CN118800092A

CN118800092A - A parking assistance method, device and vehicle

Info

Publication number: CN118800092A
Application number: CN202310430450.3A
Authority: CN
Inventors: 范潇杰; 杨冬生; 刘柯; 王欢
Original assignee: BYD Co Ltd; BYD Auto Co Ltd
Current assignee: BYD Co Ltd; BYD Auto Co Ltd
Priority date: 2023-04-14
Filing date: 2023-04-14
Publication date: 2024-10-18
Also published as: WO2024212904A1

Abstract

The present invention provides an auxiliary parking method, device and electronic device. The present invention adopts dual drones to work in coordination. When a first drone searches for a target parking space that can be parked, if the target parking space is at risk of being occupied, a place-occupying drone and a navigation drone are determined from the first drone and the second drone, and the place-occupying drone flies to the target parking space to occupy it, while the navigation drone hovers above the parking lot and plans a first driving path for the vehicle to go to the target parking space. This not only greatly improves the reliability and flexibility of the path planning, facilitates the vehicle to go to the target parking space smoothly, but also ensures that the target parking space is always available, thereby solving the problem that it is difficult to find empty parking spaces and parking spaces are easily occupied in existing large parking lots with backward infrastructure.

Description

Auxiliary parking method and device and vehicle

Technical Field

The invention relates to the technical field of intelligent automobiles, in particular to an auxiliary parking method and device and a vehicle.

Background

With the annual increase of the quantity of the automobile, various parking lots are built more and more to relieve the problem of difficult parking.

However, in the scenes of the large open parking lot and the like, in which the infrastructure is behind and the electronic map cannot be acquired, due to the limited visual field range, a user can hardly know whether an empty parking space exists in the parking lot or not by means of vision, and can not know the position information of the empty parking space, so that the user can only drive into the parking lot personally and search for the empty parking space by naked eyes, the situation that the parking space is occupied by preemption is easy to occur due to the fact that the parking space is short of the user, inconvenience is brought to the user, and the driving experience of the user is affected.

Disclosure of Invention

The embodiment of the invention provides an auxiliary parking method, an auxiliary parking device and a vehicle, which are used for solving the problems that an empty parking space is difficult to find and the parking space is easy to preempt in a large parking lot with a backward existing basic device.

In a first aspect, an embodiment of the present invention provides a first auxiliary parking method, where the first auxiliary parking method is applied to a first unmanned aerial vehicle, and the method includes:

Under the condition that a search instruction is received, controlling the first unmanned aerial vehicle to lift off and searching a target parking space which can be parked in a parking lot;

Determining a risk state of the target parking space;

Under the condition that the risk state is that the target parking space is occupied, controlling the occupied unmanned aerial vehicle to fly to the target parking space to occupy the space, controlling the navigation unmanned aerial vehicle to lift off to plan a first travel path of the vehicle to the target parking space, wherein the occupied unmanned aerial vehicle is one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, and the navigation unmanned aerial vehicle is the other of the first unmanned aerial vehicle and the second unmanned aerial vehicle.

Optionally, in the method, determining a risk status of the target parking space includes:

acquiring the running trend of other vehicles around the target parking space and a third distance between the other vehicles and the target parking space;

and under the condition that the third distance is smaller than a first distance threshold and the running trend is close to the target parking space, determining that the target parking space is at occupied risk.

Optionally, before controlling the space occupying unmanned aerial vehicle to fly to the target parking space to occupy the space, and controlling the navigation unmanned aerial vehicle to lift off to plan a first driving path of the vehicle to the target parking space, the method further comprises:

acquiring a first distance between the first unmanned aerial vehicle and the target parking space and a second distance between the second unmanned aerial vehicle and the target parking space;

under the condition that the first distance is smaller than or equal to the second distance, determining the first unmanned aerial vehicle as the occupied unmanned aerial vehicle, and determining the second unmanned aerial vehicle as the navigation unmanned aerial vehicle;

and under the condition that the first distance is larger than the second distance, determining the first unmanned aerial vehicle as the navigation unmanned aerial vehicle, and determining the second unmanned aerial vehicle as the occupying unmanned aerial vehicle.

Optionally, in the method, controlling the space occupying unmanned aerial vehicle to fly to the target parking space to occupy the space includes:

and controlling the occupied unmanned aerial vehicle to hover to the upper space of the target parking space, and sending out occupied reminding signals to the surrounding.

Optionally, the method further comprises:

and under the condition that the target parking space is determined to be free from occupied risk, the first unmanned aerial vehicle flies above the parking lot, and a first driving path of the vehicle to the target parking space is planned.

Optionally, in the method, searching for a target parking space that can be parked in the parking lot includes:

collecting a first scene image of the parking lot;

determining a first parking space which can be parked according to the scene image and the size information of the vehicle;

and determining the target parking space according to the first parking space.

Optionally, in the method, determining the target parking space according to the first parking space includes:

sending a display instruction to a preset terminal, wherein the display instruction is used for controlling the preset terminal to display the first parking space;

And determining the first parking place corresponding to the selection instruction as the target parking place according to the selection instruction fed back by the preset terminal aiming at the display instruction.

a display instruction is sent to a preset terminal, wherein the display instruction carries the position information of the first parking space, and the display instruction is used for controlling the preset terminal to display the first parking space according to the position information;

Under the condition that a selection instruction fed back by the preset terminal aiming at the display instruction is received in a first time period, determining the first vehicle position corresponding to the selection instruction as the target vehicle position;

And under the condition that a selection instruction fed back by the preset terminal for the display instruction is not received within a first duration, determining a recommended second parking space from the first parking spaces, and determining the second parking space as the target parking space.

Optionally, in the method, determining a recommended second parking space from the first parking spaces includes:

under the condition that a plurality of first parking spaces exist, determining a parking space with the shortest distance from the vehicle in the plurality of first parking spaces as the second parking space; or alternatively

Determining the shortest parking space used when the vehicle runs to the parking space in the plurality of first parking spaces as the second parking space;

and determining the first parking space as the second parking space when one first parking space exists.

Optionally, in the method, planning a first travel path of the vehicle to the target parking space includes:

Collecting a second scene image of the parking lot;

determining a second location of the vehicle in the second scene image;

Determining a movable path to the target parking space according to the second scene image, the second position and the first position of the target parking space in the second scene image;

And determining the first driving path according to the driving path.

Optionally, in the method, determining the first travel path according to the exercised path includes:

and determining the driving path with the shortest time consumption in the driving paths as the first driving path.

Optionally, in the method, determining the travelable path to the target parking space according to the second scene image, the second position and the first position of the target parking space in the second scene image includes:

Inputting the second scene image, the second position and the first position into a semantic segmentation algorithm model, and acquiring a movable path set output by the semantic segmentation algorithm model; the semantic segmentation algorithm model is obtained by training based on sample images of parking lots in advance, and a set of movable paths from a starting point to an end point can be determined based on images of different target parking lots.

Optionally, the method further comprises:

When the identity of the second unmanned aerial vehicle is a space occupying unmanned aerial vehicle, and the distance between the vehicle and the target parking space is smaller than a second distance threshold value, a first return instruction is sent to the second unmanned aerial vehicle, and the first return instruction is used for controlling the second unmanned aerial vehicle to return to a vehicle-mounted platform;

Under the condition that the identity of the second unmanned aerial vehicle is a space occupying unmanned aerial vehicle, after the vehicle is parked in the target parking space, the first unmanned aerial vehicle returns to the vehicle-mounted platform;

When the identity of the second unmanned aerial vehicle is a navigation unmanned aerial vehicle and a second return instruction sent by the second unmanned aerial vehicle is received, the first unmanned aerial vehicle returns to the vehicle-mounted platform; the second return instruction is used for controlling the occupying unmanned aerial vehicle to return to the vehicle-mounted platform; and the second return instruction is sent to the first unmanned aerial vehicle by the second unmanned aerial vehicle under the condition that the distance between the vehicle and the target parking space is smaller than a second distance threshold value.

Optionally, the method further comprises:

under the condition that a vehicle searching instruction is received, the first unmanned aerial vehicle flies above the parking lot and acquires a third scene image of the parking lot;

Planning a second driving path of the vehicle to a position where a preset terminal is located according to the third scene image;

And transmitting the second driving path to the vehicle, wherein the second driving path is used for controlling the vehicle to go to the position where the preset terminal is located.

In a second aspect, an embodiment of the present invention provides a second auxiliary parking method, where the second auxiliary parking method is applied to a second unmanned aerial vehicle, and the method includes:

Under the condition that a navigation instruction sent by a first unmanned aerial vehicle is received, controlling the second unmanned aerial vehicle to lift off, planning a first travel path of a vehicle to a target parking space, and sending the first travel path to the vehicle so as to control the vehicle to travel to the target parking space according to the first travel path; the navigation instruction is sent to the second unmanned aerial vehicle by the first unmanned aerial vehicle when the risk state of the target parking space is determined to be occupied, and the second unmanned aerial vehicle is determined to be the navigation unmanned aerial vehicle;

Under the condition that a space occupying instruction sent by a first unmanned aerial vehicle is received, the second unmanned aerial vehicle flies to the target parking space to occupy the space; the first unmanned aerial vehicle determines that the risk state of the target parking space is occupied, and the second unmanned aerial vehicle is determined to be the occupied unmanned aerial vehicle, and then the occupied instruction is sent to the second unmanned aerial vehicle.

Optionally, the method further comprises:

After receiving a navigation instruction sent by the first unmanned aerial vehicle, sending a second return instruction to the first unmanned aerial vehicle under the condition that the distance between the vehicle and the target parking space is smaller than a second distance threshold value, and returning to a vehicle-mounted platform after the vehicle is parked in the target parking space; the second return instruction is used for controlling the first unmanned aerial vehicle to return to the vehicle-mounted platform;

After receiving the occupation instruction sent by the first unmanned aerial vehicle, the second unmanned aerial vehicle returns to the vehicle-mounted platform under the condition that a first return instruction sent by the first unmanned aerial vehicle is received; and the first return instruction is sent to the second unmanned aerial vehicle by the first unmanned aerial vehicle under the condition that the identity of the second unmanned aerial vehicle is the occupied unmanned aerial vehicle and the distance between the vehicle and the target parking space is smaller than a second distance threshold value.

In a third aspect, an embodiment of the present invention provides a third auxiliary parking method, where the method includes:

a search instruction is sent to a first unmanned aerial vehicle, and the search instruction is used for controlling the first unmanned aerial vehicle to search a target parking space which can be parked in a parking lot and determining the risk state of the target parking space;

receiving a risk state returned by the first unmanned aerial vehicle, and determining a space occupying unmanned aerial vehicle used for occupying space and a navigation unmanned aerial vehicle used for navigation from the first unmanned aerial vehicle and a preset second unmanned aerial vehicle under the condition that the risk state is that the target parking space is occupied;

controlling the occupied unmanned aerial vehicle to fly to the target parking space for occupying;

Controlling the navigation unmanned aerial vehicle to lift off and planning a first travel path of the vehicle to the target parking space;

And receiving a first travel path returned by the navigation unmanned aerial vehicle, and controlling the vehicle to travel to the target parking space according to the first travel path.

In a fourth aspect, an embodiment of the present invention provides a first auxiliary parking device, where the first auxiliary parking device is applied to a first unmanned aerial vehicle, where the device includes:

The searching module is used for controlling the first unmanned aerial vehicle to lift off and searching a target parking space which can be parked in the parking lot under the condition of receiving a searching instruction;

The determining module is used for determining the risk state of the target parking space;

the first control module is used for controlling the space occupying unmanned aerial vehicle to fly to the target parking space to occupy the space under the condition that the risk state is that the target parking space is occupied, controlling the navigation unmanned aerial vehicle to lift off to plan a first driving path of the vehicle to the target parking space, wherein the space occupying unmanned aerial vehicle is one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, and the navigation unmanned aerial vehicle is the other one of the first unmanned aerial vehicle and the second unmanned aerial vehicle.

In a fifth aspect, an embodiment of the present invention provides a second auxiliary parking device, where the second auxiliary parking device is applied to a second unmanned aerial vehicle, where the second auxiliary parking device includes:

The second control module is used for controlling the second unmanned aerial vehicle to lift off under the condition of receiving a navigation instruction sent by the first unmanned aerial vehicle, planning a first travel path of a vehicle to the target parking space, and sending the first travel path to the vehicle so as to control the vehicle to travel to the target parking space according to the first travel path; the navigation instruction is sent to the second unmanned aerial vehicle by the first unmanned aerial vehicle when the risk state of the target parking space is determined to be occupied, and the second unmanned aerial vehicle is determined to be the navigation unmanned aerial vehicle;

The third control module is used for controlling the second unmanned aerial vehicle to fly to the target parking space to occupy the space under the condition that an occupied instruction sent by the first unmanned aerial vehicle is received; the first unmanned aerial vehicle determines that the risk state of the target parking space is occupied, and the second unmanned aerial vehicle is determined to be the occupied unmanned aerial vehicle, and then the occupied instruction is sent to the second unmanned aerial vehicle.

In a sixth aspect, an embodiment of the present invention provides a third auxiliary parking apparatus, where the apparatus includes:

The first sending module is used for sending a search instruction to the first unmanned aerial vehicle, wherein the search instruction is used for controlling the first unmanned aerial vehicle to search a target parking space which can be parked in a parking lot and determining the risk state of the target parking space;

The first receiving module is used for receiving a risk state returned by the first unmanned aerial vehicle, and determining a space occupying unmanned aerial vehicle used for space occupying and a navigation unmanned aerial vehicle used for navigation from the first unmanned aerial vehicle and a preset second unmanned aerial vehicle under the condition that the risk state is that the target parking space is occupied;

the fourth control module is used for controlling the occupied unmanned aerial vehicle to fly to the target parking space for occupying;

the fifth control module is used for controlling the navigation unmanned aerial vehicle to lift off and planning a first travel path of the vehicle to the target parking space;

and the sixth control module is used for receiving a first travel path returned by the navigation unmanned aerial vehicle and controlling the vehicle to travel to the target parking space according to the first travel path.

In a seventh aspect, an embodiment of the present invention provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete communication with each other through a communication bus;

A memory for storing a computer program;

And a processor, configured to implement the steps in the auxiliary parking method according to the first aspect, the second aspect, or the third aspect when executing the program stored in the memory.

In an eighth aspect, an embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the assisted parking method according to the first aspect, the second aspect, or the third aspect.

Aiming at the prior art, the invention has the following advantages:

According to the embodiment of the invention, the double unmanned aerial vehicles are adopted to cooperatively work, under the condition that the first unmanned aerial vehicle searches out the target parking space which can be parked, if the target parking space is occupied, the occupied unmanned aerial vehicle and the navigation unmanned aerial vehicle are determined from the first unmanned aerial vehicle and the second unmanned aerial vehicle, the occupied unmanned aerial vehicle flies to the target parking space to occupy the space, the navigation unmanned aerial vehicle hovers above the parking space, and the first travel path of the vehicle to the target parking space is planned, so that the reliability and the flexibility of path planning are greatly improved, the vehicle can conveniently and smoothly travel to the target parking space, and the fact that the target parking space is always available is ensured, so that the problems that the existing large parking space behind the basic equipment is difficult to find the empty parking space and the parking space is easy to be occupied are solved.

The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly described below.

Fig. 1 is a schematic diagram of a first auxiliary parking method according to an embodiment of the present invention;

Fig. 2 is a schematic view of a scenario for implementing a parking assisting method according to an embodiment of the present invention;

FIG. 3 is a top view of a drone secured to a vehicle platform in an embodiment of the present invention;

FIG. 4 is a side view of a drone secured to a vehicle platform in an embodiment of the present invention;

fig. 5 is a schematic diagram of a first stage of relay occupation of a double unmanned aerial vehicle according to an embodiment of the present invention;

Fig. 6 is a schematic diagram of a second stage of relay occupancy of a double unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 7 is a logic diagram of a method of assisting in parking in accordance with an embodiment of the present invention;

FIG. 8 is a logic diagram of a vehicle searching process according to an embodiment of the present invention;

FIG. 9 is a logic diagram of a travel path generation in an embodiment of the present invention;

FIG. 10 is a schematic diagram of a second auxiliary parking method according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a third auxiliary parking method according to an embodiment of the present invention;

fig. 12 is a schematic view of a first auxiliary parking device according to an embodiment of the present invention;

fig. 13 is a schematic view of a second auxiliary parking device according to an embodiment of the present invention;

fig. 14 is a schematic view of a third auxiliary parking device according to an embodiment of the present invention;

fig. 15 is a block diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

Fig. 1 is a schematic diagram of a parking assisting method applied to a first unmanned aerial vehicle, which includes steps 101 to 104:

The auxiliary parking method provided by the embodiment of the invention is applied to a first unmanned aerial vehicle, as shown in fig. 2, the first unmanned aerial vehicle 21, a second unmanned aerial vehicle 22, a vehicle 23 and a mobile terminal 24 can be mutually communicated, and the mobile terminal can be a mobile phone or the like; by way of example, communication can be realized through the 5G module between mobile terminal and first unmanned aerial vehicle, second unmanned aerial vehicle and the vehicle, and communication can be realized through automobile-used wireless communication (vehicle to everything, V2X) technique between vehicle and first unmanned aerial vehicle and the second unmanned aerial vehicle, realizes communication through the 5G module between first unmanned aerial vehicle and the second unmanned aerial vehicle.

As shown in fig. 3 to 4, the first unmanned aerial vehicle 21 and the second unmanned aerial vehicle 22 are both vehicle-mounted unmanned aerial vehicles, and are both configured with cameras and communication modules; the bases of the two unmanned aerial vehicles are connected with a vehicle-mounted platform at the top of the vehicle 23 through a fixing device, so that the unmanned aerial vehicles can be stably transferred along with the vehicle when not in work; wherein, two unmanned aerial vehicle can be at roof about the axis symmetry setting of vehicle. When the first unmanned aerial vehicle 21 and/or the second unmanned aerial vehicle 22 need to start working, the fixing device is opened, so that the unmanned aerial vehicle needing to work is separated from a vehicle-mounted platform on the roof, and further can take off and lift off to work.

The vehicle is provided with an automatic driving module, and other systems of the whole vehicle can be controlled according to the driving path to automatically park the vehicle into a target parking space or park the vehicle out of the parking space.

It should be noted that, the data acquisition process and related data in the embodiments of the present invention are performed under the premise of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

And 101, under the condition that a search instruction is received, controlling the first unmanned aerial vehicle to lift off and search a target parking space which can be parked in a parking lot.

In the step, the target parking space is a public parking space in an idle state, namely, a parking space which is released by a parking space management system of a parking lot and can be used for parking a vehicle; the search instruction is an instruction for indicating the unmanned aerial vehicle to search for the target parking space which can be parked in the parking lot, and the search instruction can be sent to the first unmanned aerial vehicle by a vehicle-mounted terminal on the vehicle or a mobile terminal of the user when the user needs to search for the parking space.

In this step, when the first unmanned aerial vehicle receives the search instruction, it indicates that the vehicle needs to park in the parking space, and thus searches for a target parking space that can park in the parking space by communicating with the parking space management system or by flying and sweeping.

Step 102, determining a risk state of the target parking space.

In this step, in order to ensure that the vehicle can smoothly park into the target parking space, it is necessary to continuously determine the risk state of the target parking space before the vehicle reaches the target parking space, and the risk state of the target parking space is determined, that is, whether the target parking space is preempted by other vehicles is monitored.

In practical application, the parking lot is an open parking lot with a parking space line, and the search instruction is sent out by a vehicle or a mobile terminal when a user runs the vehicle to an entrance position of the parking lot when the user has a parking requirement; when the first unmanned aerial vehicle receives the search instruction, the first unmanned aerial vehicle takes off from the roof and lifts off to a proper height, then slowly flies to the space in the parking lot and searches for a target parking space which can be parked in, and then the risk state of the target parking space is monitored.

Step 103, under the condition that the risk state is that the target parking space is occupied, controlling the occupied unmanned aerial vehicle to fly to the target parking space to occupy the space, controlling the navigation unmanned aerial vehicle to lift off to plan a first driving path of the vehicle to the target parking space, wherein the occupied unmanned aerial vehicle is one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, and the navigation unmanned aerial vehicle is the other of the first unmanned aerial vehicle and the second unmanned aerial vehicle.

In the step, under the condition that the occupied risk of the target parking space is detected, an unmanned aerial vehicle needs to be dispatched to occupy the target parking space, so that the occupied unmanned aerial vehicle for occupying the space and the navigation unmanned aerial vehicle for navigating are respectively determined from a first unmanned aerial vehicle and a preset second unmanned aerial vehicle, and then the navigation unmanned aerial vehicle is controlled to lift off to navigate, namely, a first travel path of a vehicle to the target parking space is planned, and the occupied unmanned aerial vehicle is driven to the target parking space to occupy the space, so that the occupied space of other vehicles is avoided; when the second unmanned aerial vehicle is determined to be a space occupying unmanned aerial vehicle, the first unmanned aerial vehicle is a navigation unmanned aerial vehicle; when the second unmanned aerial vehicle is determined to be the navigation unmanned aerial vehicle, the first unmanned aerial vehicle is the occupied unmanned aerial vehicle.

In this step, as shown in fig. 5 to 6, when the second unmanned aerial vehicle is a navigation unmanned aerial vehicle, the first unmanned aerial vehicle is a space occupying unmanned aerial vehicle, and the first unmanned aerial vehicle needs to go to the target parking space for space occupying; meanwhile, when the second unmanned aerial vehicle is a navigation unmanned aerial vehicle, the second unmanned aerial vehicle needs to take over the first unmanned aerial vehicle to navigate above the parking lot, so that the first unmanned aerial vehicle sends a navigation instruction to the second unmanned aerial vehicle, the second unmanned aerial vehicle can take off from the vehicle-mounted platform and fly above the parking lot when receiving the navigation instruction, plan a first travel path of a vehicle to a target parking space in real time, then send the first travel path to the vehicle, and when the vehicle receives the first travel path, control the whole vehicle power system, the steering system and the braking system to cooperate, control the vehicle to travel to the target parking space, and further complete an automatic parking process.

In this step, when the second unmanned aerial vehicle is a space occupying unmanned aerial vehicle, the first unmanned aerial vehicle is a navigation unmanned aerial vehicle, and the first unmanned aerial vehicle needs to navigate above the parking lot, so that a first travel path of the vehicle to the target parking space is planned in real time, then the first travel path is sent to the vehicle, and when the vehicle receives the first travel path, the vehicle controls the whole vehicle power system, the steering system and the braking system to cooperate, controls the vehicle to travel to the target parking space, and further completes the automatic parking process.

In this step, when second unmanned aerial vehicle is the occupation unmanned aerial vehicle, then second unmanned aerial vehicle then needs to go to the target parking stall and take up an area of, first unmanned aerial vehicle sends the instruction of taking up an area of to second unmanned aerial vehicle, and second unmanned aerial vehicle takes off and go to the target parking stall from on-vehicle platform when receiving this instruction of taking up an area of.

Optionally, in one embodiment, controlling the space occupying unmanned aerial vehicle to fly to the target parking space to occupy the space includes:

In this embodiment, hover the space occupying unmanned aerial vehicle for occupying space over the target parking space, and send out a reminding signal such as light or sound to the surrounding to inform other vehicles that the target parking space is occupied.

Optionally, the height that the space occupying unmanned aerial vehicle hovers over the target parking space is lower than the height of other vehicles around, so that the other vehicles can be prevented from forcefully occupying the target parking space without looking at the reminding signal.

According to the implementation process, the double unmanned aerial vehicles are used for collaborative work, under the condition that the first unmanned aerial vehicle searches out the target parking space which can be parked in, if the target parking space is occupied, the occupied unmanned aerial vehicle and the navigation unmanned aerial vehicle are determined from the first unmanned aerial vehicle and the second unmanned aerial vehicle, the occupied unmanned aerial vehicle flies to the target parking space to occupy the space, the navigation unmanned aerial vehicle hovers above the parking lot, and the first driving path of the vehicle to the target parking space is planned, so that the reliability and the flexibility of path planning are greatly improved, the vehicle can conveniently and smoothly travel to the target parking space, the target parking space is always available, and the problems that the existing basic equipment falls behind and the large parking lot is difficult to find an empty parking space and the parking space is easy to be occupied are solved.

Optionally, in one embodiment, searching for a target parking space that can be accessed in the parking lot includes steps 111 to 113:

and step 111, acquiring a first scene image of the parking lot.

In the step, when the first unmanned aerial vehicle flies above the parking lot, a camera is opened to shoot the image of the parking lot, and a nodding image, namely the first scene graph, is obtained.

And 112, determining a first parking space which can be parked according to the scene image and the size information of the vehicle.

In the step, the vehicle is the vehicle which needs to be parked in the parking lot; because the vehicle establishes communication connection with the first unmanned aerial vehicle, the first unmanned aerial vehicle can acquire the size information of the vehicle; specifically, the first unmanned aerial vehicle sends a query request to the vehicle to query the vehicle for the size information such as the length, width, etc., and then the vehicle may feed back the size information to the first unmanned aerial vehicle.

In the step, a first unmanned aerial vehicle firstly acquires all available empty space positions in a first scene image; for each detected empty parking space, calculating the width and length of the empty parking space according to the length of the parking space line in the image; and comparing the length and the width of the vehicle with the length and the width of each empty parking space respectively, and screening out the empty parking space as a first parking space which can be parked in for a user to select when the length of the empty parking space is larger than the length of the vehicle and the width of the empty parking space is larger than the width of the vehicle. Alternatively, the first unmanned aerial vehicle may utilize an empty space detection algorithm to obtain all available empty space positions in the first scene image.

And 113, determining the target parking space according to the first parking space.

In the step, a parking space is randomly selected from first parking spaces which can be parked in or is selected as a target parking space according to a preset selection rule.

In this embodiment, empty parking spaces are identified by taking a scene image of a parking lot in a plan view, and parking spaces that can be parked are quickly searched by combining the size information of the vehicle.

Optionally, in one embodiment, the step 113 includes steps 1131 to 1132:

Step 1131, a display instruction is sent to a preset terminal, wherein the display instruction carries position information of the first parking space, and the display instruction is used for controlling the preset terminal to display the first parking space according to the position information.

In the step, when an available parking space exists, position information carrying a first parking space is sent to a preset terminal; when the preset terminal receives the display instruction, displaying the parking space which can be accessed through a screen for the user to select, and prompting the text, and simultaneously prompting the user that the parking space which can be accessed exists, if the user needs to access the parking space to select. The preset terminal may be a mobile terminal or a vehicle-mounted terminal on a vehicle.

In practical application, the display instruction further carries the first scene image, so that when the preset terminal receives the display instruction, the display instruction can be displayed in the first scene image through the screen to be selected by a user, and the user can conveniently check the surrounding conditions of each first parking space.

Step 1132, determining the first parking space corresponding to the selection instruction as the target parking space according to the selection instruction fed back by the preset terminal for the display instruction.

In the step, because the parking spaces which can be parked in are displayed, a user can actively select a target parking space which can be parked in specifically; the selection instruction is an instruction for selecting a target parking space by a user, and can be specifically triggered by gesture operations such as touch control on a vehicle screen or voice instructions; the selection instruction carries the position information of the target parking space, so that the target parking space can be determined according to the selection instruction.

In this embodiment, the display instruction is sent to the preset terminal to display the first parking space which can be parked, and then the user waits for the selection instruction fed back by the preset terminal to determine the target parking space, so that the vehicle can be parked in the empty parking space which the user wants to park.

Optionally, in one embodiment, the step 113 includes steps 1133 to 1135:

Step 1133, a display instruction is sent to a preset terminal, where the display instruction is used for controlling the preset terminal to display the first parking space.

The step 1133 can be referred to as step 1131, and will not be described herein.

Step 1134, under the condition that a selection instruction fed back by the preset terminal for the display instruction is received in a first period, determining the first vehicle position corresponding to the selection instruction as the target vehicle position.

In the step, the first duration is a time limit defining whether the user needs to autonomously select to park in the parking space; the first duration may be set according to practical situations, and may be 10s, for example. Because the parking spaces which can be parked in are displayed, a user can actively select a target parking space which can be parked in specifically; the selection instruction is an instruction for selecting a target parking space by a user, and can be specifically triggered by gesture operations such as touch control on a vehicle screen or voice instructions; the selection instruction carries the position information of the target parking space, so that the target parking space can be determined according to the selection instruction; when a selection instruction of a user is received in a first time period, the situation that the user needs to autonomously select a parking space is indicated, and therefore the first parking space corresponding to the selection instruction is taken as a target parking space.

Step 1135, under the condition that the selection instruction fed back by the preset terminal for the display instruction is not received within the first duration, determining a recommended second parking space from the first parking spaces, and determining the second parking space as the target parking space.

In the step, under the condition that a selection instruction of a user is not received in a first time period, the user is not required to select a parking space autonomously, so that the parking space is recommended, and the system automatically selects a second vehicle position to be recommended from parking spaces and takes the second vehicle position as a target parking space.

Optionally, in a specific embodiment, the determining the recommended second vehicle location from the first vehicle location includes:

In this embodiment, if there are a plurality of first parking spaces available for parking, the parking space closest or least in time is taken as the recommended parking space, and if there is only one first parking space available for parking, the first parking space is taken as the recommended parking space directly.

In the above embodiment, the first parking space to be parked is displayed to the preset terminal, so that the user can autonomously select the parking space to be parked, and the parking space can be recommended under the condition that the user does not operate, and then the recommended parking space is parked as the target parking space.

In the auxiliary parking method provided by the embodiment of the invention, the first unmanned aerial vehicle can execute the step of determining the risk state of the target parking space under the condition of receiving the parking instruction, namely, the first unmanned aerial vehicle needs to monitor whether the target parking space has the preempted risk or not when the user determines that the target parking space needs to be automatically parked, and then the preempted unmanned aerial vehicle is dispatched to go to the occupied space when the preempted risk exists. The parking instruction can be sent by a user directly through a vehicle-mounted terminal of the vehicle, or can be triggered by the user opening a vehicle parking function by using the mobile terminal after selecting a target parking space and locking a door when the user gets off the vehicle.

Optionally, under the condition that the duration of the target parking space which can be parked in the searching parking lot exceeds the second duration, the first unmanned aerial vehicle returns to the vehicle-mounted platform, namely automatically exits from the process of searching the target parking space which can be parked in the parking lot, and the reminding signal can be displayed in a mode of voice, light or characters and the like so as to prompt the user that the target parking space which can be parked is not searched.

Optionally, in one embodiment, determining the risk status of the target parking space includes steps 201 to 202:

step 201, obtaining the operation trend of other vehicles around the target parking space and a third distance between the other vehicles and the target parking space.

In the step, the first unmanned aerial vehicle continuously shoots the scene images of the surrounding environment of the target parking space, and judges the running trend of other vehicles and the distance between other vehicles and the target parking space, namely the third distance.

Step 202, determining that the target parking space is at risk of being occupied when the third distance is smaller than a first distance threshold and the running trend is close to the target parking space.

In the step, the first distance threshold value is a distance for judging that other vehicles have a trend of occupying the target parking space; when the third distance between other vehicles around the target parking space and the target parking space is smaller than the first distance threshold and the running trend of the third distance is close to the target parking space, judging that the target parking space is at occupied risk; and when the third distance is greater than or equal to the first distance threshold, or the running trend of other vehicles is far away from the target parking space, or no other vehicles exist around the third distance, judging that the target parking space is not occupied.

In the embodiment, whether the target parking space has a preemption risk is determined by continuously monitoring the running trend of other vehicles around the target parking space and the distance between the other vehicles and the target parking space.

Optionally, in an implementation manner, the parking assisting method provided by the embodiment of the present invention further includes steps 204 to 206 before the step 103:

Step 204, obtaining a first distance between the first unmanned aerial vehicle and the target parking space and a second distance between the second unmanned aerial vehicle and the target parking space.

In the step, the first unmanned aerial vehicle calculates the first distance by combining the flying height and the position information of the target parking space in the first scene image;

In this step, the first unmanned aerial vehicle may actively request the second unmanned aerial vehicle for position information, and by combining the position information of the target parking space, the distance between the second unmanned aerial vehicle and the target parking space, that is, the second distance, may be calculated.

Optionally, because the second unmanned aerial vehicle is fixed on the vehicle-mounted platform when not working, the position information of the vehicle can be the position information of the second unmanned aerial vehicle, and the first unmanned aerial vehicle actively requests the position information of the second unmanned aerial vehicle to the vehicle, so that the position information of the second unmanned aerial vehicle is determined, and the distance between the second unmanned aerial vehicle and the target parking space can be calculated. The location information may include GPS navigation coordinates.

And step 205, determining the second unmanned aerial vehicle as the navigation unmanned aerial vehicle under the condition that the first distance is smaller than or equal to the second distance.

In the step, under the condition that the first distance is smaller than or equal to the second distance, the first unmanned aerial vehicle is closer to the target parking space, and the first unmanned aerial vehicle is in a flying state, so that the first unmanned aerial vehicle is taken as a space occupying unmanned aerial vehicle, the first unmanned aerial vehicle can arrive at the target parking space faster to occupy the space, and correspondingly, the second unmanned aerial vehicle is taken as a navigation unmanned aerial vehicle, needs to lift off and fly above a parking lot so as to acquire road surface information under a large visual field at high altitude, and then takes over the task of the first unmanned aerial vehicle, and dynamically plans the driving path of the vehicle to the target parking space.

In the step, the second unmanned aerial vehicle can lift off from the vehicle-mounted platform to reach the original hovering position of the first unmanned aerial vehicle to take over the task that the first unmanned aerial vehicle continues to execute the real-time path planning.

Step 206, determining the second unmanned aerial vehicle to occupy the space when the first distance is greater than the second distance.

In the step, under the condition that the first distance is larger than the second distance, the second unmanned aerial vehicle is closer to the target parking space, so that the second unmanned aerial vehicle is taken as a space occupying unmanned aerial vehicle, the second unmanned aerial vehicle can reach the target parking space faster to occupy the space, correspondingly, the first unmanned aerial vehicle is taken as a navigation unmanned aerial vehicle to continue flying above the parking lot, and then the driving path of the vehicle to the target parking space is dynamically planned.

In the above embodiment, the unmanned aerial vehicle with shorter flight distance with the target parking space in the first unmanned aerial vehicle and the second unmanned aerial vehicle is used as the occupying unmanned aerial vehicle, so that the occupying of the target parking space can be maximally preempted compared with other vehicles, and the vehicle potential can be ensured to be used by a user.

Optionally, in an implementation manner, the auxiliary parking method provided by the embodiment of the present invention further includes step 104:

And 104, controlling the first unmanned aerial vehicle to fly above the parking lot and planning a first travel path of the vehicle to the target parking space under the condition that the target parking space is determined to be free of occupied risk.

In this embodiment, as long as the target parking space is not at risk of being occupied by another vehicle, the first unmanned aerial vehicle continues to monitor, that is, continuously determine the risk state of the target parking space, and at the same time, the first unmanned aerial vehicle needs to be used as a navigation unmanned aerial vehicle for navigation, so that a first travel path of the vehicle to the target parking space is planned dynamically in real time.

Optionally, in one embodiment, the planning the first travel path of the vehicle to the target parking space includes steps 301 to 304:

Step 301, acquiring a second scene image of the parking lot.

In this step, the image of the parking lot, that is, the second scene image described above, is continuously captured by the unmanned aerial vehicle for navigation looking down through the camera.

In practical applications, the second scene image may include both the vehicle and the target parking space, so as to plan a travelable path of the vehicle to the target parking space.

Step 302, determining a second position of the vehicle in the second scene image.

In this step, the vehicle continuously transmits its own coordinate information to the first unmanned aerial vehicle, and then the first unmanned aerial vehicle converts the coordinate information of the vehicle into an image coordinate system to locate the position of the vehicle in the second scene image, that is, the above-mentioned second position.

Step 303, determining a movable path to the target parking space according to the second scene image, the second position and the first position of the target parking space in the second scene image.

In this step, the travelable area and the non-travelable area are determined by analyzing the second scene image, and the path from the second position to the first position can be planned as the travelable path by combining the first position of the target vehicle in the second scene image and the second position.

Optionally, in a specific embodiment, the step 303 specifically includes:

In the specific embodiment, a semantic segmentation algorithm model is trained through a sample image of a parking lot in advance, and the model can carry out image semantic segmentation on a drivable area and a non-drivable area in an image to obtain all drivable path sets from a starting point to an ending point; and then inputting the shot second scene image of the parking lot, the second position serving as a starting point and the target parking space serving as an end point into the semantic segmentation algorithm model, so that a movable path set of the vehicle from the current position to the target parking space can be output.

Step 304, determining the first driving path according to the driving path.

In this step, one of the travel paths that can travel to the target parking space is selected as a travel path for the vehicle to travel into the target parking space, that is, the first travel path.

Optionally, in a specific embodiment, the step 304 includes:

In the specific embodiment, identifying and counting information such as vehicle and pedestrian density, road congestion, sudden accidents, road length and the like in all the drivable paths, and calculating expected driving time; and then selecting the path with the shortest time from all the travelable paths as a first travel path to be transmitted to the vehicle, so that the vehicle can travel to the target parking space in the shortest time when traveling according to the first travel path.

In the above embodiment, the second scene image of the parking lot is continuously acquired, and the second position of the vehicle in the second scene image and the first position of the target parking space in the scene image are combined, so that the driving path of the vehicle from the current position to the target parking space is planned in real time, and the vehicle can be automatically parked into the target parking space.

Optionally, in an implementation manner, the auxiliary parking method provided by the embodiment of the present invention further includes steps 105 to 107:

Step 105, when the second unmanned aerial vehicle is a space occupying unmanned aerial vehicle, and the distance between the vehicle and the target parking space is smaller than a second distance threshold, a first return instruction is sent to the second unmanned aerial vehicle, and the first return instruction is used for controlling the second unmanned aerial vehicle to return to the vehicle-mounted platform.

In this step, the second distance threshold is a distance at which it is determined that the target parking space is not preempted by another vehicle.

In the step, when the identity of the second unmanned aerial vehicle is the occupied unmanned aerial vehicle, the first unmanned aerial vehicle is the navigation unmanned aerial vehicle; when the distance between the vehicle and the target parking space is smaller than a second distance threshold value, the fact that the vehicle is close enough to the target parking space is indicated, the target parking space cannot be preempted by other vehicles in theory, in order to facilitate the vehicle to park in the target parking space, the second unmanned aerial vehicle used for occupying the space needs to be evacuated from the target parking space, and therefore the first unmanned aerial vehicle sends a first return instruction to the second unmanned aerial vehicle, the second unmanned aerial vehicle returns to the vehicle-mounted platform after receiving the first return instruction, and accordingly the target parking space is released for the vehicle to park in.

And 106, controlling the first unmanned aerial vehicle to return to the vehicle-mounted platform after the vehicle is parked in the target parking space under the condition that the second unmanned aerial vehicle is a space occupying unmanned aerial vehicle.

In the step, when the identity of the second unmanned aerial vehicle is the occupied unmanned aerial vehicle, the first unmanned aerial vehicle is the navigation unmanned aerial vehicle; after the vehicle is parked in the target parking space, the navigation of the first unmanned aerial vehicle is completed, so that the vehicle-mounted platform is automatically fed back; and before the vehicle is parked in the target parking space, the second unmanned aerial vehicle returns to the vehicle-mounted platform.

Step 107, controlling the first unmanned aerial vehicle to return to the vehicle-mounted platform under the condition that the second unmanned aerial vehicle is a navigation unmanned aerial vehicle and a second return instruction sent by the second unmanned aerial vehicle is received; the second return instruction is used for controlling the occupying unmanned aerial vehicle to return to the vehicle-mounted platform; and the second return instruction is sent to the first unmanned aerial vehicle by the second unmanned aerial vehicle under the condition that the distance between the vehicle and the target parking space is smaller than a second distance threshold value.

In the step, when the identity of the second unmanned aerial vehicle is the navigation unmanned aerial vehicle, the first unmanned aerial vehicle is the occupied unmanned aerial vehicle; when the distance between the vehicle and the target parking space is smaller than the second distance threshold, the first unmanned aerial vehicle for occupying space needs to be evacuated from the target parking space in order to facilitate the vehicle to park in the target parking space, so that the second unmanned aerial vehicle sends a second return instruction to the first unmanned aerial vehicle, and the first unmanned aerial vehicle returns to the vehicle-mounted platform after receiving the second return instruction, so that the target parking space is released for the vehicle to park in.

In the embodiment, when the vehicle is close enough to the target parking space, the navigation unmanned aerial vehicle controls the occupying unmanned aerial vehicle to return to the vehicle-mounted platform, so that the vehicle can smoothly park in the target parking space, and the navigation unmanned aerial vehicle returns to the vehicle-mounted platform after the vehicle parks in the target parking space, thereby completing the whole parking process.

Optionally, in an implementation manner, the auxiliary parking method provided by the embodiment of the present invention further includes steps 401 to 403:

and step 401, under the condition that a vehicle searching instruction is received, controlling the first unmanned aerial vehicle to fly above the parking lot and acquiring a third scene image of the parking lot.

In the step, the vehicle searching instruction is an instruction for indicating the position of a preset terminal to which the vehicle is going, and the preset terminal can be a mobile terminal bound with the vehicle; the vehicle-seeking instruction may be sent to the first drone via the vehicle; when the vehicle searching instruction is received, the position where the vehicle needs to travel to the preset terminal is indicated, so that the first unmanned aerial vehicle flies above the parking lot and starts the camera to collect a third scene image of the parking lot.

Step 402, planning a second driving path of the vehicle to the position where the preset terminal is located according to the third scene image.

In the step, the vehicle acquires the position information of the preset terminal and shares the position information with the first unmanned aerial vehicle, and then the first unmanned aerial vehicle monitors the road condition change in the third scene image in real time according to the third scene image, the position information of the vehicle and the position information of the preset terminal, and plans a second driving path of the vehicle to the position of the preset terminal.

The path planning method can specifically refer to steps 303 to 304, which are not described herein.

And step 403, transmitting the second running path to the vehicle, wherein the second running path is used for controlling the vehicle to go to the position where the preset terminal is located.

In the step, the second driving path is sent to the vehicle, when the vehicle receives the second driving path, the vehicle is controlled to cooperate with the whole vehicle power system, the steering system and the braking system, the vehicle is controlled to go to the position of the preset terminal, and then the first unmanned aerial vehicle returns to the vehicle-mounted platform, so that the automatic vehicle searching process is completed.

In the embodiment, the user sends the vehicle searching instruction to the first unmanned aerial vehicle through the preset terminal, then the first unmanned aerial vehicle flies to the upper air of the parking lot and dynamically plans the second driving path of the vehicle to the position of the preset terminal, and then the second driving path is sent to the vehicle, so that the vehicle can quickly go to the position of the preset terminal according to the second driving path, the functions of remotely starting the vehicle to park and park are realized, the user and the parking lot are completely decoupled, and the problem that parking is difficult and taking the vehicle is difficult is greatly solved.

Referring to fig. 7, a logic diagram of a method of assisting in parking in accordance with an embodiment of the present invention is shown.

As shown in fig. 7, in step 701, a user drives a vehicle to a parking lot entrance location, preferably an open parking lot;

in step 702, a user sends a search instruction through a vehicle-mounted terminal or a mobile terminal, and then a first unmanned aerial vehicle ascends from a vehicle roof to a preset height and flies to the upper part of a parking lot;

In step 703, the first unmanned aerial vehicle opens a camera to shoot the interior of the parking lot, and collects a nodding image of the parking lot;

in step 704, available empty spaces are screened out according to the nodding image and the vehicle size information;

in step 705, a first drone hovers over a parking lot, including both vehicles and available empty spaces in the field of view;

In step 706, the first drone shoots a nodding view including the vehicle and the target parking spot back to the vehicle and displays it on the vehicle screen, and then the user selects the target parking spot;

In step 707, the user may use the mobile terminal to turn on the vehicle parking function after getting off, take the first unmanned aerial vehicle as a navigation unmanned aerial vehicle, and then enter step 708;

In step 708, the navigation unmanned aerial vehicle continuously detects whether the vehicle is parked in the target parking space, if yes, step 718 is entered, otherwise step 709 and step 715 are executed;

In step 709, the navigation unmanned aerial vehicle monitors the condition of the road in the noded image of the parking lot in real time, dynamically generates a preferred driving path for the vehicle to travel to the target parking space, and then sends the driving path to the vehicle;

in step 710, the vehicle is driven to a target parking space according to a driving path sent by the navigation unmanned aerial vehicle;

In step 711, the navigation unmanned aerial vehicle continuously monitors whether the vehicle reaches the vicinity of the target parking space, if yes, step 712 is entered, otherwise step 708 is returned;

In step 712, it is determined whether the parking space is occupied by the occupied unmanned aerial vehicle, if yes, step 713 is entered, otherwise step 714 is entered;

in step 713, control returns the placeholder unmanned aerial vehicle to the on-board platform,

In step 714, the vehicle initiates an auto park function to park into a target parking space;

In step 715, the navigation unmanned plane monitors the surrounding situation of the target parking space in real time;

In step 716, determining a risk status of the target parking space, if it is determined that the target parking space has a risk of being occupied, entering step 717, otherwise feeding back step 708;

in step 717, taking the second unmanned aerial vehicle as a navigation unmanned aerial vehicle, taking over the position of the first unmanned aerial vehicle to execute the monitoring and navigation tasks; meanwhile, the first unmanned aerial vehicle flies to the upper space of the target parking space to hover and occupy the space, and sends out occupied light or sound to the surrounding to prompt;

in step 718, control returns the navigational unmanned aerial vehicle to the vehicle-mounted platform;

In step 719, the vehicle feeds back a completion signal to the mobile terminal to inform the user that the parking was successful, completing the entire parking process.

Referring to fig. 8, a logic diagram of a vehicle searching process according to an embodiment of the invention is shown.

As shown in fig. 8, in step 801, a user holds a mobile terminal at a get-on position at a parking lot exit, a pick-up point, or the like;

in step 802, a user starts a vehicle parking function through a mobile terminal, and sends a vehicle searching instruction carrying GPS position information of the mobile terminal to a vehicle;

in step 803, the vehicle obtains GPS location information of the mobile terminal and shares with the first unmanned aerial vehicle;

in step 804, the first unmanned aerial vehicle is taken as a navigation unmanned aerial vehicle, and takes off from the vehicle-mounted platform to a preset height;

in step 805, the first unmanned aerial vehicle starts a camera to take a top view of the ground;

in step 806, the first unmanned aerial vehicle determines whether the vehicle arrives at the position of the mobile terminal in real time according to the nodding chart and the GPS position information of the mobile terminal, if yes, step 810 is entered, otherwise step 807 is entered;

in step 807, the first unmanned aerial vehicle monitors the road condition in the nodding chart in real time, generates a preferred travel path for the vehicle to travel to the location of the mobile terminal, and transmits the travel path to the vehicle;

in step 808, the vehicle goes to the position of the mobile terminal according to the travel path sent by the navigation unmanned aerial vehicle;

in step 809, the vehicle feeds back its own position information to the mobile terminal to inform the user of the vehicle position in real time;

in step 810, stopping the vehicle after the vehicle arrives at the position of the mobile terminal, and controlling the first unmanned aerial vehicle to return to the vehicle-mounted platform to complete the whole vehicle searching process;

in step 811, the user gets on the car and gets off the parking lot.

Referring to fig. 9, a logic diagram of generating a travel path in an embodiment of the present invention is shown.

As shown in fig. 9, in step 901, a navigation unmanned aerial vehicle hovers over a parking lot and takes a floor nodding map;

In step 902, the vehicle transmits its own GPS position coordinates to the navigation drone;

in step 903, the navigation unmanned aerial vehicle converts the vehicle GPS position coordinates to image coordinates, thereby locating the position of the vehicle in the image;

In step 904, when performing the parking navigation, the navigation unmanned aerial vehicle obtains the position of the target parking space selected by the user in the image as an end point, and takes the position of the vehicle as a starting point; when the vehicle searching navigation is carried out, the navigation unmanned aerial vehicle obtains the GPS position of the user as an end point and takes the GPS position of the vehicle as a starting point;

In step 905, the exercisable road in the nodding chart is divided to obtain a exercisable path set from the start point to the end point;

in step 906, the navigation unmanned plane continuously monitors road information such as the density of vehicles and pedestrians, the length of roads and the like in the drivable paths, and calculates the estimated driving duration of each drivable path;

in step 907, the path with the shortest predicted travel time length in each feasible path is sent to the vehicle as the preferred travel path, and the path planning is completed once.

The embodiment of the invention also provides a second auxiliary parking method applied to a second unmanned aerial vehicle, as shown in fig. 10, wherein the method comprises steps 211-212.

The auxiliary parking method provided by the embodiment of the invention is applied to a second unmanned aerial vehicle, the first unmanned aerial vehicle, the vehicle and the mobile terminal can be mutually communicated, and the mobile terminal can be a mobile phone or the like; by way of example, communication can be realized through the 5G module between mobile terminal and first unmanned aerial vehicle, second unmanned aerial vehicle and the vehicle, and communication can be realized through automobile-used wireless communication (vehicle to everything, V2X) technique between vehicle and first unmanned aerial vehicle and the second unmanned aerial vehicle, realizes communication through the 5G module between first unmanned aerial vehicle and the second unmanned aerial vehicle.

Step 211, under the condition that a navigation instruction sent by a first unmanned aerial vehicle is received, controlling a second unmanned aerial vehicle to lift off, planning a first travel path of a vehicle to a target parking space, and sending the first travel path to the vehicle so as to control the vehicle to travel to the target parking space according to the first travel path; and the navigation instruction is sent to the second unmanned aerial vehicle by the first unmanned aerial vehicle when the risk state of the target parking space is determined to be occupied, and the second unmanned aerial vehicle is determined to be the navigation unmanned aerial vehicle.

In the step, when a first unmanned aerial vehicle receives a search instruction for indicating the unmanned aerial vehicle to search a target parking space which can be parked, the first unmanned aerial vehicle searches the target parking space which can be parked in a parking lot; meanwhile, in order to ensure that the vehicle can smoothly park into the target parking space, the risk state of the target parking space is continuously determined before the vehicle reaches the target parking space, namely whether the target parking space is at risk of being preempted by other vehicles is monitored. When the occupied risk of the target parking space is monitored, an unmanned aerial vehicle needs to be dispatched to occupy the target parking space, so that the occupied unmanned aerial vehicle for occupying the space and the navigation unmanned aerial vehicle for navigating are required to be determined from a first unmanned aerial vehicle and a preset second unmanned aerial vehicle respectively, and the identity of the second unmanned aerial vehicle is determined, namely the identity of the first unmanned aerial vehicle is determined correspondingly; when the second unmanned aerial vehicle is determined to be a space occupying unmanned aerial vehicle, the first unmanned aerial vehicle is a navigation unmanned aerial vehicle; when the second unmanned aerial vehicle is determined to be the navigation unmanned aerial vehicle, the first unmanned aerial vehicle is the occupied unmanned aerial vehicle.

When the first unmanned aerial vehicle determines that the second unmanned aerial vehicle is a navigation unmanned aerial vehicle for navigation, the first unmanned aerial vehicle sends a navigation instruction to the second unmanned aerial vehicle, so that the second unmanned aerial vehicle can take off from a vehicle-mounted platform, fly above a parking lot and plan a first travel path of a vehicle to a target parking space in real time when receiving the navigation instruction, then the first travel path is sent to the vehicle, and when the first travel path is received by the vehicle, the vehicle is controlled to cooperate with a whole vehicle power system, a steering system and a braking system to control the vehicle to travel to the target parking space, and then an automatic parking process is completed.

When the second unmanned aerial vehicle is a navigation unmanned aerial vehicle, the first unmanned aerial vehicle is a space occupying unmanned aerial vehicle, and the first unmanned aerial vehicle needs to go to the target parking space to occupy the space.

Step 212, under the condition that a space occupying instruction sent by the first unmanned aerial vehicle is received, controlling the second unmanned aerial vehicle to fly to the target parking space for space occupying; the first unmanned aerial vehicle determines that the risk state of the target parking space is occupied, and the second unmanned aerial vehicle is determined to be the occupied unmanned aerial vehicle and then sent to the second unmanned aerial vehicle.

The first unmanned aerial vehicle determines that the target parking space is occupied, and determines that the second unmanned aerial vehicle is a space occupying unmanned aerial vehicle for taking the space, the first unmanned aerial vehicle sends a space occupying instruction to the second unmanned aerial vehicle, and the second unmanned aerial vehicle takes off from the vehicle-mounted platform and takes the space from the target parking space when receiving the space occupying instruction.

When the second unmanned aerial vehicle is determined to be the occupied unmanned aerial vehicle for occupying space, the first unmanned aerial vehicle is a navigation unmanned aerial vehicle, and the first unmanned aerial vehicle needs to navigate above the parking lot, so that a first travel path of the vehicle to the target parking space is planned in real time, the first travel path is sent to the vehicle, when the first travel path is received by the vehicle, the whole vehicle power system, the steering system and the braking system are controlled to cooperate, the vehicle is controlled to travel to the target parking space, and then the automatic parking process is completed.

According to the implementation process, the double unmanned aerial vehicles are used for collaborative work, under the condition that the first unmanned aerial vehicle searches out the target parking space which can be parked in, if the target parking space is occupied, the occupied unmanned aerial vehicle and the navigation unmanned aerial vehicle are determined from the first unmanned aerial vehicle and the second unmanned aerial vehicle, the occupied unmanned aerial vehicle flies to the target parking space to occupy the space, the navigation unmanned aerial vehicle hovers above the parking lot, a first driving path of a vehicle to the target parking space is planned, reliability and flexibility of path planning are greatly improved, the vehicle is convenient to smoothly travel to the target parking space, and the fact that the target parking space is always available is guaranteed, so that the problem that an empty parking space is difficult to find and the parking space is easy to be occupied in a large parking lot after existing basic equipment is solved, the user does not need to personally drive in a car, and the user time is saved.

Optionally, in an implementation manner, the auxiliary parking method provided by the embodiment of the present invention further includes steps 213 to 214:

Step 213, after receiving the navigation instruction sent by the first unmanned aerial vehicle, sending a second return instruction to the first unmanned aerial vehicle when the distance between the vehicle and the target parking space is smaller than a second distance threshold value, and returning to the vehicle-mounted platform after the vehicle is parked in the target parking space; and the second return instruction is used for controlling the first unmanned aerial vehicle to return to the vehicle-mounted platform.

In the step, when a navigation instruction sent by the first unmanned aerial vehicle is received, the identity of the second unmanned aerial vehicle is indicated to be the navigation unmanned aerial vehicle for navigation, and therefore when the distance between the vehicle and the target parking space is smaller than a second distance threshold, that is, when the target parking space is determined to be impossible to be preempted by other vehicles in theory, a second return instruction is sent to the first unmanned aerial vehicle so as to control the first unmanned aerial vehicle to return to the vehicle-mounted platform, and meanwhile, the second unmanned aerial vehicle returns to the vehicle-mounted platform after the vehicle is parked in the target parking space, so that the whole parking process is completed.

Step 214, after receiving the occupation instruction sent by the first unmanned aerial vehicle, returning the second unmanned aerial vehicle to the vehicle-mounted platform under the condition that a first return instruction sent by the first unmanned aerial vehicle is received; and the first return instruction is sent to the second unmanned aerial vehicle by the first unmanned aerial vehicle under the condition that the identity of the second unmanned aerial vehicle is the occupied unmanned aerial vehicle and the distance between the vehicle and the target parking space is smaller than a second distance threshold value.

In the step, when a space occupying instruction sent by a first unmanned aerial vehicle is received, the identity of a second unmanned aerial vehicle is indicated to be the space occupying unmanned aerial vehicle, so that when the distance between a vehicle and a target parking space is smaller than a second distance threshold value, the first unmanned aerial vehicle sends a first return instruction to the second unmanned aerial vehicle in order to facilitate the vehicle to park in the target parking space, and the second unmanned aerial vehicle automatically returns to a vehicle-mounted platform when receiving the first feedback instruction; the first unmanned aerial vehicle returns to the vehicle-mounted platform after the vehicle is parked in the target parking space, so that the whole parking process is completed.

The embodiment of the invention also provides a third auxiliary parking method, as shown in fig. 11, which comprises steps 311 to 315.

The auxiliary parking method provided by the embodiment of the invention is applied to a preset terminal, wherein the preset terminal can be a vehicle-mounted terminal or a mobile terminal on a vehicle, the vehicle-mounted terminal, the mobile terminal, the second unmanned aerial vehicle and the first unmanned aerial vehicle can be mutually communicated, and the mobile terminal can be a mobile phone and the like; by way of example, communication can be realized through the 5G module between mobile terminal and first unmanned aerial vehicle, second unmanned aerial vehicle and the vehicle, and communication can be realized through automobile-used wireless communication (vehicle to everything, V2X) technique between vehicle and first unmanned aerial vehicle and the second unmanned aerial vehicle, realizes communication through the 5G module between first unmanned aerial vehicle and the second unmanned aerial vehicle.

Step 311, a search instruction is sent to the first unmanned aerial vehicle, where the search instruction is used to control the first unmanned aerial vehicle to search for a target parking space that can be parked in the parking lot, and determine a risk state of the target parking space.

In the step, the search instruction is an instruction for instructing the unmanned aerial vehicle to search for a target parking space which can be accessed, and the search instruction can be sent to the first unmanned aerial vehicle through the vehicle-mounted terminal or the mobile terminal when the user needs to search for the parking space; when the first unmanned aerial vehicle receives the search instruction, the first unmanned aerial vehicle flies to the upper space of the parking lot to search for the target parking space which can be parked, and after the target parking space which can be parked is searched, the risk state of the target parking space is continuously monitored, namely whether the target parking space is occupied or not is monitored.

Step 312, receiving a risk state returned by the first unmanned aerial vehicle, and determining a space occupying unmanned aerial vehicle used for occupying space and a navigation unmanned aerial vehicle used for navigation from the first unmanned aerial vehicle and a preset second unmanned aerial vehicle when the risk state is that the target parking space is occupied.

In the step, after a first unmanned aerial vehicle determines a risk state of a target parking space, the risk state is fed back to a preset terminal, and the preset terminal needs to determine a space occupying unmanned aerial vehicle for occupying space and a navigation unmanned aerial vehicle for navigating from the first unmanned aerial vehicle and the second unmanned aerial vehicle respectively under the condition that the risk state is that the target parking space is occupied, so that the identity of the second unmanned aerial vehicle is determined, namely the identity of the first unmanned aerial vehicle is correspondingly determined; when the second unmanned aerial vehicle is determined to be a space occupying unmanned aerial vehicle, the first unmanned aerial vehicle is a navigation unmanned aerial vehicle; when the second unmanned aerial vehicle is determined to be the navigation unmanned aerial vehicle, the first unmanned aerial vehicle is the occupied unmanned aerial vehicle.

Optionally, in the step 312, determining the placeholder unmanned aerial vehicle for placeholder and the navigation unmanned aerial vehicle for navigation from the first unmanned aerial vehicle and the preset second unmanned aerial vehicle specifically includes: acquiring a first distance between the first unmanned aerial vehicle and the target parking space and a second distance between the second unmanned aerial vehicle and the target parking space; under the condition that the first distance is smaller than or equal to the second distance, determining the first unmanned aerial vehicle as the occupied unmanned aerial vehicle, and determining the second unmanned aerial vehicle as the navigation unmanned aerial vehicle; and under the condition that the first distance is larger than the second distance, determining the first unmanned aerial vehicle as the navigation unmanned aerial vehicle, and determining the second unmanned aerial vehicle as the occupying unmanned aerial vehicle.

Step 313, controlling the occupied unmanned aerial vehicle to fly to the target parking space for occupying.

In the step, a preset terminal sends a space occupying instruction to a space occupying unmanned aerial vehicle, and the space occupying unmanned aerial vehicle flies to a target parking space to occupy the space after receiving the space occupying instruction.

Optionally, the occupying unmanned aerial vehicle comprises: hovering to the upper space of the target parking space, and sending out occupied reminding signals to the surrounding.

And step 314, controlling the navigation unmanned aerial vehicle to lift off and planning a first driving path of the vehicle to the target parking space.

In the step, the navigation unmanned aerial vehicle needs to navigate, so that the unmanned aerial vehicle flies above a parking lot, a first travel path of the vehicle to a target parking space is planned in real time, and then the first travel path is sent to a preset terminal.

Step 315, receiving a first travel path returned by the navigation unmanned aerial vehicle, and controlling the vehicle to travel to the target parking space according to the first travel path.

In the step, when the preset terminal receives the first driving path, the whole vehicle power system, the steering system and the braking system are controlled to cooperate, the vehicle is controlled to go to a target parking space, and then the automatic parking process is completed.

Optionally, in an implementation manner, the auxiliary parking method provided by the embodiment of the present invention further includes:

controlling the occupied unmanned aerial vehicle to return to a vehicle-mounted platform under the condition that the distance between the vehicle and the target parking space is smaller than a second distance threshold;

And under the condition that the vehicle is parked in the target parking space, controlling the navigation unmanned aerial vehicle to return to the vehicle-mounted platform.

In the embodiment, when the vehicle is close enough to the target parking space, the occupied unmanned aerial vehicle is controlled to return to the vehicle-mounted platform, so that the vehicle can be smoothly parked in the target parking space, and the navigation unmanned aerial vehicle returns to the vehicle-mounted platform after the vehicle is parked in the target parking space, so that the whole parking process is completed.

Fig. 12 is a schematic diagram of an auxiliary parking device provided in an embodiment of the present invention, which is applied to a first unmanned aerial vehicle, where the device includes:

The searching module 1201 is configured to control the first unmanned aerial vehicle to lift off and search for a target parking space that can be parked in a parking lot when receiving a searching instruction;

A determining module 1202, configured to determine a risk status of the target parking space;

the first control module 1203 is configured to control the space occupation unmanned aerial vehicle to fly to the target parking space to occupy a space when the risk state is that the target parking space is at a risk of being occupied, and control the navigation unmanned aerial vehicle to lift off to plan a first travel path of the vehicle to the target parking space, where the space occupation unmanned aerial vehicle is one of the first unmanned aerial vehicle and the second unmanned aerial vehicle, and the navigation unmanned aerial vehicle is the other one of the first unmanned aerial vehicle and the second unmanned aerial vehicle.

Optionally, in the apparatus, the determining module 1202 includes:

The first acquisition submodule is used for acquiring the running trend of other vehicles around the target parking space and a third distance between the first acquisition submodule and the target parking space;

and the first determining submodule is used for determining that the target parking space is at occupied risk under the condition that the third distance is smaller than a first distance threshold and the running trend is close to the target parking space.

Optionally, in the apparatus, the first control module 1203 includes:

the second acquisition sub-module is used for acquiring a first distance between the first unmanned aerial vehicle and the target parking space and a second distance between the second unmanned aerial vehicle and the target parking space;

a second determining sub-module, configured to determine the second unmanned aerial vehicle as the navigation unmanned aerial vehicle when the first distance is less than or equal to the second distance;

and the third determining submodule is used for determining the second unmanned aerial vehicle to occupy the space under the condition that the first distance is larger than the second distance.

Optionally, in the apparatus, the first control module 1203 includes:

And the occupying sub-module is used for controlling the occupying unmanned aerial vehicle to hover to the upper space of the target parking space and sending out occupied reminding signals to the surrounding.

Optionally, the apparatus further comprises:

And the first navigation module is used for controlling the first unmanned aerial vehicle to fly above the parking lot and planning a first travel path of the vehicle to the target parking space under the condition that the target parking space is determined to be free of occupied risk.

Optionally, in the apparatus, the search module 1201 includes:

The first acquisition sub-module is used for acquiring a first scene image of the parking lot;

a fourth determining submodule, configured to determine a first parking space into which the vehicle can be parked according to the scene image and the size information of the vehicle;

and the fifth determining submodule is used for determining the target parking space according to the first parking space.

Optionally, in the apparatus, the fifth determining submodule includes:

The first sending unit is used for sending a display instruction to a preset terminal, wherein the display instruction carries the position information of the first parking space, and the display instruction is used for controlling the preset terminal to display the first parking space according to the position information;

the first determining unit is used for determining the first parking place corresponding to the selection instruction as the target parking place according to the selection instruction fed back by the preset terminal aiming at the display instruction.

Optionally, in the apparatus, the fifth determining submodule includes:

The second sending unit is used for sending a display instruction to a preset terminal, wherein the display instruction carries the position information of the first parking space, and the display instruction is used for controlling the preset terminal to display the first parking space according to the position information;

The second determining unit is used for determining the first parking place corresponding to the selection instruction as the target parking place under the condition that the selection instruction fed back by the preset terminal aiming at the display instruction is received in a first time period;

And the third determining unit is used for determining a recommended second parking space from the first parking spaces and determining the second parking space as the target parking space under the condition that the selection instruction fed back by the preset terminal for the display instruction is not received within a first time period.

Optionally, in the device, a third determining unit is specifically configured to determine, as the second parking space, a parking space with a shortest distance from the vehicle among the plurality of first parking spaces when the plurality of first parking spaces exist; or alternatively

Optionally, in the apparatus, the first control module 1203 includes:

The second acquisition sub-module is used for acquiring a second scene image of the parking lot;

a sixth determination submodule for determining a second position of the vehicle in the second scene image;

A seventh determining submodule, configured to determine a travelable path to the target parking space according to the second scene image, the second position, and the first position of the target parking space in the second scene image;

And an eighth determination submodule, configured to determine the first travel path according to the possible travel path.

Optionally, in the device, an eighth determining submodule is specifically configured to determine a travel path with the shortest time required in each of the possible travel paths as the first travel path.

Optionally, in the device, a seventh determining submodule is provided with a set of exercisable paths for inputting the second scene image, the second position and the first position into a semantic segmentation algorithm model and obtaining output of the semantic segmentation algorithm model; the semantic segmentation algorithm model is obtained by training based on sample images of parking lots in advance, and a set of movable paths from a starting point to an end point can be determined based on images of different target parking lots.

Optionally, the apparatus further comprises:

The second sending module is used for sending a first return instruction to the second unmanned aerial vehicle when the second unmanned aerial vehicle is a space occupying unmanned aerial vehicle and the distance between the vehicle and the target parking space is smaller than a second distance threshold value, and the first return instruction is used for controlling the second unmanned aerial vehicle to return to the vehicle-mounted platform;

The first return module is used for controlling the first unmanned aerial vehicle to return to the vehicle-mounted platform after the vehicle is parked in the target parking space under the condition that the second unmanned aerial vehicle is a space occupying unmanned aerial vehicle;

the second return module is used for controlling the first unmanned aerial vehicle to return to the vehicle-mounted platform under the condition that the second unmanned aerial vehicle is a navigation unmanned aerial vehicle and a second return instruction sent by the second unmanned aerial vehicle is received; the second return instruction is used for controlling the occupying unmanned aerial vehicle to return to the vehicle-mounted platform; and the second return instruction is sent to the first unmanned aerial vehicle by the second unmanned aerial vehicle under the condition that the distance between the vehicle and the target parking space is smaller than a second distance threshold value.

Optionally, the apparatus further comprises:

The acquisition module is used for enabling the first unmanned aerial vehicle to fly above the parking lot and acquiring a third scene image of the parking lot under the condition that a vehicle searching instruction is received;

The planning module is used for planning a second driving path of the vehicle to the position where the preset terminal is located according to the third scene image;

And the third sending module is used for sending the second driving path to the vehicle in a driving way, and the second driving path is used for controlling the vehicle to go to the position where the preset terminal is located.

Fig. 13 is a schematic diagram of a second auxiliary parking device provided by an embodiment of the present invention, applied to a second unmanned aerial vehicle, where the device includes:

The second control module 1301 is configured to control, when receiving a navigation instruction sent by the first unmanned aerial vehicle, the second unmanned aerial vehicle to lift off, plan a first travel path for a vehicle to travel to the target parking space, and send the first travel path to the vehicle, so as to control the vehicle to travel to the target parking space according to the first travel path; the navigation instruction is sent to the second unmanned aerial vehicle by the first unmanned aerial vehicle when the risk state of the target parking space is determined to be occupied, and the second unmanned aerial vehicle is determined to be the navigation unmanned aerial vehicle;

The third control module 1302 is configured to fly to the target parking space to occupy a space under the condition that an occupied space instruction sent by the first unmanned aerial vehicle is received; the first unmanned aerial vehicle determines that the risk state of the target parking space is occupied, and the second unmanned aerial vehicle is determined to be the occupied unmanned aerial vehicle, and then the occupied instruction is sent to the second unmanned aerial vehicle.

Fig. 14 is a schematic view of a second auxiliary parking device according to an embodiment of the present invention, where the device includes:

The first sending module 1401 is configured to send a search instruction to the first unmanned aerial vehicle, where the search instruction is used to control the first unmanned aerial vehicle to search for a target parking space that can be parked in the parking lot, and determine a risk state of the target parking space;

A first receiving module 1402, configured to receive a risk status returned by the first unmanned aerial vehicle, and determine, from the first unmanned aerial vehicle and a preset second unmanned aerial vehicle, a space occupying unmanned aerial vehicle for occupying space and a navigation unmanned aerial vehicle for navigating when the risk status is that the target parking space has occupied risk;

A fourth control module 1403, configured to control the space occupying unmanned aerial vehicle to fly to the target parking space for space occupying;

A fifth control module 1404, configured to control the navigation unmanned aerial vehicle to lift off and plan a first travel path for the vehicle to travel to the target parking space;

The sixth control module 1405 is configured to receive a first travel path returned by the navigation unmanned aerial vehicle, and control the vehicle to travel to the target parking space according to the first travel path.

For the above-described device embodiments, reference is made to the description of the method embodiments for the reason that they are substantially similar to the following parking method embodiments.

According to the auxiliary parking device provided by the embodiment of the invention, the double unmanned aerial vehicles are used for cooperative work, under the condition that the first unmanned aerial vehicle searches out the target parking space which can be parked in, if the target parking space is at occupied risk, the occupied unmanned aerial vehicle and the navigation unmanned aerial vehicle are determined from the first unmanned aerial vehicle and the second unmanned aerial vehicle, the occupied unmanned aerial vehicle flies to the target parking space to occupy the space, the navigation unmanned aerial vehicle hovers above the parking space, and the first driving path of the vehicle to the target parking space is planned, so that the reliability and the flexibility of path planning are greatly improved, the vehicle can conveniently and smoothly travel to the target parking space, and the target parking space is always available, so that the problems that the existing basic equipment is difficult to find an empty parking space and the parking space is easy to be preempted in a large parking space are solved.

The embodiment of the present invention further provides an electronic device, as shown in fig. 15, including a processor 11501, a communication interface 1502, a memory 1503, and a communication bus 1504, where the processor 1501, the communication interface 1502, and the memory 1503 complete communication with each other through the communication bus 1504.

Memory 1503 for storing computer programs.

The processor 1501, when executing the program stored in the memory 1503, performs the following steps:

Determining a risk state of the target parking space;

Controlling a space occupying unmanned aerial vehicle to fly to the target parking space to occupy a space when the risk state is that the target parking space is occupied, controlling a navigation unmanned aerial vehicle to lift off to plan a first travel path of a vehicle to the target parking space, wherein the space occupying unmanned aerial vehicle is one of a first unmanned aerial vehicle and a second unmanned aerial vehicle, and the navigation unmanned aerial vehicle is the other of the first unmanned aerial vehicle and the second unmanned aerial vehicle;

Or alternatively

The method comprises the following steps:

Under the condition that a navigation instruction sent by a first unmanned aerial vehicle is received, controlling a second unmanned aerial vehicle to lift off, planning a first travel path of a vehicle to a target parking space, and sending the first travel path to the vehicle so as to control the vehicle to travel to the target parking space according to the first travel path; the navigation instruction is sent to the second unmanned aerial vehicle by the first unmanned aerial vehicle when the risk state of the target parking space is determined to be occupied, and the second unmanned aerial vehicle is determined to be the navigation unmanned aerial vehicle;

under the condition that a space occupying instruction sent by a first unmanned aerial vehicle is received, controlling the second unmanned aerial vehicle to fly to the target parking space for space occupying; the first unmanned aerial vehicle determines that the risk state of the target parking space is occupied, and the second unmanned aerial vehicle is sent to the second unmanned aerial vehicle under the condition that the second unmanned aerial vehicle is determined to be occupied;

Or alternatively

The method comprises the following steps:

The processor 1501 may also implement other steps in the above-described auxiliary parking method, which will not be described here.

The communication bus mentioned by the above electronic device may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, abbreviated as PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated as EISA) bus or a controller area network (ContrllerArea Network, CAN) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the electronic device and other devices.

The memory may include random access memory (Random Access Memory, RAM) or may include non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), etc.; but may also be a digital signal processor (DIGITAL SIGNAL Processing, DSP), application Specific Integrated Circuit (ASIC), field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.

In yet another embodiment of the present invention, a computer readable storage medium is provided, in which instructions are stored, which when run on a computer, cause the computer to perform the parking assist method described in the above embodiment.

In yet another embodiment of the present invention, a computer program product containing instructions that, when run on a computer, cause the computer to perform the following parking method described in the above embodiments is also provided.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk Solid STATE DISK (SSD)), etc.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. For embodiments of an apparatus, an electronic device, a computer-readable storage medium, and a computer program product containing instructions, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the section of the method embodiments being relevant.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method of assisting in parking a vehicle, applied to a first unmanned aerial vehicle, the method comprising:

Determining a risk state of the target parking space;

2. The method of claim 1, wherein determining a risk status of the target parking space comprises:

3. The method of claim 1, wherein prior to controlling the flying of the drone to the target space for occupancy, controlling the navigational drone to lift off to plan a first travel path for the vehicle to travel to the target space, the method further comprises:

4. The method of claim 1, wherein controlling the flying of the placeholder unmanned aerial vehicle to the target parking space for occupancy comprises:

5. The method according to claim 1, wherein the method further comprises:

And under the condition that the target parking space is not occupied, controlling the first unmanned aerial vehicle to fly above the parking lot, and planning a first travel path of the vehicle to the target parking space.

6. The method of claim 1, wherein searching for a target parking space accessible in a parking lot comprises:

collecting a first scene image of the parking lot;

and determining the target parking space according to the first parking space.

7. The method of claim 6, wherein determining the target parking space from the first parking space comprises:

8. The method of claim 6, wherein determining the target parking space from the first parking space comprises:

9. The method of claim 8, wherein determining a recommended second parking space from the first parking spaces comprises:

10. The method of claim 1, wherein planning a first travel path for a vehicle to the target parking space comprises:

Collecting a second scene image of the parking lot;

determining a second location of the vehicle in the second scene image;

And determining the first driving path according to the driving path.

11. The method of claim 10, wherein determining the first travel path from the travelable path comprises:

12. The method of claim 10, wherein determining a travelable path to the target parking spot based on the second scene image, the second location, and the first location in the second scene image comprises:

13. The method according to claim 1, wherein the method further comprises:

when the second unmanned aerial vehicle is a space occupying unmanned aerial vehicle and the distance between the vehicle and the target parking space is smaller than a second distance threshold value, a first return instruction is sent to the second unmanned aerial vehicle, and the first return instruction is used for controlling the second unmanned aerial vehicle to return to a vehicle-mounted platform;

under the condition that the second unmanned aerial vehicle is a space occupying unmanned aerial vehicle, after the vehicle is parked in the target parking space, the first unmanned aerial vehicle is controlled to return to the vehicle-mounted platform;

When the second unmanned aerial vehicle is a navigation unmanned aerial vehicle and a second return instruction sent by the second unmanned aerial vehicle is received, the first unmanned aerial vehicle returns to the vehicle-mounted platform; the second return instruction is used for controlling the occupying unmanned aerial vehicle to return to the vehicle-mounted platform; and the second return instruction is sent to the first unmanned aerial vehicle by the second unmanned aerial vehicle under the condition that the distance between the vehicle and the target parking space is smaller than a second distance threshold value.

14. The method according to claim 1, wherein the method further comprises:

Under the condition that a vehicle searching instruction is received, controlling the first unmanned aerial vehicle to fly above the parking lot and collecting a third scene image of the parking lot;

15. A method of assisting in parking a vehicle, applied to a second unmanned aerial vehicle, the method comprising:

Under the condition that a space occupying instruction sent by a first unmanned aerial vehicle is received, controlling the second unmanned aerial vehicle to fly to the target parking space for space occupying; the first unmanned aerial vehicle determines that the risk state of the target parking space is occupied, and the second unmanned aerial vehicle is determined to be the occupied unmanned aerial vehicle and then sent to the second unmanned aerial vehicle.

16. The assisted parking method of claim 15, further comprising:

17. A method of assisting in parking, the method comprising:

18. An electronic device, comprising: a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete communication with each other through a communication bus;

A memory for storing a computer program;

a processor for implementing the steps in the parking assist method according to any one of claims 1 to 17 when executing a program stored on a memory.

19. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the parking-assist method as claimed in any one of claims 1 to 17.