the size of the parking space required by the vehicle to be parked according to the vehicle size of the vehicle to be parked.

S603: According to the size of the parking space, a target parking sub-areas that meets the size of the parking space is divided from the free space of the parking area.

S604: If the size of the free space is smaller than the size of the parking space, a prompt message is sent, where the prompt message is used to prompt that the parking area cannot park the vehicle to be parked.

When the size of the free space is less than the size of the parking space required by the vehicle to be parked, it indicates that there is no space for parking the vehicle to be parked in the parking area. At this time, the dispatch server needs to initiate a prompt message to remind the parking area that the vehicle cannot be parked. . In specific implementation, the dispatch server can send the prompt information to the display at the entrance where the vehicle to be parked is located, and prompt the owner through the display screen and voice that the car owner cannot park in the parking area. At the same time, it can also prompt the owner to park the vehicle to another parking area. Thereby improving the car owner's parking experience.

The embodiment of the present application also provides a vehicle parking control method. As shown in FIG. 7, the method may include the following steps.

S701: Obtain a parking request for parking a vehicle to be parked and the vehicle size of the vehicle to be parked.

S702: Determine the size of the parking space required by the vehicle to be parked according to the vehicle size of the vehicle to be parked.

S703: According to the size of the parking space, divide the target parking sub-areas that meets the size of the parking space from the free space of the parking area.

S704: Instruct the target vehicle handling equipment to park the to-be-parked vehicle in the target parking sub-area.

Applying the embodiment of this application, during dynamic parking space planning, the size of the vehicle to be parked is obtained, and the size of the parking space required by the vehicle to be parked is determined according to the size of the vehicle to be parked. According to the size of the parking space, from the free space of the parking area Divide the target parking sub-areas that meets the size of the parking space. Before parking the vehicle, the parking area is not divided into specific parking spaces, but the size of the parking space required by the vehicle to be parked is determined according to the size of the vehicle to be parked, and then the target that meets the size of the parking space is divided from the free space of the parking area Parking sub-area, the target parking sub-area used to park the vehicle to be parked is dynamically divided according to the size of the vehicle to be parked. The divided target parking sub-area can meet the actual size of the vehicle to be parked, avoiding the division in advance When the parking space caused by the parking space does not match the actual size of the vehicle, after the target parking sub-area is divided, the target vehicle handling equipment is instructed to park the vehicle to be parked in the target parking sub-area, which can instruct the target vehicle handling equipment to transport the vehicle to be parked To the divided target parking sub-areas, the utilization rate of parking space is improved.

After the dispatch server plans the target parking sub-area for the vehicles to be parked, it can instruct the target vehicle handling equipment to park the to-be-parked vehicles in the target parking sub-area. The vehicle handling equipment can be AGV (Automated Guided Vehicle). ), parking robots and other equipment used to transport cars. When there are multiple vehicle handling equipment, the target vehicle handling equipment can be any specified vehicle handling equipment, or the vehicle handling equipment with the shortest distance from the vehicle to be parked. There may also be more than one target vehicle handling equipment, for example, a fleet or combination of two or more vehicle handling equipment may be used to move a car. The dispatch server instructs the target vehicle handling equipment to park the vehicle to be parked can be instructed by issuing a parking instruction, which carries the location information of the target parking sub-area, and can also control the target vehicle handling equipment to park the vehicle to be parked throughout the process. When the target vehicle handling equipment transports the vehicle to be parked, the specific method may be that the target vehicle handling equipment drives into the bottom of the vehicle to be parked, and the sensors (such as laser sensors, photoelectric sensors, etc.) equipped on the target vehicle handling equipment detect the front and rear tires of the vehicle to be parked At the location, the length of the target vehicle handling equipment is automatically adjusted, clamps the tires of the vehicle to be parked, lifts the vehicle to be parked, and moves to the target parking sub-area. Alternatively, the vehicle to be parked can be parked on the pallet, and the parking robot can carry the vehicle to be parked by carrying the pallet.

In an implementation manner of the embodiment of the present application, after performing S704, the method provided in the embodiment of the present application may further perform the following steps: receiving updated sub-area information of the target parking sub-area sent by the target vehicle handling equipment; The updated sub-area information, and the target parking sub-area is updated.

Among them, the updated sub-area information is that after the target vehicle handling equipment has parked the vehicle to be parked to the target parking sub-area, it detects that the distance between the vehicle to be parked and the parked vehicle in the adjacent occupied sub-area is less than the preset safety threshold. After the vehicle is parked such that the distance between the vehicle to be parked and the parked vehicle in the adjacent occupied sub-area is greater than or equal to the preset safety threshold, the sub-area information of the parking sub-area where the vehicle to be parked is actually parked is obtained. After the target vehicle handling equipment transports the vehicle to be parked to the target parking sub-area, it can detect the parking position of the vehicle to determine whether the actual safety margin of parking is sufficient. If it is insufficient, it will automatically adjust to the set safety margin and will adjust The subsequent sub-area information of the parking sub-area where the vehicle is parked to be parked is reported to the dispatch server, and the dispatch server updates the target parking sub-area, and records the actual parking data of the vehicle to be parked as the occupied sub-area.

Based on the embodiment shown in FIG. 7, the embodiment of the present application also provides a vehicle parking control method. As shown in FIG. 8, the method may include the following steps.

S801: Acquire a parking request for parking a vehicle to be parked and the vehicle size of the vehicle to be parked.

S802: Determine the size of the parking space required by the vehicle to be parked according to the vehicle size of the vehicle to be parked.

S803: According to the size of the parking space, divide the target parking sub-areas that meets the size of the parking space from the free space of the parking area.

S804: Acquire the actual location information of the adjacent occupied sub-areas of the target parking sub-areas in the parking area collected by the target vehicle handling equipment, and the location information of the divided adjacent occupied sub-areas, where the adjacent occupied sub-areas is A sub-area where a vehicle has been parked adjacent to the target parking sub-area.

S805: Determine whether the actual location information is consistent with the location information of the divided adjacent occupied sub-areas, if they are consistent, execute S806, otherwise execute S807.

S806: Instruct the target vehicle handling equipment to park the to-be-parked vehicle in the target parking sub-area.

S807: Update the free space of the parking area according to the actual location information, and according to the size of the parking space, re-divide the target parking sub-areas that meets the size of the parking space from the updated free space, and instruct the target vehicle handling equipment to park the vehicle to be parked To the re-divided target parking sub-area.

Each time the dispatch server plans a target parking sub-area for a vehicle and instructs the target vehicle handling equipment to park the vehicle to be parked in the target parking sub-area, it will locally record the target parking sub-area as an occupied sub-area, and record it The location information of the sub-area. The location information of the divided adjacent occupied sub-areas is the location information of the sub-areas divided by the vehicles parked in the occupied sub-areas adjacent to the target parking sub-areas, which is recorded locally by the dispatch server, and is generally determined by the sub-areas The center coordinates are indicated. Vehicle handling equipment may have a certain parking error when parking the vehicle. The space and parking location occupied by parking may not be exactly the same as the target parking sub-area planned by the dispatch server. Therefore, the dispatch server is planning parking for new vehicles to be parked. After the target sub-area, it is first necessary to obtain the actual position information of the adjacent occupied sub-areas of the target parking sub-areas in the parking area collected by the target vehicle handling equipment, as well as the position information of the divided adjacent occupied sub-areas, and determine the two Whether the location information is consistent, if it is consistent, it means that the space occupied by the vehicle handling equipment parked adjacent to the vehicle and the parking location are completely consistent with the sub-area planned by the dispatch server, and for the new vehicle to be parked, the target vehicle can be directly indicated The handling equipment parks the to-be-parked vehicle to the target parking sub-area.

If the two location information is inconsistent, it means that the space occupied by the vehicle handling equipment parked adjacent to the vehicle and the parking location do not match the sub-area planned by the dispatch server. The change in the actual location information represents the actual size of the space occupied by the vehicle when it is parked Further, changes in the actual location information will cause the area of the free space in the parking area to change. Therefore, the free space in the parking area is first updated according to the actual location information, and the free space in the parking area is updated according to the actual location information to become larger or smaller , Due to the change of free space, it is necessary to re-plan the parking space. According to the size of the parking space, re-divide the target parking sub-areas that meets the size of the parking space from the updated free space, and instruct the target vehicle handling equipment to park the vehicle to be parked until the new The planned target parking sub-area.

Based on the embodiment shown in FIG. 7, the embodiment of the present application also provides a vehicle parking control method. As shown in FIG. 9, the method may include the following steps.

S901: Obtain a parking request for parking a vehicle to be parked and the vehicle size of the vehicle to be parked.

S902: Determine the size of the parking space required by the vehicle to be parked according to the vehicle size of the vehicle to be parked.

S903: According to the size of the parking space, divide the target parking sub-areas that meets the size of the parking space from the free space of the parking area.

S904: Instruct the target vehicle handling equipment to park the to-be-parked vehicle in the target parking sub-area.

S905: Receive a parking confirmation instruction sent by the target vehicle handling equipment.

S906: According to the parking confirmation instruction, mark the target parking sub-area as an occupied sub-area, and update the free space.

After the target vehicle handling equipment parks the vehicle to be parked, it will feed back a parking confirmation instruction to the dispatch server, and the confirmation parking instruction can carry the size and location information of the target parking sub-area. After the dispatch server receives the parking confirmation instruction, it can determine that the target parking sub-area has been parked. At this time, the target parking sub-area can be marked as an occupied sub-area, and the free space can be updated at the same time to change the target parking sub-area from the free space. Excluded. According to the confirmation parking instruction sent by the target vehicle handling equipment, the status of the parking area is updated to ensure the real-time nature of dynamic parking space planning.

The foregoing method embodiments can be combined, and the obtained technical solutions also fall within the scope of protection of the embodiments of this application. For example, the method of the embodiment shown in FIG. 4 can be used to obtain the target parking sub-area, and then determine whether the size of the free space is If it is smaller than the size of the parking space, if it is smaller, send a prompt message. If it is not smaller, use the steps S804-S807 in the embodiment shown in FIG. 8 to instruct the target vehicle handling equipment to park the vehicle to be parked in the target parking sub-area and receive After the target vehicle handling equipment sends the parking confirmation instruction after parking the vehicle to be parked in the target parking subarea, the target parking subarea is marked as an occupied subarea, and the free space is updated. Of course, the fusion manner of each embodiment is not limited to the above fusion scheme, and the above fusion scheme is only an example for illustration, and other fusion manners will not be repeated here.

For ease of understanding, the following describes the vehicle parking process provided by the embodiments of the present application in combination with three different scenarios. As shown in FIG. 10, it is a schematic flow chart of a vehicle parking process when a new vehicle to be parked is detected in an embodiment of this application, which mainly includes the following steps:

S1001: The vehicle A to be parked is detected at the entrance, and the length and width of the vehicle A to be parked are detected by the vehicle detection equipment as L1*W1, plus a certain safety margin s1, to obtain the parking space size L11 for the vehicle A to be parked *W11.

S1002: Search whether the free space of each parking space in the parking area on the map meets the parking space size L11*W11. If yes, execute S1003-S1005, otherwise execute S1006.

In S1003, it is retrieved that the free space of multiple parking spaces meets the parking space size L11*W11, and a parking space is selected according to the principle of the shortest path from the entrance to the parking space.

S1004: In the selected parking space, according to the size of the parked sub-region and the size of the free space, the center coordinates (X1, Y1) of the target parking sub-region of the vehicle A to be parked are calculated.

S1005: Calculate the walking path from the entrance to the center coordinates (X1, Y1), and send the walking path, the center coordinates (X1, Y1) and the entrance coordinates to the target vehicle handling equipment, and the target vehicle handling equipment will transport the waiting vehicle A to the coordinates (X1, Y1). At this time, the dispatch server obtains the task completion feedback of the target vehicle handling equipment, and sets the parking sub-area of the parking vehicle to be an occupied sub-area.

S1006: The display screen and sound at the entrance prompt the owner that the vehicle cannot be parked in the parking area, and prompt the owner to park the vehicle to other parking areas.

As shown in FIG. 11, in this embodiment of the application, when the entire parking area has not been parked, the first parking space planning process diagram of the vehicle to be parked mainly includes the following steps:

S1101: Initially, the entire parking area is divided into multiple parking spaces, and each parking space is separated by the walking passage of the vehicle handling equipment, denoted as parking spaces F1, F2,..., Fn, where the number n is determined by the number of parking areas The area and number of floors are determined, and parking spaces are not divided in advance in each parking space.

S1102, as shown in Figure 10, detects and obtains the parking space size L11*W11 required by the first vehicle to be parked. According to the principle of the shortest path from the entrance to the parking space, select a parking space Fm, and select the distance of the parking space Fm At the nearest corner of the entrance, align the long side L11 of the parking space with the long side of Fm, and align the short side W11 with the short side of Fm to obtain the target parking sub-area A1 of the first vehicle to be parked, and calculate the center of A1 Coordinates (X1, Y1).

S1103: Send the center coordinates (X1, Y1) to the target vehicle handling equipment. The target vehicle handling equipment transports the first vehicle to be parked to the target parking subarea A1, and the dispatch server updates the free space of the parking space Fm.

S1104, as shown in Figure 10, detects and obtains the parking space size L22*W22 required by the second vehicle to be parked. According to the parking space planning sequence shown in Figure 12, the target parking sub-areas A1 is divided into the target parking sub-areas A2 , And calculate the center coordinates of A2 (X2, Y2).

The parking space planning and parking sequence shown in Figure 12 are: parking vehicles in sequence in the length direction, if the length direction is full, park the vehicles in the next row along the width direction until the parking space has no free space in the length direction and width direction, then Stop and continue parking in this parking space.

S1105: Send the center coordinates (X2, Y2) to the target vehicle handling device, and the target vehicle handling device transfers the second vehicle to be parked to the target parking sub-area A2, and the dispatch server updates the free space of the parking space Fm.

S1106: According to the foregoing logic, the dispatch server stops the remaining vehicles to be parked in the free space until the parking spaces F1 to Fn are full.

According to the above process, the parking process is shown in Figure 13. Initially, the parking space is in an unparked state. By detecting and calculating the No. 1 car, the size of the parking space required by the No. 1 car is obtained. Based on the parking space size, from the parking space The upper left corner of the space is divided into No. 1; then by detecting and calculating the No. 2 car, the size of the parking space required for the No. 2 car is obtained. Based on the parking space size, the No. 2 position is divided from the parking space next to the No. 1 position. ; And then through the detection and calculation of the No. 3 car, the size of the parking space required for the No. 3 car is obtained. Based on the parking space size, the No. 3 position is divided from the parking space next to the No. 2 position. And so on, until the parking space is full of cars.

As shown in Figure 14, this is a schematic diagram of the parking process when there are new vehicles to be parked continuously in the embodiment of this application, which mainly includes the following steps:

In S1401, the vehicle n to be parked is detected at the entrance, and the length and width of n are detected by the vehicle detection device as Ln*Wn, plus a certain safety margin sn, to obtain the parking space size Lnn*Wnn required by the vehicle n to be parked.

S1402: Determine whether the free space in the length direction is less than Lnn*Wnn according to the parking space planning logic shown in FIG. 12. If yes, execute S1403-S1405, otherwise execute S1406.

In S1403, the planning logic shown in Fig. 2 reselects the parking sub-area An whose size is equal to Lnn*Wnn in the width direction.

S1404: According to the size of the occupied sub-area and the size of the free space, the center coordinates (Xn, Yn) of the parking position of An are calculated.

S1405: Calculate the walking path from the entrance to the center coordinates (Xn, Yn), and send the walking path, the center coordinates (Xn, Yn) and the entrance coordinates to the target vehicle handling equipment, and the target vehicle handling equipment transports the waiting vehicle n to the coordinates (Xn, Yn). At this time, the dispatch server obtains the task completion feedback of the target vehicle handling equipment, and sets the parking sub-area of the parking vehicle to be an occupied sub-area.

S1406: According to the parking space planning logic shown in Figure 12, determine whether the free space in the length direction meets the condition: greater than or equal to 2 times the average size of the parking space required by the medium-sized vehicle, and less than or equal to the required parking space for the medium-sized vehicle 2 times the average space size*1.05, and the parking space required by the vehicle to be parked is greater than the average parking space required by the medium-sized vehicle. If yes, go to S1403, otherwise go to S1407.

S1407: Carry out parking space planning according to the process shown in FIG. 10, and the target vehicle handling equipment moves the vehicle to be parked to the planned target parking sub-area.

Corresponding to the foregoing method embodiment, an embodiment of the present application also provides a dynamic parking space planning device. As shown in FIG. 15, the device may include:

The obtaining module 1510 is used to obtain the vehicle size of the vehicle to be parked;

The determining module 1520 is used to determine the size of the parking space required by the vehicle to be parked according to the vehicle size of the vehicle to be parked;

The dividing module 1530 is used to divide the target parking sub-areas that meets the size of the parking space from the free space of the parking area according to the size of the parking space.

In an implementation of the embodiment of the present application, the acquisition module 1510 may be specifically used to: receive the vehicle size obtained by the vehicle detection device detecting the vehicle to be parked; or, to identify the vehicle type of the vehicle to be parked, from the pre-configured vehicle In the corresponding relationship between the type and the vehicle size, the vehicle size of the vehicle to be parked is obtained by matching.

In an implementation manner of the embodiment of the present application, the parking area includes multiple parking spaces, and the free space is a space in each parking space where no vehicles are parked;

The obtaining module 1501 can also be used to obtain the size of the free space in each parking space, the location information of each parking space, and the current location information of the vehicle to be parked;

The device may also include: a search module, which is used to find the size of the free space from multiple parking spaces based on the size of the free space in each parking space, the location information of each parking space, and the current location information of the vehicle to be parked. The size of the parking space and the first parking space closest to the vehicle to be parked;

The dividing module 1530 may be specifically used to: according to the size of the parking space, divide the target parking sub-areas that meets the size of the parking space from the free space of the first parking space.

In an implementation manner of the embodiment of the present application, the dividing module 1530 can be specifically used to: determine the location information of the occupied space in the parking area; determine the adjacent free space of the occupied space according to the location information of the occupied space; According to the size of the parking space, the target parking sub-areas that meet the size of the parking space are divided from the adjacent free space.

In an implementation manner of the embodiment of the present application, the dividing module 1530 can be specifically used to: obtain the first size of the adjacent free space in the same row as any occupied subregion in the occupied space, where the occupied subregion The area is a sub-area where a vehicle has been parked; if the first size is not less than the size of the parking space, according to the size of the parking space, the target parking sub-area that meets the size of the parking space is divided from the adjacent free space in the same row as the occupied sub-area. Area; if the first size is smaller than the size of the parking space, according to the size of the parking space, the target parking sub-areas that meets the size of the parking space are divided from the free space adjacent to the occupied sub-areas.

In an implementation of the embodiment of the present application, the dividing module 1530 can be specifically used to: if the first size is less than twice the size of the preset parking space, then according to the size of the parking space, from the same row as the occupied sub-area The adjacent free space is divided into a target parking sub-areas that meets the size of the parking space.

In an implementation manner of the embodiment of the present application, the dividing module 1530 can also be used for if the first size is not less than twice the size of the preset parking space, and the size of the parking space is greater than the preset parking space size, then the parking space The size of the target parking sub-areas that meets the size of the parking space is divided from the free space in the adjacent row of the occupied sub-areas.

In an implementation of the embodiment of the present application, the device may further include: a sending module, configured to send prompt information if the size of the free space is smaller than the size of the parking space, wherein the prompt information is used to prompt that the parking area cannot be parked. Park the vehicle.

An embodiment of the present application also provides a vehicle parking control device. As shown in FIG. 16, the device includes: an acquisition module 1610, a determination module 1620, a division module 1630, and an indication module 1640;

The obtaining module 1610 is used to obtain the parking request for parking the vehicle to be parked and the vehicle size of the vehicle to be parked;

The determining module 1620 is used to determine the size of the parking space required by the vehicle to be parked according to the size of the vehicle;

The dividing module 1630 is used to divide the target parking sub-areas that meets the size of the parking space from the free space of the parking area according to the size of the parking space;

The instruction module 1640 is used to instruct the vehicle handling equipment to park the vehicle to be parked in the target parking sub-area.

In an implementation of the embodiment of the present application, the obtaining module 1610 can also be used to obtain the actual position information of the adjacent occupied sub-areas of the target parking sub-areas in the parking area collected by the target vehicle handling equipment, and the divided phases. Location information of the adjacent occupied sub-region, where the adjacent occupied sub-region is a sub-region where a vehicle has parked adjacent to the target parking sub-region;

The indication module 1640 can be specifically used to: if the actual location information is consistent with the location information of the divided adjacent occupied sub-areas, instruct the target vehicle handling equipment to park the vehicle to be parked in the target parking sub-area; if the actual location information is consistent with the divided location information If the location information of the adjacent occupied sub-areas is inconsistent, the free space of the parking area is updated according to the actual location information, and the target parking sub-areas that meets the size of the parking space are re-divided from the updated free space according to the size of the parking space; Instruct the target vehicle handling equipment to park the to-be-parked vehicle in the re-divided target parking sub-area.

In an implementation manner of the embodiment of the present application, the device may further include:

The first receiving module is used to receive the parking confirmation instruction sent by the target vehicle handling equipment;

The first update module is used to mark the target parking sub-area as an occupied sub-area according to the parking confirmation instruction, and update the free space.

The second receiving module is used to receive updated sub-area information of the target parking sub-area sent by the target vehicle handling equipment, where the updated sub-area information is detected by the target vehicle handling equipment after parking the vehicle to be parked to the target parking sub-area When the distance between the to-be-parked vehicle and the parked vehicle in the adjacent occupied sub-area is less than the preset safety threshold, move the to-be-parked vehicle so that the distance between the to-be-parked vehicle and the parked vehicle in the adjacent occupied sub-area is greater than or equal to the preset safety threshold The obtained sub-area information of the parking sub-area where the vehicle is actually parked to be parked;

The second update module is used to update the target parking sub-area according to the updated sub-area information.

The embodiment of the present application also provides a scheduling server, as shown in FIG. 17, including a processor 1701 and a memory 1702.

The memory 1702 is used to store computer programs.

The processor 1701 is configured to implement the dynamic parking space planning method or the vehicle parking control method provided in the foregoing embodiment of the present application when executing the calculation program stored in the memory 1702.

It can be seen that when applying the embodiment of this application, during dynamic parking space planning, the vehicle size of the vehicle to be parked is obtained, and the size of the parking space required by the vehicle to be parked is determined according to the vehicle size of the vehicle to be parked. The space is divided into target parking sub-areas that meet the size of the parking space. Before parking the vehicle, the parking area is not divided into specific parking spaces, but the size of the parking space required by the vehicle to be parked is determined according to the size of the vehicle to be parked, and then the target that meets the size of the parking space is divided from the free space of the parking area Parking sub-area, the target parking sub-area used to park the vehicle to be parked is dynamically divided according to the size of the vehicle to be parked. The divided target parking sub-area can meet the actual size of the vehicle to be parked, avoiding the division in advance The parking space caused by the parking space does not match the actual size of the vehicle, which improves the utilization rate of the parking space.

The foregoing memory may include RAM (Random Access Memory, random access memory), and may also include NVM (Non-Volatile Memory, non-volatile memory), such as at least one disk storage. Optionally, the memory may also be at least one storage device located far away from the foregoing processor.

The aforementioned processor may be a general-purpose processor, including CPU (Central Processing Unit), NP (Network Processor), etc.; it may also be DSP (Digital Signal Processor), ASIC ( Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array, Field Programmable Gate Array) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

In yet another embodiment provided in this application, a computer-readable storage medium is also provided. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the above-mentioned embodiments of the present application are implemented. Provide dynamic parking space planning method or vehicle parking control method.

The embodiment of the present application also provides a computer program product for executing at runtime: the dynamic parking space planning method or the vehicle parking control method provided in the foregoing embodiment of the present application.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a machine-readable storage medium, or transmitted from one machine-readable storage medium to another machine-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center. Transmission to another website, computer, server, or data center via wired (such as coaxial cable, optical fiber, DSL (Digital Subscriber Line)) or wireless (such as infrared, wireless, microwave, etc.). The machine-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrated with one or more available media. The usable medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD (Digital Versatile Disc)), or a semiconductor medium (such as an SSD (Solid State Disk)), etc. .

An embodiment of the present application also provides a vehicle parking system. As shown in FIG. 18, the system includes: a dispatch server 1801 and at least one vehicle handling device 1802;

Vehicle handling equipment can be equipment used to transport cars such as AGVs, parking robots, etc. When there are multiple vehicle handling equipment, the target vehicle handling equipment can be any specified vehicle handling equipment, or the shortest distance from the vehicle to be parked Vehicle handling equipment. There may also be more than one target vehicle handling equipment, for example, a fleet or combination of two or more vehicle handling equipment may be used to move a car.

In an implementation of the embodiment of the present application, the target vehicle handling equipment is also used to collect the actual position information of the adjacent occupied sub-areas of the target parking sub-areas in the parking area, and send the actual position information to the dispatch server, Among them, the adjacent occupied sub-area is a sub-area where a vehicle is parked adjacent to the target parking sub-area;

The dispatch server is also used to receive the actual location information sent by the target vehicle handling equipment, and obtain the location information of the divided adjacent occupied sub-areas; if the actual location information is consistent with the location information of the divided adjacent occupied sub-areas, then Instruct the target vehicle handling equipment to park the vehicle to be parked in the target parking subarea; if the actual location information is inconsistent with the location information of the divided adjacent occupied subarea, the free space of the parking area will be updated according to the actual location information, and the parking space will be updated according to the parking space. Size, re-divide the target parking sub-areas that meets the size of the parking space from the updated free space; instruct the target vehicle handling equipment to park the vehicle to be parked in the re-divided target parking sub-areas.

In an implementation manner of the embodiment of the present application, the target vehicle handling equipment is also used to send a parking confirmation instruction to the dispatch server after parking the vehicle to be parked to the target parking sub-area;

The dispatch server is also used to receive the parking confirmation instruction, and according to the parking confirmation instruction, mark the target parking sub-area as an occupied sub-area, and update the free space.

In an implementation manner of the embodiment of the present application, the target vehicle handling equipment is also used to detect whether the distance between the to-be-parked vehicle and the parked vehicle in the adjacent occupied sub-area is less than after parking the to-be-parked vehicle to the target parking sub-area Preset safety threshold; if less than, move the waiting vehicle so that the distance between the waiting vehicle and the parked vehicle in the adjacent occupied sub-area is greater than or equal to the preset safety threshold; confirm that the waiting vehicle is actually parked after moving the waiting vehicle The sub-area information of the parking sub-area of, and send the sub-area information to the dispatch server;

The dispatch server is also used to receive the sub-area information sent by the target vehicle handling equipment, and update the target parking sub-area according to the sub-area information.

For the embodiments of the device, dispatch server, computer readable storage medium, computer program product, and vehicle parking system, since they are basically similar to the method embodiment, the description is relatively simple. For related parts, please refer to the part of the description of the method embodiment. can.

It should be noted that in this article, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, It also includes other elements that are not explicitly listed, or elements inherent to the process, method, article, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

A person of ordinary skill in the art can understand that all or part of the steps in the above-mentioned method embodiments can be implemented by a program instructing relevant hardware. The program can be stored in a computer readable storage medium, which is referred to herein as Storage media, such as ROM/RAM, magnetic disks, optical disks, etc.

The above descriptions are only preferred embodiments of the present application, and are not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application are all included in the protection scope of this application.

Claims

A dynamic parking space planning method, characterized in that the method includes:

Obtain the vehicle size of the vehicle to be parked;

Determine the size of the parking space required by the vehicle to be parked according to the size of the vehicle;

According to the size of the parking space, a target parking sub-areas that meets the size of the parking space is divided from the free space of the parking area.
The method according to claim 1, wherein the obtaining the vehicle size of the vehicle to be parked comprises:

Receiving the size of the vehicle obtained by the vehicle detection equipment to detect the vehicle to be parked;

or,

The vehicle type of the vehicle to be parked is identified, and the vehicle size of the vehicle to be parked is obtained by matching the corresponding relationship between the vehicle type and the vehicle size configured in advance.
The method according to claim 1, wherein the parking area includes a plurality of parking spaces, and the free space is a space for unparked vehicles in each parking space;

Before dividing a target parking sub-areas that meets the size of the parking space from the free space of the parking area according to the size of the parking space, the method further includes:

Acquiring the size of the free space in each parking space, the location information of each parking space, and the current location information of the vehicle to be parked;

According to the size of the free space in each parking space, the position information of each parking space, and the current position information of the vehicle to be parked, from the plurality of parking spaces, find that the size of the free space is not smaller than the parking space The size of the space and the first parking space closest to the vehicle to be parked;

According to the size of the parking space, dividing the target parking sub-areas that meets the size of the parking space from the free space of the parking area includes:

According to the size of the parking space, a target parking sub-region meeting the size of the parking space is divided from the free space of the first parking space.
The method according to claim 1, wherein the dividing a target parking sub-areas that meets the size of the parking space from the free space of the parking area according to the size of the parking space comprises:

Determine the location information of the occupied space in the parking area;

Determine the adjacent free space of the occupied space according to the location information of the occupied space;

According to the size of the parking space, a target parking sub-area conforming to the size of the parking space is divided from the adjacent free space.
The method according to claim 4, wherein the dividing a target parking sub-areas that meets the size of the parking space from the adjacent free space according to the size of the parking space comprises:

Acquiring the first size of the adjacent free space in the same row as any occupied sub-region in the occupied space, where the occupied sub-region is a sub-region where a vehicle has been parked;

If the first size is not less than the size of the parking space, then according to the size of the parking space, a target parking sub-area that meets the size of the parking space is divided from the adjacent free space in the same row as the occupied sub-region area;

If the first size is smaller than the size of the parking space, then according to the size of the parking space, a target parking sub-region meeting the size of the parking space is divided from the free space in a row adjacent to the occupied sub-region.
The method according to claim 5, characterized in that, according to the size of the parking space, the target parking sub-area that meets the size of the parking space is divided from the adjacent free space in the same row as the occupied sub-area. Area, including:

If the first size is less than twice the size of the preset parking space, then according to the size of the parking space, a target that meets the size of the parking space is divided from the adjacent free space in the same row as the occupied sub-region Parking sub-area.
The method according to claim 5, wherein the method further comprises:

If the first size is not less than twice the size of the preset parking space, and the size of the parking space is greater than the size of the preset parking space, then according to the size of the parking space, from adjacent to the occupied sub-area The free space of the row is divided into a target parking sub-areas that meets the size of the parking space.
The method according to claim 1, wherein after determining the size of the parking space required by the vehicle to be parked according to the size of the vehicle, the method further comprises:

If the size of the free space is smaller than the size of the parking space, a prompt message is sent, and the prompt message is used to prompt that the parking area cannot park the vehicle to be parked.
A vehicle parking control method, characterized in that the method includes:

Obtain the parking request for parking the vehicle to be parked;

Divide the target parking sub-areas of the vehicle to be parked according to the method of any one of claims 1-8;

Instruct the target vehicle handling equipment to park the to-be-parked vehicle in the target parking sub-area.
The method according to claim 9, characterized in that, before the instructing the target vehicle transport equipment to park the to-be-parked vehicle in the target parking sub-area, the method further comprises:

Acquire the actual position information of the adjacent occupied sub-areas of the target parking sub-areas in the parking area collected by the target vehicle handling equipment, and the divided position information of the adjacent occupied sub-areas, wherein, The adjacent occupied sub-region is a sub-region where a vehicle is parked adjacent to the target parking sub-region;

The instructing the target vehicle handling equipment to park the to-be-parked vehicle in the target parking sub-area includes:

If the actual position information is consistent with the divided position information of the adjacent occupied sub-areas, instruct the target vehicle handling equipment to park the to-be-parked vehicle in the target parking sub-area;

If the actual position information is inconsistent with the divided position information of the adjacent occupied sub-areas, the free space of the parking area is updated according to the actual position information, and the updated parking space size is changed from the updated The free space is re-divided into a target parking sub-area that meets the size of the parking space; and the target vehicle handling equipment is instructed to park the vehicle to be parked in the re-divided target parking sub-area.
The method according to claim 9, wherein after the instructing the target vehicle handling equipment to park the to-be-parked vehicle in the target parking sub-area, the method further comprises:

Receiving a parking confirmation instruction sent by the target vehicle handling equipment;

According to the parking confirmation instruction, the target parking sub-area is marked as an occupied sub-area, and the free space is updated.
The method according to claim 9, wherein after the instructing the target vehicle handling equipment to park the to-be-parked vehicle in the target parking sub-area, the method further comprises:

Receive updated sub-area information of the target parking sub-area sent by the target vehicle handling equipment, where the updated sub-area information is that the target vehicle handling equipment is parking the vehicle to be parked to the target parking After the sub-area detects that the distance between the vehicle to be parked and the vehicle parked in the adjacent occupied sub-area is less than the preset safety threshold, move the vehicle to be parked so that the vehicle to be parked is parked in the adjacent occupied sub-area Sub-region information of the parking sub-region where the vehicle to be parked is actually parked obtained after the distance of the vehicle is greater than or equal to the preset safety threshold;

According to the updated sub-area information, the target parking sub-area is updated.
A dynamic parking space planning device, characterized in that the device includes:

The acquisition module is used to acquire the vehicle size of the vehicle to be parked;

The determining module is used to determine the size of the parking space required by the vehicle to be parked according to the size of the vehicle;

The dividing module is used to divide the target parking sub-areas that meets the size of the parking space from the free space of the parking area according to the size of the parking space.
A vehicle parking control device, characterized in that the device includes: an acquisition module, a determination module, a division module, and an indication module;

The acquisition module is used to acquire a parking request for parking a vehicle to be parked and the vehicle size of the vehicle to be parked;

The determining module is configured to determine the size of the parking space required by the vehicle to be parked according to the size of the vehicle;

The dividing module is configured to divide a target parking sub-area that meets the size of the parking space from the free space of the parking area according to the size of the parking space;

The indication module is used to instruct the vehicle handling equipment to park the to-be-parked vehicle in the target parking sub-area.
A dispatch server, characterized in that it comprises a processor and a memory;

The memory is used to store computer programs;

The processor is configured to implement the method according to any one of claims 1-8 or the method according to any one of claims 9-14 when executing the computer program stored on the memory.
A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method according to any one of claims 1-8 or 9 -14 The method of any one of.
A computer program product, characterized in that it is used to execute at runtime: the method according to any one of claims 1-8 or the method according to any one of claims 9-14.
A vehicle parking system, characterized in that the system includes: a dispatch server and at least one vehicle handling equipment;

The dispatch server is configured to obtain a parking request for parking a vehicle to be parked and the vehicle size of the vehicle to be parked; determine the size of the parking space required by the vehicle to be parked according to the size of the vehicle; and determine the size of the parking space required by the vehicle to be parked according to the size of the parking space , Dividing a target parking sub-area that meets the size of the parking space from the free space of the parking area; instructing a target vehicle handling device to park the vehicle to be parked in the target parking sub-area, and the target vehicle handling device is Any vehicle handling equipment in the at least one vehicle handling equipment;

The target vehicle handling equipment is used to park the to-be-parked vehicle in the target parking sub-area.
The system of claim 18, wherein:

The target vehicle handling equipment is also used to collect actual position information of adjacent occupied sub-areas of the target parking sub-areas in the parking area, and send the actual position information to the dispatch server, wherein: The adjacent occupied sub-region is a sub-region where a vehicle is parked adjacent to the target parking sub-region;

The dispatch server is further configured to receive the actual position information sent by the target vehicle handling equipment, and obtain the divided position information of the adjacent occupied sub-areas; if the actual position information is different from the divided position If the location information of adjacent occupied sub-regions is consistent, the target vehicle handling equipment is instructed to park the vehicle to be parked in the target parking sub-region; if the actual location information is consistent with the divided adjacent occupied sub-regions If the location information is inconsistent, update the free space of the parking area according to the actual location information, and re-divide the target parking sub-areas that meets the size of the parking space from the updated free space according to the size of the parking space; Instruct the target vehicle handling equipment to park the to-be-parked vehicle in the re-divided target parking sub-area.
The system of claim 18, wherein:

The target vehicle handling equipment is further configured to send a parking confirmation instruction to the dispatch server after the vehicle to be parked is parked in the target parking subarea;

The dispatch server is further configured to receive the parking confirmation instruction, mark the target parking sub-area as an occupied sub-area according to the parking confirmation instruction, and update the free space.
The system of claim 18, wherein:

The target vehicle handling equipment is also used to detect whether the distance between the to-be-parked vehicle and the parked vehicle in the adjacent occupied sub-area is less than a preset safety threshold after parking the to-be-parked vehicle to the target parking sub-area If it is less than, move the to-be-parked vehicle so that the distance between the to-be-parked vehicle and the vehicle parked in the adjacent occupied sub-area is greater than or equal to the preset safety threshold; determine the actual after moving the to-be-parked vehicle Parking the sub-area information of the parking sub-area of the vehicle to be parked, and sending the sub-area information to the dispatch server;

The dispatch server is further configured to receive the sub-area information sent by the target vehicle handling equipment, and update the target parking sub-area according to the sub-area information.