CN115909801B - Assisted parking method, device and cloud device - Google Patents
Assisted parking method, device and cloud deviceInfo
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- CN115909801B CN115909801B CN202110968616.8A CN202110968616A CN115909801B CN 115909801 B CN115909801 B CN 115909801B CN 202110968616 A CN202110968616 A CN 202110968616A CN 115909801 B CN115909801 B CN 115909801B
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Abstract
本发明提供了一种辅助泊车方法、装置和云端设备，所述辅助泊车方法包括：获取车位监控设备发送的车位数据信息以及道路监控设备发送的待泊车车辆数据信息；根据所述车位数据信息以及所述待泊车车辆数据信息，在所有待泊车车辆总行驶距离最短的情况下，分配各待泊车车辆的泊车车位；将所述待泊车车辆与对应的所述泊车车位之间的行驶路径发送至所述待泊车车辆。本发明方案，可以实现对停车场内的多个车辆的协同调度，解决停车场内道路拥堵、泊车车位利用率低的问题，并引导车辆安全高效地进入泊车车位，提高用户的泊车体验。
The present invention provides an assisted parking method, apparatus, and cloud device. The assisted parking method comprises: obtaining parking space data information transmitted by parking space monitoring equipment and data information of vehicles to be parked transmitted by road monitoring equipment; allocating parking spaces to each vehicle to be parked based on the parking space data and the data information of the vehicles to be parked, while minimizing the total travel distance of all vehicles to be parked; and transmitting the travel path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked. This solution can achieve coordinated scheduling of multiple vehicles in a parking lot, addressing issues such as road congestion and low parking space utilization within the parking lot, guiding vehicles safely and efficiently into parking spaces, and improving the user's parking experience.
Description
Technical Field
The invention relates to the technical field of communication, in particular to an auxiliary parking method, an auxiliary parking device and cloud equipment.
Background
With the rapid increase of the quantity of the automobiles in China, the parking difficulty of a parking lot becomes a social problem gradually. Considering that the running route of a single vehicle in a parking lot and the use condition of the parking spaces can influence the running route of other vehicles and the utilization of the parking spaces, the parking space distribution and the running route among the vehicles in the parking lot are mutually coupled and associated, and meanwhile, whether the vehicles are normally parked in the parking spaces can influence the utilization of adjacent parking spaces, so that the utilization rate of the whole parking spaces is further influenced.
The existing car navigation products cannot cover route navigation in a parking lot, a car owner often faces the problems that the car owner does not know where an optimal target parking space of the parking lot is, an idle parking space is difficult to find quickly, a plurality of vehicles often appear in the parking lot and simultaneously find the parking space and the road in the parking lot is jammed, meanwhile, partial vehicles in the parking lot are not normally parked in the parking space, and the adjacent parking spaces are too narrow, so that the idle parking space cannot be optimally utilized.
Therefore, there is a need for an auxiliary parking method to improve the utilization rate of parking spaces in a parking lot and the traffic efficiency of a road network in the parking lot.
Disclosure of Invention
The embodiment of the invention provides an auxiliary parking method, an auxiliary parking device and cloud equipment, which are used for solving the problems of low utilization rate of parking spaces in a parking lot and low traffic efficiency of a road network in the parking lot in the prior art.
In order to solve the technical problems, the embodiment of the invention provides the following technical scheme:
the embodiment of the invention provides an auxiliary parking method, which is applied to cloud equipment and comprises the following steps:
Acquiring parking space data information sent by a parking space monitoring device and vehicle to be parked data information sent by a road monitoring device;
According to the parking space data information and the vehicle data information to be parked, the parking space of each vehicle to be parked is distributed under the condition that the total running distance of all vehicles to be parked is shortest;
And sending a driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.
Optionally, the method further comprises:
after the vehicle to be parked enters the parking space, receiving parking information sent by the parking space monitoring equipment;
And under the condition that the parking failure of the vehicle to be parked is confirmed according to the parking information, a first parking instruction is sent to the vehicle to be parked, the vehicle to be parked is indicated to park again, and the parking information indicates that the vehicle to be parked is successful.
Optionally, the parking information includes a vehicle edge and a parking space edge;
the method further comprises the steps of:
And determining that the vehicle to be parked is successfully parked under the condition that the vehicle edge is positioned in the parking space edge and the distance between the vehicle edge and the parking space edge is larger than or equal to a first preset distance.
Optionally, after the obtaining the parking space data information sent by the parking space monitoring device, the method further includes:
Based on the parking space data information, determining that a first parking space is the parking space under the condition that vehicles are not parked on the first parking space, and vehicles are not parked on a second parking space and a third parking space adjacent to the first parking space;
Or alternatively, the first and second heat exchangers may be,
Based on the parking space data information, a vehicle is not parked on a first parking space, and the first parking space is determined to be the parking space under the condition that a vehicle is parked on a second parking space and/or a third parking space adjacent to the first parking space, and the distance between the edges of the vehicle on the second parking space and/or the third parking space and the edges of the vehicle on the first parking space is greater than or equal to a second preset distance.
Optionally, the method further comprises:
and obtaining the parking space position and the parking space size of the parking space according to the parking lot map.
Optionally, the method further comprises:
And updating the parking space every a first preset time length.
Optionally, after obtaining the vehicle data information to be parked sent by the road monitoring device, the method further includes:
And determining the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked according to the vehicle data information to be parked.
Optionally, the method further comprises:
And updating the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked every a second preset time period.
Optionally, the method further comprises:
and obtaining the traffic flow and the traffic flow of each road section in the parking lot according to the map of the parking lot, the vehicle position and the vehicle speed.
Optionally, the method further comprises:
and updating the traffic flow and the traffic flow of each road section in the parking lot every third preset time period.
Optionally, the allocating parking spaces of the vehicles to be parked according to the parking space data information and the vehicle data information to be parked in the case that the total travel distance of all the vehicles to be parked is the shortest includes:
Determining a matching combination of the vehicle to be parked and the parking space according to the position and the size of the parking space;
Under each matching combination, determining the total travel distance of the vehicle to be parked;
and when the total travel distance is shortest, determining the parking spaces corresponding to the vehicles to be parked.
Optionally, the determining, according to the parking space position and the parking space size of the parking space, the vehicle position and the vehicle size of the vehicle to be parked, the matching combination of the vehicle to be parked and the parking space includes:
Determining whether the vehicle to be parked is matched with the parking space according to the space size and the vehicle size;
And under the condition that the vehicle to be parked is matched with the parking space, determining a matched combination of the vehicle to be parked and the parking space according to the space position and the vehicle position.
Optionally, the determining, under each of the matching combinations, a total travel distance between the vehicle to be parked and the parking space includes:
determining a congestion coefficient of a road section according to the traffic flow of each road section in the parking lot;
According to the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section and the vehicle flow speed of each road section, length punishment is carried out on each road section, and punishment length of each road section is obtained;
and determining the total travel distance of the vehicle to be parked under each matching combination according to the punishment length of each road section.
The embodiment of the invention also provides an auxiliary parking device which is applied to cloud equipment and comprises:
the first acquisition module is used for acquiring parking space data information sent by the parking space monitoring equipment and vehicle data information to be parked sent by the road monitoring equipment;
the distribution module is used for distributing parking spaces of all vehicles to be parked according to the parking space data information and the vehicle data information to be parked under the condition that the total running distance of all the vehicles to be parked is shortest;
The first sending module is used for sending the driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.
Optionally, the apparatus further comprises:
The receiving module is used for receiving the parking information sent by the parking space monitoring equipment after the vehicle to be parked parks in the parking space;
The second sending module is used for sending a first parking instruction to the vehicle to be parked when the failure of parking the vehicle to be parked is confirmed according to the parking information, and indicating the vehicle to be parked to park again until the parking information indicates that the vehicle to be parked is successful.
Optionally, the parking information includes a vehicle edge and a parking space edge;
The apparatus further comprises:
the first determining module is used for determining that the vehicle to be parked is successfully parked under the condition that the vehicle edge is located in the parking space edge and the distance between the vehicle edge and the parking space edge is larger than or equal to a first preset distance.
Optionally, the apparatus further comprises:
The second determining module is used for determining that the first parking space is the parking space under the condition that the vehicle is not parked on the first parking space and the vehicle is not parked on the second parking space and the third parking space adjacent to the first parking space based on the parking space data information;
Or alternatively, the first and second heat exchangers may be,
Based on the parking space data information, a vehicle is not parked on a first parking space, and the first parking space is determined to be the parking space under the condition that a vehicle is parked on a second parking space and/or a third parking space adjacent to the first parking space, and the distance between the edges of the vehicle on the second parking space and/or the third parking space and the edges of the vehicle on the first parking space is greater than or equal to a second preset distance.
Optionally, the apparatus further comprises:
And the second acquisition module is used for acquiring the parking position and the parking position size of the parking space according to the parking lot map.
Optionally, the apparatus further comprises:
and the first updating module is used for updating the parking space every a first preset time length.
Optionally, the apparatus further comprises:
and the third determining module is used for determining the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked according to the vehicle data information to be parked.
Optionally, the apparatus further comprises:
And the second updating module is used for updating the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked every a second preset time period.
Optionally, the apparatus further comprises:
and the third acquisition module is used for acquiring the traffic flow and the traffic flow of each road section in the parking lot according to the map of the parking lot, the vehicle position and the vehicle speed.
Optionally, the apparatus further comprises:
and the third updating module is used for updating the traffic flow and the traffic flow of each road section in the parking lot every third preset time period.
Optionally, the allocation module includes:
The first determining unit is used for determining a matching combination of the vehicle to be parked and the parking space according to the parking space position and the parking space size of the parking space and the vehicle position and the vehicle size of the vehicle to be parked;
the second determining unit is used for determining the total travel distance of the vehicle to be parked under each matching combination;
And the third determining unit is used for determining the parking spaces corresponding to the vehicles to be parked when the total driving distance is shortest.
Optionally, the first determining unit is specifically configured to:
Determining whether the vehicle to be parked is matched with the parking space according to the space size and the vehicle size;
And under the condition that the vehicle to be parked is matched with the parking space, determining a matched combination of the vehicle to be parked and the parking space according to the space position and the vehicle position.
Optionally, the second determining unit is specifically configured to:
determining a congestion coefficient of a road section according to the traffic flow of each road section in the parking lot;
According to the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section and the vehicle flow speed of each road section, length punishment is carried out on each road section, and punishment length of each road section is obtained;
and determining the total travel distance of the vehicle to be parked under each matching combination according to the punishment length of each road section.
The embodiment of the invention also provides cloud equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the program realizes the auxiliary parking method according to any one of the above when being executed by the processor.
The embodiment of the invention also provides a readable storage medium, wherein a program is stored on the readable storage medium, and the program is executed by a processor to realize the auxiliary parking method according to any one of the above.
The beneficial effects of the invention are as follows:
According to the scheme, the parking space of each vehicle to be parked is distributed according to the parking space data information and the vehicle to be parked data information sent by the parking space monitoring equipment and the vehicle to be parked data information sent by the road monitoring equipment under the condition that the total running distance of all vehicles to be parked is shortest, and the running path between the vehicle to be parked and the corresponding parking space is sent to the vehicle to be parked, so that cooperative scheduling of a plurality of vehicles in a parking lot can be realized, the problems of road congestion and low parking space utilization rate in the parking lot are solved, vehicles are guided to safely and efficiently enter the parking space, and the parking experience of a user is improved.
Drawings
FIG. 1 shows one of the flowcharts of the auxiliary parking method provided by the embodiment of the invention;
FIG. 2 shows a flow chart of collaborative optimization allocation of parking spaces provided by an embodiment of the invention;
FIG. 3 is a second flowchart of a method for assisting in parking according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an auxiliary parking device according to an embodiment of the present invention;
fig. 5 shows a schematic structural diagram of a cloud device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the drawings and the specific embodiments thereof in order to make the objects, technical solutions and advantages of the present invention more apparent.
Aiming at the problems of low utilization rate of parking spaces in a parking lot and low traffic efficiency of road networks in the parking lot in the prior art, the invention provides an auxiliary parking method, an auxiliary parking device and cloud equipment.
The embodiment of the invention provides an auxiliary parking method, which is applied to cloud equipment and comprises the following steps:
And 101, acquiring parking space data information sent by a parking space monitoring device and vehicle data information to be parked sent by a road monitoring device.
It should be noted that, the auxiliary parking method provided by the embodiment of the invention is applied to the cloud end equipment, the cloud end equipment is respectively connected with the parking space monitoring equipment installed on a parking space in the parking lot and the road monitoring equipment installed on a road in the parking lot, optionally, the parking space monitoring equipment is a field end sensing camera, and the road monitoring equipment is a road sensing camera.
The parking space monitoring equipment is used for shooting parking space data information on a parking space, and comprises information of whether vehicles are parked on the parking space or not and information of the vehicles parked on the parking space, and the road monitoring equipment is used for shooting information of all vehicles on a road in a parking lot.
It should be noted that, parking space monitoring equipment and road monitoring equipment are only used for uploading the original video stream data that is shot to high in the clouds equipment, have high in the clouds equipment to discern and calculate according to the video stream, and parking space monitoring equipment and road monitoring equipment do not take algorithm and computational capability, therefore, parking space monitoring equipment and road monitoring equipment's cost is lower.
102, According to the parking space data information and the vehicle data information to be parked, distributing parking spaces of all vehicles to be parked under the condition that the total running distance of all vehicles to be parked is shortest.
In the embodiment of the invention, after the cloud device receives the parking space data information and the vehicle data information to be parked, an internal algorithm is started, parking spaces of all vehicles to be parked are allocated based on an optimization target with the shortest total running distance of all vehicles to be parked, and a running route is planned, so that the purpose of maximizing the utilization rate of the spaces of the whole parking lot is achieved, the parking spaces are allocated for all vehicles entering the parking lot, the running route is planned, the utilization rate of the parking spaces is improved, and the problem of road congestion in the parking lot is solved.
And step 103, transmitting a driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.
In the embodiment of the invention, the cloud device is connected with the vehicles to be parked, and sends the driving path, the vehicle speed information and the like to the vehicles to be parked under the condition that the total driving distance of all the vehicles to be parked is shortest, and the vehicles to be parked are driven to the front of the parking space according to the received driving path, so that the vehicles to be parked can park by adopting an automatic parking function.
It should be noted that, because the planned driving path and the vehicle speed information need to serve the assistance or automatic parking of the vehicle, and have higher requirements on time delay, the embodiment of the invention adopts 5G to realize the information transmission of millisecond time delay, and assist the parking of the vehicle.
According to the embodiment of the invention, the parking spaces of all the vehicles to be parked are distributed according to the parking space data information and the vehicle data information to be parked, which are sent by the parking space monitoring equipment, and the parking data information to be parked, which are sent by the road monitoring equipment, under the condition that the total running distance of all the vehicles to be parked is shortest, and the running paths between the vehicles to be parked and the corresponding parking spaces are sent to the vehicles to be parked, so that the cooperative scheduling of a plurality of vehicles in a parking space can be realized, the problems of road congestion and low parking space utilization rate in the parking space are solved, the vehicles are guided to safely and efficiently enter the parking spaces, and the parking experience of users is improved.
Optionally, the method further comprises:
after the vehicle to be parked enters the parking space, receiving parking information sent by the parking space monitoring equipment;
And under the condition that the parking failure of the vehicle to be parked is confirmed according to the parking information, a first parking instruction is sent to the vehicle to be parked, the vehicle to be parked is indicated to park again, and the parking information indicates that the vehicle to be parked is successful.
In the embodiment of the invention, after a vehicle to be parked is parked into a parking space, the cloud device determines whether the vehicle to be parked is accurately parked through the parking information shot by the parking space monitoring device, if the vehicle to be parked is considered to be in failure, a first parking instruction for indicating to re-park is sent to the vehicle to be parked, and the vehicle is parked again according to the first parking instruction until the parking is combined.
Optionally, the parking information includes a vehicle edge and a parking space edge;
the method further comprises the steps of:
And determining that the vehicle to be parked is successfully parked under the condition that the vehicle edge is positioned in the parking space edge and the distance between the vehicle edge and the parking space edge is larger than or equal to a first preset distance.
Correspondingly, under the condition that the vehicle edge exceeds the parking space edge, or under the condition that the vehicle edge is positioned in the parking space edge and the distance between the vehicle edge and the parking space edge is smaller than a first preset distance, determining that the vehicle to be parked fails.
In the embodiment of the invention, the cloud device identifies whether the vehicle is accurately parked or not based on the parking information shot by the parking space monitoring device. After the vehicle is parked into the parking space, the relative position and distance between the edge of the vehicle and the edge of the parking space are calculated according to the sensing result of the parking space monitoring equipment. And if the vehicle exceeds the edge line of the parking space or the vehicle is in the edge line of the parking space, and the shortest distance between the edge line of the vehicle and the edge line of the parking space is smaller than a first preset distance, the parking state of the vehicle is considered to be failed, the cloud device needs to send a first parking instruction to the automatic driving vehicle or the someone driving vehicle to request to park again until the vehicle meets the requirement of a successful parking state, namely, the vehicle is positioned in the edge line of the parking space, and the distance between the edge line of the vehicle and the edge line of the parking space is larger than or equal to the first preset distance.
Optionally, after the obtaining the parking space data information sent by the parking space monitoring device, the method further includes:
Based on the parking space data information, determining that a first parking space is the parking space under the condition that vehicles are not parked on the first parking space, and vehicles are not parked on a second parking space and a third parking space adjacent to the first parking space;
Or alternatively, the first and second heat exchangers may be,
Based on the parking space data information, a vehicle is not parked on a first parking space, and the first parking space is determined to be the parking space under the condition that a vehicle is parked on a second parking space and/or a third parking space adjacent to the first parking space, and the distance between the edges of the vehicle on the second parking space and/or the third parking space and the edges of the vehicle on the first parking space is greater than or equal to a second preset distance.
In the embodiment of the invention, after the parking space monitoring equipment uploads the shot original video data to the cloud equipment, the cloud equipment operates a deployment algorithm to detect whether a vehicle is parked on a parking space. If no vehicle exists in the parking space line of the first parking space (A parking space) and no vehicle exists in the second parking space (B parking space) and the third parking space (C parking space) which are adjacent to the first parking space (A parking space), or no vehicle exists in the parking space line of the first parking space (A parking space) and vehicles exist in the second parking space (B parking space) and the third parking space (C parking space) which are adjacent to the first parking space (A parking space), but the minimum distance between the existing vehicles and the parking space line of the A parking space is larger than or equal to the second preset distance, the A parking space is judged to be the parking space, and the identity identification number (Identity document, ID) of the parking space is uploaded.
Optionally, the method further comprises:
and obtaining the parking space position and the parking space size of the parking space according to the parking lot map.
According to the embodiment of the invention, the parking space position and the length and width size information of the parking space can be obtained by searching the parking space ID according to the parking space ID obtained by the parking space monitoring equipment and combining with the high-precision map of the parking space.
Optionally, the method further comprises:
And updating the parking space every a first preset time length.
In the embodiment of the invention, the obtained parking space comprises a parking space ID, a space position and a space size which are updated according to a certain frequency, a space dynamic database of the parking space is established, and a space allocation basis is provided for vehicles entering a parking lot.
Optionally, after obtaining the vehicle data information to be parked sent by the road monitoring device, the method further includes:
And determining the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked according to the vehicle data information to be parked.
In the embodiment of the invention, the vehicles entering the parking lot are monitored in real time through the road monitoring equipment arranged on the road in the parking lot, and the vehicles are positioned and tracked. The positioning and tracking technology is based on the perception information of the road monitoring equipment, and adopts a perception algorithm to identify the vehicle, determine the position, the speed, the size and other information of the vehicle, and track the vehicle.
When the vehicles to be parked on the road in the parking lot are identified, the road monitoring equipment uploads the original video stream data to the cloud equipment, and the vehicles to be parked are identified by a perception algorithm of the cloud equipment.
The process of positioning and detecting the state of the vehicle to be parked in the parking lot comprises the steps that the road monitoring equipment (road sensing camera) has a determined position under the ground coordinate system, the positioning of the vehicle to be parked under the camera coordinate system can be obtained according to the depth information of the vehicle image obtained by the road monitoring equipment, and then the absolute positioning of the vehicle to be parked under the ground coordinate system is obtained through the conversion of the camera coordinate system and the ground coordinate system. On the basis of obtaining the positioning data of the vehicle to be parked, the speed of the vehicle to be parked can be calculated further based on the sampling time. The size parameters (length, width) and the like of the vehicle to be parked can be calculated by extracting the characteristic point positions of the vehicle to be parked.
The continuous tracking technology of vehicles in a parking lot needs to solve the problem that different cameras recognize non-uniform vehicle IDs. In the embodiment of the invention, the identification ID of the vehicle does not depend on the ID obtained by identification of a single camera, but extracts the vehicle characteristics according to the vehicle image data acquired by each camera, and the unified ID of the vehicle in the parking lot is determined by matching the vehicle characteristic parameters acquired by each camera, so that the tracking of the vehicle is realized.
Optionally, the method further comprises:
And updating the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked every a second preset time period.
In the embodiment of the invention, the vehicle information of the vehicle to be parked in the parking lot, including the information of the vehicle position, the vehicle size, the vehicle speed and the like, is obtained by monitoring, positioning and tracking the vehicle in the parking lot, the position of the vehicle to be parked is recorded, the data of the vehicle to be parked is stored in a vehicle dynamic database, and the data is updated according to a certain frequency.
Optionally, the method further comprises:
and obtaining the traffic flow and the traffic flow of each road section in the parking lot according to the map of the parking lot, the vehicle position and the vehicle speed.
In the embodiment of the invention, the vehicle flow (the number of vehicles in a unit distance) and the vehicle flow rate of each road section of the road network of the parking lot are counted by monitoring, positioning and tracking the vehicles in the parking lot and combining the high-precision map of the road of the parking lot. The method comprises the steps of describing the map structure of a high-precision map of a parking lot in a segmentation mode, and describing the traffic flow and the traffic flow velocity of each road section through the following formula.
Wherein p is the number of road sections in the parking lot, N p is the traffic flow of the p-th road, m is the total number of vehicles on the p-th road, L p is the length of the p-th road, V p is the traffic flow of the p-th road, and V i is the speed of the i-th vehicle on the p-th road.
Optionally, the method further comprises:
and updating the traffic flow and the traffic flow of each road section in the parking lot every third preset time period.
In the embodiment of the invention, the traffic flow and the traffic flow of each road section in the parking lot are updated according to a certain frequency, and the real-time monitoring and control of the traffic flow and the flow speed of the road network in the parking lot provide basis for the allocation of the parking spaces of the vehicles, the driving path and the planning of the vehicle speed.
Optionally, the allocating parking spaces of the vehicles to be parked according to the parking space data information and the vehicle data information to be parked in the case that the total travel distance of all the vehicles to be parked is the shortest includes:
Determining a matching combination of the vehicle to be parked and the parking space according to the position and the size of the parking space;
Under each matching combination, determining the total travel distance of the vehicle to be parked;
and when the total travel distance is shortest, determining the parking spaces corresponding to the vehicles to be parked.
According to the embodiment of the invention, parking spaces of all vehicles to be parked are distributed based on the optimal target that the total running distance of all vehicles to be parked is shortest according to the parking space dynamic database, the vehicle dynamic database of the parking lot and the real-time monitoring statistics of the traffic flow and the traffic flow of the road network in the parking lot.
The flow of collaborative optimization allocation of parking spaces provided by the embodiment of the invention is shown in fig. 2, wherein a space allocation optimization model refers to a mapping relationship between a vehicle to be parked and a parking space which is established according to a space dynamic database and a vehicle dynamic database. According to the matching of the sizes of the vehicle to be parked and the parking space, the total X matching combinations of the vehicle to be parked and the parking space are determined through an exhaustion method.
For any matching combination, determining the total travel distance of each vehicle to be parked from the current position to the parking space, and realizing the allocation relation of the vehicle to be parked and the parking space with the shortest total travel distance, thereby realizing the allocation of the parking space for each vehicle to be parked.
Optionally, the determining, according to the parking space position and the parking space size of the parking space, the vehicle position and the vehicle size of the vehicle to be parked, the matching combination of the vehicle to be parked and the parking space includes:
Determining whether the vehicle to be parked is matched with the parking space according to the space size and the vehicle size;
And under the condition that the vehicle to be parked is matched with the parking space, determining a matched combination of the vehicle to be parked and the parking space according to the space position and the vehicle position.
In the embodiment of the invention, please continue to refer to fig. 2, by matching the parking space size of the parking space with the vehicle size of the vehicle to be parked, that is, the length and width of the parking space need to be greater than the length and width of the vehicle by a certain threshold value, the vehicle to be parked can be ensured to successfully enter the parking space. Further, through the exhaustion method, X matched combinations of the vehicle to be parked and the parking space can be obtained.
Optionally, the determining, under each of the matching combinations, a total travel distance between the vehicle to be parked and the parking space includes:
determining a congestion coefficient of a road section according to the traffic flow of each road section in the parking lot;
According to the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section and the vehicle flow speed of each road section, length punishment is carried out on each road section, and punishment length of each road section is obtained;
and determining the total travel distance of the vehicle to be parked under each matching combination according to the punishment length of each road section.
In the embodiment of the present invention, please continue to refer to fig. 2, punishment is performed on the distance of each road section according to the traffic flow and the traffic flow of the road section (the punishment of the vehicle running distance corresponding to the road section with large traffic flow and congestion increases), and the specific punishment method is to divide congestion levels according to the traffic flow N p, and each congestion level corresponds to different congestion coefficients α 1、α2、α3、α4, and takes values of 1, 1.1, 1.2 and 1.3 respectively. And determining a vehicle flow rate coefficient according to the vehicle flow rate V p, wherein the vehicle flow rate coefficient is shown in the following formula.
Wherein, beta p is the vehicle flow coefficient of the p-th road, v lim,p is the road speed limit of the p-th road, D p is the punished length of the p-th road, and D act,p is the actual length of the p-th road.
Correspondingly, the punished length of each road section according to the traffic flow and the flow velocity is shown in the following formula.
Dp＝Dact,p×α1,2,3,4×βp
Wherein, beta p is the vehicle flow coefficient of the p-th road, D p is the length of the punished p-th road, D act,p is the actual length of the p-th road, and alpha 1、α2、α3、α4 is the congestion coefficient.
Therefore, the purpose that the more the road is congested, the longer the corresponding punishment driving distance is can be achieved.
Then, for any one of the above-mentioned X matching combinations, the total travel distance from the current position to the parking space for each vehicle to be parked is a path with the shortest penalty distance among all travel routes of the vehicle to be parked from the current position to the parking space, as shown in the following formula.
di＝min∑Dp
D i is the path with the shortest punishment distance in all driving routes from the current position to the parking space of the vehicle to be parked, and D p is the length of the punishment p-th road.
The calculation scheme of the shortest distance adopts a classical A-type algorithm, and correspondingly, the total travel distance of all vehicles to be parked is shown in the following formula.
Wherein d all is the total travel distance of all the vehicles to be parked, and d i is the shortest punishment distance path in all the travel routes from the current position to the parking space of the vehicles to be parked.
The total running distance of any combination of the vehicles to be parked and the parking spaces can be calculated through the method, and the distribution relation of the vehicles to be parked with the shortest total running distance and the parking spaces can be obtained by optimizing the matching combination of the X vehicles to be parked and the parking spaces through a genetic algorithm, so that the distribution parking spaces are determined for all the vehicles to be parked.
According to the embodiment of the invention, the allocation relation between the vehicle to be parked and the parking space is obtained according to the cooperative optimization allocation method of the parking space, the shortest distance from the current position to the parking space of the vehicle to be parked can be calculated by adopting an A-algorithm according to the punishment distance of the road section, and the driving paths of the vehicle to be parked and the allocated parking space can be determined correspondingly. And the speed of the vehicle to be parked on each road section is planned according to the vehicle speed of the road section.
And then, transmitting the parking spaces distributed by each vehicle to be parked, the planned driving path and the vehicle speed information from the cloud equipment to the vehicle terminal. Because the planned path and the vehicle speed information are required to serve the auxiliary or automatic parking of the vehicle to be parked, and have higher requirements on time delay, the embodiment of the invention adopts 5G to realize the information transmission of millisecond-level time delay and assist the parking of the vehicle. The auxiliary parking method in the parking lot provided by the embodiment of the invention is based on cloud deployment, can realize the expansion of the navigation application outside the public road to the parking lot by docking with the navigation application software, can push navigation information in the parking lot to a driver, and prompts the driver of the target parking space position and the path and the speed of the vehicle to the target parking space. Therefore, the embodiment of the invention can be packaged into indoor navigation application software in a parking lot, and the indoor navigation application software is provided for a driver to assist the driver in driving.
And then, the vehicle runs in front of the parking space according to the planned running path, and the automatic parking or manual parking function is adopted to realize parking.
The following specifically describes a parking assisting method according to an embodiment of the present invention with reference to fig. 3.
The monitoring camera of the parking space uploads the original camera video stream data to cloud equipment, a sensing algorithm is deployed and operated in the cloud, whether the parking space is a parking space or not is detected, the parking space ID is uploaded, the parking space ID obtained through the monitoring camera of the parking space is combined with a high-precision map in a parking space, the position and the length and width size information of the parking space can be obtained by searching the ID of the parking space, a parking space dynamic database is established according to a certain frequency, and a space allocation basis is provided for vehicles entering the parking space. And the vehicles entering the parking lot are monitored in real time and positioned and tracked by the monitoring cameras arranged at the road ends in the parking lot. The method comprises the steps of obtaining vehicle information of a vehicle to be parked in a parking lot, including an ID of the vehicle to be parked, the position of the vehicle and the speed of the vehicle, recording the position of the vehicle, storing data of the vehicle to be parked into a vehicle dynamic database, and updating according to a certain frequency. By means of vehicle monitoring, positioning and tracking in the parking lot and combining with the high-precision map of the road in the parking lot, the traffic flow and the traffic flow velocity of each road section of the road network are counted. The method comprises the steps of optimally distributing parking spaces based on the target cooperation with the shortest total parking travel distance of all vehicles to be parked, planning the travel path and the speed of the vehicles to be parked, transmitting the information of the parking path and the speed to a vehicle terminal, parking the vehicles into the spaces, and detecting the parking states of the vehicles based on the sensing of parking space monitoring equipment.
The method provided by the embodiment of the invention comprises the steps of parking space monitoring based on a field end sensing camera, parking space dynamic database management, monitoring, positioning and tracking of vehicles to be parked in a parking lot, dynamic database management of vehicles to be parked, real-time monitoring and statistics of road network traffic flow of the parking lot, collaborative optimization allocation of parking spaces, planning of vehicle driving paths and vehicle speeds, information transmission and parking of vehicles. And the parking space monitoring equipment provided with the parking space in the parking lot monitors whether the parking space is idle according to the sensing data of the parking space monitoring equipment, so as to establish a dynamic database of the parking space. In addition, a road sensing camera is arranged in the parking lot, all vehicles on the road in the parking lot can be identified, the vehicles are monitored, positioned and tracked in the whole process, a dynamic database is built for the vehicles to be parked, and the real-time position, the speed, the size and the like of each vehicle are recorded. Meanwhile, the real-time traffic flow and the flow velocity of the road in the parking lot can be obtained by analysis based on the perception information of the road perception equipment. According to parking space data, vehicle data to be parked and road network vehicle flow rate information, the parking spaces are cooperatively and optimally allocated to all vehicles to be parked entering the parking space, parking running paths and vehicle speeds of all vehicles are planned, and target parking spaces, planned paths and vehicle speed information are transmitted to vehicle ends through 5G or other communication modes to guide the vehicles to run to the target parking spaces. Finally, the vehicle is parked into the parking space, whether the vehicle is in a successful parking state or not is checked, and the whole parking process is completed. Through the collaborative optimization of multiple vehicles, the maximization of the utilization rate of the parking spaces of the whole parking lot is realized, road congestion is relieved, and the parking experience of users is improved.
According to the embodiment of the invention, when the optimal path for parking is calculated for all the vehicles to be parked, the available size of the idle parking space is calculated at the same time, and after the vehicles are parked, the parking state of the vehicles is checked and the re-standard parking is required. The problem of road traffic jam in the parking lot, low utilization rate of parking spaces in the parking lot and irregular core pain points of partial vehicles in the parking lot in parking spaces is solved by carrying out collaborative planning and scheduling on multiple vehicles in the parking lot. According to the embodiment of the invention, road network congestion in the parking lot can be relieved, the vehicle can be intelligently guided to safely and efficiently travel to the target parking space, better parking experience can be brought to the vehicle owners, more passenger flows are attracted for the parking lot owners, and greater potential commercial value is created.
The embodiment of the invention provides a target with the shortest total driving distance, and provides a cooperative optimization method for parking space distribution and driving path planning for all vehicles entering a parking lot. Based on the established dynamic parking space database, the vehicle database to be parked and the parking lot high-precision map, the driving distance from each vehicle to each parking space is calculated, the driving distance of each road section is punished based on the road network vehicle flow and the vehicle flow obtained through sensing of the road end camera, the vehicle and the parking space matching relation with the shortest total driving distance is obtained through optimizing algorithm, the parking spaces are distributed for all vehicles to be parked entering the parking lot, and the corresponding driving path and the corresponding vehicle speed are planned. Meanwhile, the embodiment of the invention also provides a method for detecting the parking state of the vehicle, which prevents the vehicle from influencing the utilization condition of adjacent parking spaces due to irregular parking. Therefore, the embodiment of the invention provides the cooperative optimization method for the allocation and path and speed planning of the parking spaces of all vehicles entering the parking lot, so that the utilization rate of the parking spaces of the parking lot is comprehensively improved, the traffic jam condition of the road network of the parking lot is relieved, and the parking experience of a user is improved.
The auxiliary parking method provided by the embodiment of the invention is deployed based on the cloud, can realize the indoor navigation application of the parking lot by docking with navigation application software and transmitting to the vehicle through 5G, and has strong practicability and commercial value.
As shown in fig. 4, an embodiment of the present invention further provides an auxiliary parking device, which is applied to a cloud device, where the device includes:
The first obtaining module 401 is configured to obtain parking space data information sent by a parking space monitoring device and vehicle data information to be parked sent by a road monitoring device;
The allocation module 402 is configured to allocate parking spaces of each vehicle to be parked according to the parking space data information and the vehicle to be parked data information, where the total travel distance of all vehicles to be parked is the shortest;
The first sending module 403 is configured to send a driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.
According to the auxiliary parking device provided by the embodiment of the invention, the parking spaces of all the vehicles to be parked are distributed according to the parking space data information and the vehicle data information to be parked, which are sent by the parking space monitoring equipment, and the vehicle data information to be parked, which are sent by the road monitoring equipment, under the condition that the total running distance of all the vehicles to be parked is shortest, and the running paths between the vehicles to be parked and the corresponding parking spaces are sent to the vehicles to be parked, so that the cooperative scheduling of a plurality of vehicles in a parking lot can be realized, the problems of road congestion and low parking space utilization rate in the parking lot are solved, the vehicles are guided to safely and efficiently enter the parking spaces, and the parking experience of a user is improved.
Optionally, the apparatus further comprises:
The receiving module is used for receiving the parking information sent by the parking space monitoring equipment after the vehicle to be parked parks in the parking space;
The second sending module is used for sending a first parking instruction to the vehicle to be parked when the failure of parking the vehicle to be parked is confirmed according to the parking information, and indicating the vehicle to be parked to park again until the parking information indicates that the vehicle to be parked is successful.
Optionally, the parking information includes a vehicle edge and a parking space edge;
The apparatus further comprises:
the first determining module is used for determining that the vehicle to be parked is successfully parked under the condition that the vehicle edge is located in the parking space edge and the distance between the vehicle edge and the parking space edge is larger than or equal to a first preset distance.
Optionally, the apparatus further comprises:
The second determining module is used for determining that the first parking space is the parking space under the condition that the vehicle is not parked on the first parking space and the vehicle is not parked on the second parking space and the third parking space adjacent to the first parking space based on the parking space data information;
Or alternatively, the first and second heat exchangers may be,
Based on the parking space data information, a vehicle is not parked on a first parking space, and the first parking space is determined to be the parking space under the condition that a vehicle is parked on a second parking space and/or a third parking space adjacent to the first parking space, and the distance between the edges of the vehicle on the second parking space and/or the third parking space and the edges of the vehicle on the first parking space is greater than or equal to a second preset distance.
Optionally, the apparatus further comprises:
And the second acquisition module is used for acquiring the parking position and the parking position size of the parking space according to the parking lot map.
Optionally, the apparatus further comprises:
and the first updating module is used for updating the parking space every a first preset time length.
Optionally, the apparatus further comprises:
and the third determining module is used for determining the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked according to the vehicle data information to be parked.
Optionally, the apparatus further comprises:
And the second updating module is used for updating the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked every a second preset time period.
Optionally, the apparatus further comprises:
and the third acquisition module is used for acquiring the traffic flow and the traffic flow of each road section in the parking lot according to the map of the parking lot, the vehicle position and the vehicle speed.
Optionally, the apparatus further comprises:
and the third updating module is used for updating the traffic flow and the traffic flow of each road section in the parking lot every third preset time period.
Optionally, the allocation module 402 includes:
The first determining unit is used for determining a matching combination of the vehicle to be parked and the parking space according to the parking space position and the parking space size of the parking space and the vehicle position and the vehicle size of the vehicle to be parked;
the second determining unit is used for determining the total travel distance of the vehicle to be parked under each matching combination;
And the third determining unit is used for determining the parking spaces corresponding to the vehicles to be parked when the total driving distance is shortest.
Optionally, the first determining unit is specifically configured to:
Determining whether the vehicle to be parked is matched with the parking space according to the space size and the vehicle size;
And under the condition that the vehicle to be parked is matched with the parking space, determining a matched combination of the vehicle to be parked and the parking space according to the space position and the vehicle position.
Optionally, the second determining unit is specifically configured to:
determining a congestion coefficient of a road section according to the traffic flow of each road section in the parking lot;
According to the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section and the vehicle flow speed of each road section, length punishment is carried out on each road section, and punishment length of each road section is obtained;
and determining the total travel distance of the vehicle to be parked under each matching combination according to the punishment length of each road section.
The auxiliary parking device provided by the embodiment of the invention is a device capable of executing the auxiliary parking method, so that all the embodiments of the auxiliary parking method are applicable to the device and can achieve the same or similar technical effects.
As shown in fig. 5, the embodiment of the present invention further provides a cloud device, which includes a processor 500, and a memory 510 connected to the processor 500 through a bus interface, where the memory 510 is used to store programs and data used by the processor 500 when executing operations, and the processor 500 calls and executes the programs and data stored in the memory 510.
The internet of things access management system further comprises a transceiver 520, the transceiver 520 is connected with the bus interface and is used for receiving and transmitting data under the control of the processor 500, and the processor 500 is used for reading the program in the memory 510.
The cloud device further includes a transceiver 520, where the transceiver 520 is connected to the bus interface and is configured to receive and transmit data under the control of the processor 500, and the processor 500 is configured to read the program in the memory 510.
Specifically, the transceiver 520 is configured to obtain the parking space data information sent by the parking space monitoring device and the vehicle data information to be parked sent by the road monitoring device.
The processor 500 is configured to allocate parking spaces of all vehicles to be parked according to the parking space data information and the vehicle data information to be parked when the total travel distance of all vehicles to be parked is the shortest.
The transceiver 520 is further configured to send a driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked.
Optionally, the transceiver 520 is further configured to receive parking information sent by the parking space monitoring device after the vehicle to be parked parks in the parking space, and send a first parking instruction to the vehicle to be parked, to instruct the vehicle to be parked again, until the parking information indicates that the vehicle to be parked is successful, if the vehicle to be parked is confirmed to fail according to the parking information.
Optionally, the parking information includes a vehicle edge and a parking space edge;
the processor 500 is further configured to determine that the vehicle to be parked is successfully parked if the vehicle edge is located within the parking space edge and a distance between the vehicle edge and the parking space edge is greater than or equal to a first preset distance.
Optionally, the processor 500 is further configured to determine, based on the parking space data information, that the first parking space is the parking space when no vehicle is parked on the first parking space, and no vehicles are parked on the second parking space and the third parking space adjacent to the first parking space;
Or alternatively, the first and second heat exchangers may be,
Based on the parking space data information, a vehicle is not parked on a first parking space, and the first parking space is determined to be the parking space under the condition that a vehicle is parked on a second parking space and/or a third parking space adjacent to the first parking space, and the distance between the edges of the vehicle on the second parking space and/or the third parking space and the edges of the vehicle on the first parking space is greater than or equal to a second preset distance.
Optionally, the processor 500 is further configured to obtain a parking space position and a parking space size of the parking space according to a parking lot map.
Optionally, the processor 500 is further configured to update the parking space every a first preset duration.
Optionally, the processor 500 is further configured to determine a vehicle position, a vehicle size and a vehicle speed of the vehicle to be parked according to the vehicle data information to be parked.
Optionally, the processor 500 is further configured to update the vehicle position, the vehicle size, and the vehicle speed of the vehicle to be parked every a second preset time period.
Optionally, the processor 500 is further configured to obtain a traffic flow and a traffic flow of each road section in the parking lot according to the map of the parking lot, the vehicle position and the vehicle speed.
Optionally, the processor 500 is further configured to update the traffic flow and the traffic flow of each road section in the parking lot every third preset time period.
Optionally, the processor 500 is specifically configured to determine a matching combination of the vehicle to be parked and the parking space according to a parking space position and a parking space size of the parking space, determine a total travel distance of the vehicle to be parked under each matching combination, and determine the parking space corresponding to each vehicle to be parked when the total travel distance is the shortest.
Optionally, the processor 500 is specifically configured to determine whether the vehicle to be parked and the parking space are matched according to the space size and the vehicle size, and determine a matching combination of the vehicle to be parked and the parking space according to the space position and the vehicle position when the vehicle to be parked and the parking space are matched.
Optionally, the processor 500 is specifically configured to determine a congestion coefficient of a road segment according to a traffic flow of each road segment in a parking lot, perform a length penalty on each road segment according to the congestion coefficient of the road segment, an actual length of each road segment, a road speed limit of each road segment, and a traffic flow of each road segment to obtain a penalty length of each road segment, and determine a total driving distance of the vehicle to be parked in each of the matching combinations according to the penalty length of each road segment.
Wherein in fig. 5, a bus architecture may comprise any number of interconnected buses and bridges, and in particular one or more processors represented by processor 500 and various circuits of memory represented by memory 510, linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. Transceiver 520 may be a number of elements, including a transmitter and a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The user interface 530 may also be an interface capable of interfacing with an inscribed desired device for a different terminal, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 500 is responsible for managing the bus architecture and general processing, and the memory 510 may store data used by the processor 500 in performing operations.
The embodiment of the invention also provides a readable storage medium, wherein a program is stored on the readable storage medium, and the program is executed by a processor to realize the auxiliary parking method according to any one of the above.
Furthermore, it should be noted that in the apparatus and method of the present invention, it is apparent that the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention. Also, the steps of performing the series of processes described above may naturally be performed in chronological order in the order of description, but are not necessarily performed in chronological order, and some steps may be performed in parallel or independently of each other. It will be appreciated by those of ordinary skill in the art that all or any of the steps or components of the methods and apparatus of the present invention may be implemented in hardware, firmware, software, or a combination thereof in any computing device (including processors, storage media, etc.) or network of computing devices, as would be apparent to one of ordinary skill in the art after reading this description of the invention.
The object of the invention can thus also be achieved by running a program or a set of programs on any computing device. The computing device may be a well-known general purpose device. The object of the invention can thus also be achieved by merely providing a program product containing program code for implementing said method or apparatus. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is apparent that the storage medium may be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is apparent that the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present invention. The steps of executing the series of processes may naturally be executed in chronological order in the order described, but are not necessarily executed in chronological order. Some steps may be performed in parallel or independently of each other.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and changes can be made without departing from the principles of the present invention, and such modifications and changes are intended to be within the scope of the present invention.
Claims (13)
1. A method of assisting in parking, applied to a cloud device, the method comprising:
Acquiring parking space data information sent by a parking space monitoring device and vehicle to be parked data information sent by a road monitoring device;
According to the parking space data information and the vehicle data information to be parked, the parking space of each vehicle to be parked is distributed under the condition that the total running distance of all vehicles to be parked is shortest;
transmitting a driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked;
The step of distributing parking spaces of all vehicles to be parked according to the parking space data information and the vehicle data information to be parked under the condition that the total running distance of all vehicles to be parked is shortest, comprises the following steps:
Determining a matching combination of the vehicle to be parked and the parking space according to the position and the size of the parking space;
Under each matching combination, determining the total travel distance of the vehicle to be parked;
when the total travel distance is shortest, determining the parking spaces corresponding to the vehicles to be parked;
Under each matching combination, determining the total travel distance between the vehicle to be parked and the parking space comprises the following steps:
determining a congestion coefficient of a road section according to the traffic flow of each road section in the parking lot;
According to the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section and the vehicle flow speed of each road section, length punishment is carried out on each road section, and punishment length of each road section is obtained;
Determining the total travel distance of the vehicle to be parked under each matching combination according to the punishment length of each road section;
after the parking space data information sent by the parking space monitoring equipment is obtained, the method further comprises the following steps:
Based on the parking space data information, a vehicle is not parked on a first parking space, and the first parking space is determined to be the parking space under the condition that a vehicle is parked on a second parking space and/or a third parking space adjacent to the first parking space, and the distance between the edges of the vehicle on the second parking space and/or the third parking space and the edges of the vehicle on the first parking space is greater than or equal to a second preset distance.
2. The assisted parking method of claim 1, further comprising:
after the vehicle to be parked enters the parking space, receiving parking information sent by the parking space monitoring equipment;
And under the condition that the parking failure of the vehicle to be parked is confirmed according to the parking information, a first parking instruction is sent to the vehicle to be parked, the vehicle to be parked is indicated to park again, and the parking information indicates that the vehicle to be parked is successful.
3. The assisted parking method of claim 2 wherein the parking information includes vehicle edges and parking space edges;
the method further comprises the steps of:
And determining that the vehicle to be parked is successfully parked under the condition that the vehicle edge is positioned in the parking space edge and the distance between the vehicle edge and the parking space edge is larger than or equal to a first preset distance.
4. The assisted parking method of claim 1, further comprising:
and obtaining the parking space position and the parking space size of the parking space according to the parking lot map.
5. The assisted parking method of claim 1, further comprising:
And updating the parking space every a first preset time length.
6. The assisted parking method of claim 1, wherein after acquiring the vehicle data information for parking transmitted by the road monitoring device, the method further comprises:
And determining the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked according to the vehicle data information to be parked.
7. The assisted parking method of claim 6, further comprising:
And updating the vehicle position, the vehicle size and the vehicle speed of the vehicle to be parked every a second preset time period.
8. The assisted parking method of claim 6, further comprising:
and obtaining the traffic flow and the traffic flow of each road section in the parking lot according to the map of the parking lot, the vehicle position and the vehicle speed.
9. The assisted parking method of claim 8, further comprising:
and updating the traffic flow and the traffic flow of each road section in the parking lot every third preset time period.
10. The auxiliary parking method according to claim 1, wherein the determining the matching combination of the vehicle to be parked and the parking space according to the parking space position and the parking space size of the vehicle to be parked and the vehicle position and the vehicle size of the vehicle to be parked includes:
Determining whether the vehicle to be parked is matched with the parking space according to the space size and the vehicle size;
And under the condition that the vehicle to be parked is matched with the parking space, determining a matched combination of the vehicle to be parked and the parking space according to the space position and the vehicle position.
11. An auxiliary parking device, characterized by being applied to a cloud device, comprising:
the first acquisition module is used for acquiring parking space data information sent by the parking space monitoring equipment and vehicle data information to be parked sent by the road monitoring equipment;
the distribution module is used for distributing parking spaces of all vehicles to be parked according to the parking space data information and the vehicle data information to be parked under the condition that the total running distance of all the vehicles to be parked is shortest;
The first sending module is used for sending a driving path between the vehicle to be parked and the corresponding parking space to the vehicle to be parked;
Wherein the distribution module comprises:
The first determining unit is used for determining a matching combination of the vehicle to be parked and the parking space according to the parking space position and the parking space size of the parking space and the vehicle position and the vehicle size of the vehicle to be parked;
the second determining unit is used for determining the total travel distance of the vehicle to be parked under each matching combination;
The third determining unit is used for determining the parking spaces corresponding to the vehicles to be parked when the total driving distance is shortest;
Wherein the second determining unit is specifically configured to:
determining a congestion coefficient of a road section according to the traffic flow of each road section in the parking lot;
According to the congestion coefficient of the road section, the actual length of each road section, the road speed limit of each road section and the vehicle flow speed of each road section, length punishment is carried out on each road section, and punishment length of each road section is obtained;
Determining the total travel distance of the vehicle to be parked under each matching combination according to the punishment length of each road section;
Wherein the apparatus further comprises:
The second determining module is configured to determine, based on the parking space data information, that a vehicle is not parked in a first parking space, and that a vehicle is parked in a second parking space and/or a third parking space adjacent to the first parking space, where a distance between an edge of the vehicle in the second parking space and/or the third parking space and an edge of the vehicle in the first parking space is greater than or equal to a second preset distance, where the first parking space is the parking space.
12. A cloud device comprising a processor, a memory, and a program stored on the memory and executable on the processor, which when executed by the processor, implements the park assist method according to any one of claims 1to 10.
13. A readable storage medium, characterized in that the readable storage medium has stored thereon a program which, when executed by a processor, implements the park-assist method according to any one of claims 1 to 10.
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