CN113479194B - Parking control method, device, electronic device and readable medium - Google Patents

Abstract

The embodiment of the disclosure discloses a parking control method, a parking control device, an electronic device and a readable medium. One embodiment of the method comprises: acquiring target charging pile identification information corresponding to a target vehicle and vehicle position information of the target vehicle; detecting fixed charging piles within a preset range based on the vehicle position information to generate charging pile navigation information; in response to the fact that the charging pile navigation information meets the navigation condition, controlling the target vehicle to travel to a target position according to a preset step length based on the navigation information included in the charging pile navigation information; and controlling the target vehicle to finish automatic parking based on the vehicle position information of the target vehicle in response to the fact that the charging pile navigation information does not meet the navigation condition. This embodiment can reduce the time cost of the driver and improve the parking efficiency of the driver.

Description

Parking control method, device, electronic device and readable medium

technical field

Embodiments of the present disclosure relate to the field of computer technology, and in particular, to a parking control method, apparatus, electronic device, and readable medium.

Background technique

With the increasing number of new energy vehicles, drivers have a relatively large demand for parking spaces with charging piles. Most related companies tend to build multiple charging piles in the parking lot of shops, residences or office buildings to meet the needs of parking charging. At present, the method of setting up signs is usually adopted to guide the target vehicle to drive to a parking space with charging piles. Or install the Bluetooth system into the charging pile to locate the parking space with the charging pile, and then prompt the target vehicle to complete the automatic parking.

However, when the above-mentioned method is used for positioning and parking, there are often the following technical problems:

When the driver drives the vehicle to the indoor parking lot, it is often difficult to find the target parking space in a short time due to the lack of clear indication signs, which increases the driver's time cost and reduces the driver's parking efficiency.

SUMMARY OF THE INVENTION

This summary of the disclosure serves to introduce concepts in a simplified form that are described in detail in the detailed description that follows. The content section of this disclosure is not intended to identify key features or essential features of the claimed technical solution, nor is it intended to be used to limit the scope of the claimed technical solution. Some embodiments of the present disclosure propose a parking control method, apparatus, electronic device and readable medium to solve one or more of the technical problems mentioned in the above background section.

In a first aspect, some embodiments of the present disclosure provide a parking control method, the method includes: acquiring target charging pile identification information corresponding to a target vehicle and vehicle location information of the target vehicle; The fixed charging piles within the set range are detected to generate charging pile navigation information, wherein the charging pile navigation information includes: navigation charging pile identification information and navigation information; in response to determining that the charging pile navigation information meets the navigation conditions, based on the charging pile navigation information The navigation information included in the navigation information controls the target vehicle to drive to the target position according to the preset step length, wherein the navigation condition is: the navigation charging pile identification information included in the charging pile navigation information is different from the target charging pile identification information; In response to determining that the above-mentioned charging pile navigation information does not meet the navigation conditions, the above-mentioned target vehicle is controlled to complete automatic parking based on the vehicle position information of the above-mentioned target vehicle.

In a second aspect, some embodiments of the present disclosure provide a parking control device, the device comprising: an acquisition unit configured to acquire target charging pile identification information corresponding to a target vehicle and vehicle location information of the target vehicle; a detection unit, is configured to detect fixed charging piles within a preset range based on the vehicle location information to generate charging pile navigation information, wherein the charging pile navigation information includes: navigation charging pile identification information and navigation information; a first control unit, is configured to, in response to determining that the charging pile navigation information satisfies the navigation conditions, based on the navigation information included in the charging pile navigation information, to control the target vehicle to drive to the target position according to a preset step length, wherein the navigation conditions are: the charging pile The navigation charging pile identification information included in the navigation information is different from the target charging pile identification information; the second control unit is configured to, in response to determining that the charging pile navigation information does not meet the navigation conditions, based on the vehicle position information of the target vehicle, control the The above target vehicle completes automatic parking.

In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device on which one or more programs are stored, when one or more programs are stored by one or more The processor executes, so that one or more processors implement the method described in any implementation manner of the above first aspect.

In a fourth aspect, some embodiments of the present disclosure provide a computer-readable medium on which a computer program is stored, wherein, when the program is executed by a processor, the method described in any implementation manner of the above-mentioned first aspect is implemented.

The above-mentioned embodiments of the present disclosure have the following beneficial effects: through the parking control methods of some embodiments of the present disclosure, the driver's time cost can be reduced, and the driver's parking efficiency can be improved. Specifically, the reasons for increasing the driver's time cost and reducing the driver's parking efficiency are: the similarity of each area in the parking lot is high, and there is a lack of indication signs for parking spaces with charging piles. When the vehicle drives to the indoor parking lot, it is often difficult to find the target parking space in a short time, which increases the driver's time cost and reduces the driver's parking efficiency. Based on this, in the parking control methods of some embodiments of the present disclosure, first, the identification information of the target charging pile corresponding to the target vehicle and the vehicle position information of the above-mentioned target vehicle are acquired. Provide data support for subsequent detection of charging pile navigation information. Secondly, based on the vehicle location information, the fixed charging piles within a preset range are detected to generate charging pile navigation information, wherein the charging pile navigation information includes: navigation charging pile identification information and navigation information. The charging pile navigation information corresponding to the charging pile closest to the target vehicle is generated by detecting the charging piles around the target vehicle. For the subsequent control of the target vehicle, it continuously drives to the target charging pile. Then, in response to determining that the above-mentioned charging pile navigation information satisfies the navigation conditions, based on the navigation information included in the above-mentioned charging pile navigation information, control the above-mentioned target vehicle to drive to the target position according to a preset step length, wherein the above-mentioned navigation conditions are: the above-mentioned charging pile navigation The navigation charging pile identification information included in the information is different from the above target charging pile identification information. When it is determined that the charging pile closest to the target vehicle is not the target charging pile, the target vehicle is controlled to drive to the target charging pile according to a preset step size. Finally, in response to determining that the charging pile navigation information does not meet the navigation conditions, the target vehicle is controlled to complete automatic parking based on the vehicle location information of the target vehicle. When it is determined that the charging pile closest to the target vehicle is the target charging pile, the target vehicle is controlled to complete automatic parking based on the vehicle position information of the target vehicle. Therefore, the driver can find a parking space with a charging pile in a short time and complete the parking, thereby reducing the driver's time cost and improving the driver's parking efficiency.

Description of drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent when taken in conjunction with the accompanying drawings and with reference to the following detailed description. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.

1 is a schematic diagram of an application scenario of a parking control method according to some embodiments of the present disclosure;

FIG. 2 is a flowchart of some embodiments of a parking control method according to the present disclosure;

FIG. 3 is a schematic structural diagram of some embodiments of a parking control device according to the present disclosure;

4 is a schematic structural diagram of an electronic device suitable for implementing some embodiments of the present disclosure.

Detailed ways

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes, and are not intended to limit the protection scope of the present disclosure.

In addition, it should be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings. The embodiments of this disclosure and features of the embodiments may be combined with each other without conflict.

It should be noted that concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or interdependence.

It should be noted that the modifications of "a" and "a plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless the context clearly indicates otherwise, they should be understood as "one or a plurality of". multiple".

The names of messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of these messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

FIG. 1 is a schematic diagram of an application scenario of the parking control method according to some embodiments of the present disclosure.

In the application scenario of FIG. 1 , first, the computing device 101 can obtain the target charging pile identification information 102 corresponding to the target vehicle and the vehicle location information 103 of the target vehicle; The fixed charging piles within the set range are detected to generate charging pile navigation information 104, wherein the charging pile navigation information 104 includes: navigation charging pile identification information and navigation information; then, the computing device 101 can respond to determining the charging pile navigation information. 104 Satisfying the navigation condition 105 , based on the navigation information included in the above-mentioned charging pile navigation information 104 , the above-mentioned target vehicle is controlled to drive to the target position 106 according to the preset step length, wherein the above-mentioned navigation condition 105 is: the navigation information included in the above-mentioned charging pile navigation information 104 The charging pile identification information is different from the above target charging pile identification information 102; finally, the computing device 101 can control the above target vehicle based on the vehicle position information 103 of the above target vehicle in response to determining that the above charging pile navigation information 104 does not meet the navigation condition 105 Complete automatic parking.

It should be noted that the above computing device 101 may be hardware or software. When the computing device is hardware, it can be implemented as a distributed cluster composed of multiple servers or terminal devices, or can be implemented as a single server or a single terminal device. When a computing device is embodied as software, it may be installed in the hardware devices listed above. It can be implemented, for example, as multiple software or software modules for providing distributed services, or as a single software or software module. There is no specific limitation here.

It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices depending on implementation needs.

With continued reference to FIG. 2 , a flow 200 of some embodiments of a parking control method according to the present disclosure is shown. The parking control method includes the following steps:

Step 201: Obtain target charging pile identification information corresponding to the target vehicle and vehicle location information of the target vehicle.

In some embodiments, the executor of the parking control method (for example, the computing device 101 shown in FIG. 1 ) may acquire the target charging pile identification information corresponding to the target vehicle and the vehicle location information of the target vehicle through a wired connection or a wireless connection. . The above-mentioned target charging pile identification information may be used to represent the unique identification value of the target charging pile corresponding to the above-mentioned target vehicle. The vehicle position information of the target vehicle may be used to represent the coordinate value of the target vehicle in the geographic coordinate system.

As an example, the target charging pile identification information corresponding to the target vehicle may be: "No. 0001 charging pile". The vehicle location information of the above target vehicle may be: "13068282.58682906,4759475.734999999".

Step 202 , based on the vehicle location information, detect fixed charging piles within a preset range to generate charging pile navigation information.

In some embodiments, the above-mentioned executive body (eg, the computing device 101 shown in FIG. 1 ) may detect fixed charging piles within a preset range based on vehicle location information to generate charging pile navigation information. The preset range may be an area of a circle whose center is the vehicle position information and whose radius is the preset distance. The above-mentioned preset distance value may be 10 meters. The above-mentioned executive body can firstly detect fixed charging piles within a preset range through the vehicle-mounted lidar to generate at least one candidate charging pile information. The candidate charging pile information in the at least one candidate charging pile information may include: candidate charging pile identification information, a distance measurement value, and a relative position of the target charging pile. The above-mentioned distance measurement value may be a distance value between the target vehicle corresponding to the above-mentioned vehicle position information and the charging pile corresponding to the above-mentioned candidate charging pile identification information. The above-mentioned relative position of the target charging pile may be the position of the charging pile corresponding to the above-mentioned candidate charging pile identification information relative to the target charging pile corresponding to the above-mentioned target charging pile identification information. Secondly, the above-mentioned executive body may select the corresponding candidate charging pile information with the smallest ranging value from the above-mentioned at least one candidate charging pile information as the above-mentioned charging pile navigation information.

In some optional implementations of some embodiments, the above-mentioned execution body detects fixed charging piles within a preset range based on vehicle location information to generate charging pile navigation information, which may include the following steps:

In the first step, based on the above-mentioned vehicle location information, the fixed charging piles within a preset range are retrieved to generate at least one fixed charging pile information.

Wherein, the above-mentioned executive body can retrieve the fixed charging piles within a preset range through the Bluetooth system to generate at least one fixed charging pile information.

In the second step, the fixed charging pile information is selected from the above-mentioned at least one fixed charging pile information as the above-mentioned charging pile navigation information.

Wherein, the fixed charging pile information in the above-mentioned at least one fixed charging pile information may include: Bluetooth signal strength and signal flight time information. The above signal flight time information may include: a first sending time difference, a second sending time difference, a first receiving time difference, and a second receiving time difference. In the present disclosure, the charging pile corresponding to the fixed charging pile information is determined as the sending device, and the above-mentioned target vehicle is determined as the receiving device. The first sending time difference is a time difference generated by the sending device sending a signal for the first time to the receiving device. The second sending time difference is a time difference generated by the sending device sending the signal for the second time to the receiving device. The first receiving time difference is a time difference generated by the first time the receiving device sends a signal to the sending device. The second receiving time difference is a time difference generated by the receiving device sending the signal for the second time to the sending device. The above-mentioned executive body selects the fixed charging pile information from the above-mentioned at least one fixed charging pile information as the above-mentioned charging pile navigation information, and may go through the following sub-steps:

In the first sub-step, a relative distance value is generated based on the Bluetooth signal strength and signal flight time information included in the information of each fixed charging pile in the above at least one fixed charging pile information, and a relative distance value set is obtained. Wherein, the above-mentioned executive body may first perform a distance value conversion process on the Bluetooth signal strength included in the above-mentioned fixed charging pile information to generate a first relative distance value. Secondly, the above-mentioned executive body may generate the second relative distance value by using the UWB (Ultra-Wideband) carrierless communication technology based on the signal flight time information included in the above-mentioned fixed charging pile information. Finally, the above-mentioned executive body may perform a weighted sum of the above-mentioned first relative distance value and the above-mentioned second relative distance value to generate the above-mentioned relative distance value.

In the second sub-step, based on the above-mentioned set of relative distance values, from the above-mentioned at least one fixed charging pile information, the corresponding fixed charging pile information with the smallest relative distance value is selected as the above-mentioned charging pile navigation information, wherein the above-mentioned corresponding fixed charging pile information with the smallest relative distance value is the smallest. The charging pile identification information included in the fixed charging pile information is used as the navigation charging pile identification information included in the charging pile navigation information, and the location-related information included in the fixed charging pile information with the smallest relative distance value is used as the navigation information included in the charging pile navigation information. information.

Step 203 , in response to determining that the navigation information of the charging pile satisfies the navigation condition, based on the navigation information included in the navigation information of the charging pile, the target vehicle is controlled to travel to the target position according to the preset step length.

In some embodiments, in response to determining that the navigation information of the charging pile satisfies the navigation condition, the execution subject may control the target vehicle to drive to the target position according to a preset step length based on the navigation information included in the navigation information of the charging pile. Wherein, the above-mentioned navigation conditions may be: the navigation charging pile identification information included in the charging pile navigation information is different from the target charging pile identification information. The above-mentioned executive body may control the target vehicle to travel to the target position according to a preset step length through MPC (Model Predictive Control, model predictive control algorithm) based on the navigation information included in the charging pile navigation information.

In some optional implementations of some embodiments, in response to determining that the charging pile navigation information satisfies the navigation conditions, the target vehicle may be controlled to drive to the target position according to a preset step size based on the navigation information included in the charging pile navigation information . The navigation information included in the above charging pile navigation information may include: the relative direction of the charging pile and the relative distance value of the charging pile. The above-mentioned executive body controls the target vehicle to drive to the target position according to the preset step size based on the navigation information included in the charging pile navigation information, which may include the following steps:

The first step is to generate a vehicle travel path based on the relative direction of the charging pile and the relative distance value of the charging pile included in the navigation information included in the above-mentioned charging pile navigation information.

Wherein, the above-mentioned executive body may, based on the relative direction of the charging pile and the relative distance value of the charging pile included in the navigation information included in the above-mentioned charging pile navigation information, through D ^* (D-Star algorithm, a reverse incremental search algorithm), Generate vehicle travel paths.

The second step is to control the target vehicle to travel to the target position according to a preset step size based on the vehicle travel path.

Wherein, the above-mentioned executive body may control the target control device in the above-mentioned target vehicle based on the above-mentioned vehicle travel path, and drive to the target position according to a preset step size. Wherein, the above-mentioned target control device may include: a brake pad, a steering wheel and an accelerator pedal. The above preset step size may be 5 meters. The above-mentioned target position may be the position of the target vehicle after the target vehicle travels according to the preset step length and the vehicle travel path.

Step 204 , in response to determining that the navigation information of the charging pile does not meet the navigation conditions, control the target vehicle to complete automatic parking based on the vehicle location information of the target vehicle.

In some optional implementations of some embodiments, the execution subject may control the target vehicle to complete automatic parking based on the vehicle location information of the target vehicle in response to determining that the charging pile navigation information does not meet the navigation condition. Wherein, the above-mentioned executive body may use an automatic parking system to control the target vehicle to perform automatic parking according to the vehicle position information of the above-mentioned target vehicle.

The above-mentioned embodiments of the present disclosure have the following beneficial effects: the parking control methods of some embodiments of the present disclosure can reduce the driver's time cost and improve the driver's parking efficiency. Specifically, the reasons for increasing the driver's time cost and reducing the driver's parking efficiency are: the similarity of each area in the parking lot is high, and there is a lack of indication signs for parking spaces with charging piles. When the vehicle drives to the indoor parking lot, it is often difficult to find the target parking space in a short time, which increases the driver's time cost and reduces the driver's parking efficiency. Based on this, in the parking control methods of some embodiments of the present disclosure, first, the identification information of the target charging pile corresponding to the target vehicle and the vehicle position information of the above-mentioned target vehicle are acquired. Provide data support for subsequent detection of charging pile navigation information. Secondly, based on the vehicle location information, the fixed charging piles within a preset range are detected to generate charging pile navigation information, wherein the charging pile navigation information includes: navigation charging pile identification information and navigation information. The present disclosure determines the distance value between the target vehicle and the fixed charging pile by combining the UWB (Ultra Wide Band, carrier-free communication) technology with the Bluetooth technology. Due to the strong anti-interference ability of the UWB system, even in the presence of obstacles in the room, the data signal sent is relatively stable and fast, so that the charging pile navigation information can be quickly and accurately determined, and the subsequent control of the target vehicle is improved. The efficiency of ground-to-target charging pile driving. Then, in response to determining that the above-mentioned charging pile navigation information satisfies the navigation conditions, based on the navigation information included in the above-mentioned charging pile navigation information, control the above-mentioned target vehicle to drive to the target position according to a preset step length, wherein the above-mentioned navigation conditions are: the above-mentioned charging pile navigation The navigation charging pile identification information included in the information is different from the above target charging pile identification information. When it is determined that the charging pile closest to the target vehicle is not the target charging pile, the target vehicle is controlled to drive to the target charging pile according to a preset step size. Finally, in response to determining that the charging pile navigation information does not meet the navigation conditions, the target vehicle is controlled to complete automatic parking based on the vehicle location information of the target vehicle. When it is determined that the charging pile closest to the target vehicle is the target charging pile, the target vehicle is controlled to complete automatic parking based on the vehicle position information of the target vehicle. Therefore, the driver can find a parking space with a charging pile in a short time and complete the parking, thereby reducing the driver's time cost and improving the driver's parking efficiency.

With further reference to FIG. 3 , as an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of a parking control method device, these device embodiments correspond to those method embodiments shown in FIG. 2 , the The device can be specifically applied to various electronic devices.

As shown in FIG. 3 , the parking control method device 300 of some embodiments includes: an acquisition unit 301 , a detection unit 302 , a first control unit 303 and a second control unit 304 . Wherein, the acquiring unit 301 is configured to acquire the identification information of the target charging pile corresponding to the target vehicle and the vehicle position information of the above target vehicle; Perform detection to generate charging pile navigation information, wherein the above charging pile navigation information includes: navigation charging pile identification information and navigation information; the first control unit 303 is configured to respond to determining that the above charging pile navigation information meets the navigation conditions, based on the above The navigation information included in the charging pile navigation information controls the target vehicle to drive to the target position according to the preset step length, wherein the navigation condition is: the navigation charging pile identification information included in the charging pile navigation information and the target charging pile identification information are different. The same; the second control unit 304 is configured to control the target vehicle to complete automatic parking based on the vehicle location information of the target vehicle in response to determining that the charging pile navigation information does not meet the navigation conditions.

It can be understood that the units recorded in the apparatus 300 correspond to the respective steps in the method described with reference to FIG. 2 . Therefore, the operations, features, and beneficial effects described above with respect to the method are also applicable to the apparatus 300 and the units included therein, and details are not described herein again.

Referring now to FIG. 4 , a schematic structural diagram of an electronic device (eg, computing device 101 in FIG. 1 ) 400 suitable for implementing some embodiments of the present disclosure is shown. The electronic device shown in FIG. 4 is only an example, and should not impose any limitation on the function and scope of use of the embodiments of the present disclosure.

As shown in FIG. 4 , an electronic device 400 may include a processing device (eg, a central processing unit, a graphics processor, etc.) 401 that may be loaded into random access according to a program stored in a read only memory (ROM) 402 or from a storage device 408 Various appropriate actions and processes are executed by the programs in the memory (RAM) 403 . In the RAM 403, various programs and data necessary for the operation of the electronic device 400 are also stored. The processing device 401 , the ROM 402 , and the RAM 403 are connected to each other through a bus 404 . An input/output (I/O) interface 405 is also connected to bus 404 .

Typically, the following devices may be connected to the I/O interface 405: input devices 404 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speakers, vibration An output device 407 of a computer, etc.; a storage device 408 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 409. Communication means 409 may allow electronic device 400 to communicate wirelessly or by wire with other devices to exchange data. While FIG. 4 shows electronic device 400 having various means, it should be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in FIG. 4 can represent one device, and can also represent multiple devices as required.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method illustrated in the flowchart. In some such embodiments, the computer program may be downloaded and installed from the network via the communication device 409 , or from the storage device 408 , or from the ROM 402 . When the computer program is executed by the processing device 401, the above-mentioned functions defined in the methods of some embodiments of the present disclosure are performed.

It should be noted that the computer-readable medium described in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), fiber optics, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. Rather, in some embodiments of the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device . Program code embodied on a computer readable medium may be transmitted using any suitable medium including, but not limited to, electrical wire, optical fiber cable, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the client and server can communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and can communicate with digital data in any form or medium (eg, a communications network) interconnected. Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet (eg, the Internet), and peer-to-peer networks (eg, ad hoc peer-to-peer networks), as well as any currently known or future development network of.

The above-mentioned computer-readable medium may be included in the above-mentioned apparatus; or may exist alone without being assembled into the electronic device. The above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by the electronic device, the electronic device is made to: obtain the target charging pile identification information corresponding to the target vehicle and the vehicle position information of the above-mentioned target vehicle. ; Based on the above-mentioned vehicle position information, detect fixed charging piles within a preset range to generate charging pile navigation information, wherein the above-mentioned charging pile navigation information includes: navigation charging pile identification information and navigation information; in response to determining the above-mentioned charging pile navigation information The information meets the navigation conditions, and based on the navigation information included in the charging pile navigation information, the target vehicle is controlled to drive to the target position according to the preset step length, wherein the navigation conditions are: the navigation charging pile identification information included in the charging pile navigation information and The identification information of the target charging piles is different; in response to determining that the charging pile navigation information does not meet the navigation conditions, the target vehicle is controlled to complete automatic parking based on the vehicle position information of the target vehicle.

Computer program code for carrying out operations of some embodiments of the present disclosure may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, or a combination thereof, Also included are conventional procedural programming languages - such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider to via Internet connection).

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logical functions for implementing the specified functions executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by means of software, and may also be implemented by means of hardware. The described unit can also be provided in the processor, for example, it can be described as: a processor includes: an acquisition unit, a detection unit, a first control unit and a second control unit. Among them, the names of these units do not constitute a limitation of the unit itself under certain circumstances. For example, the acquisition unit may also be described as "obtaining the target charging pile identification information corresponding to the target vehicle and the vehicle location information of the target vehicle." unit".

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), Systems on Chips (SOCs), Complex Programmable Logical Devices (CPLDs) and more.

The above descriptions are merely some preferred embodiments of the present disclosure and illustrations of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, and should also cover, without departing from the above-mentioned inventive concept, the above-mentioned Other technical solutions formed by any combination of technical features or their equivalent features. For example, a technical solution is formed by replacing the above-mentioned features with the technical features disclosed in the embodiments of the present disclosure (but not limited to) with similar functions.

Claims (8)

1. A parking control method comprising:

acquiring target charging pile identification information corresponding to a target vehicle and vehicle position information of the target vehicle;

based on vehicle position information detects the fixed electric pile of filling in the default scope in order to generate and fill electric pile navigation information, wherein, fill electric pile navigation information and include: navigation charging pile identification information and navigation information;

in response to determining that the charging pile navigation information meets navigation conditions, controlling the target vehicle to travel to the position of the target charging pile according to a preset step length based on the navigation information included in the charging pile navigation information, wherein the navigation conditions are as follows: the navigation charging pile navigation information comprises navigation charging pile identification information and target charging pile identification information which are different;

controlling the target vehicle to finish automatic parking based on the vehicle position information of the target vehicle in response to determining that the charging pile navigation information does not meet the navigation condition;

wherein, the navigation information that electric pile navigation information includes: the relative direction of the charging pile and the relative distance value of the charging pile are calculated; and

based on the navigation information that fills electric pile navigation information and include, control target vehicle according to presetting the step length and go to the position that target fills electric pile, include:

Generating a vehicle running path based on the charging pile relative direction and the charging pile relative distance value included in the navigation information included in the charging pile navigation information;

and controlling the target vehicle to travel to the position of the target charging pile according to a preset step length based on the vehicle traveling path.

2. The method of claim 1, wherein the detecting fixed charging piles within a preset range to generate charging pile navigation information based on the vehicle position information comprises:

based on the vehicle position information, retrieving the fixed charging piles within a preset range to generate at least one piece of fixed charging pile information;

and selecting fixed charging pile information from the at least one piece of fixed charging pile information as the charging pile navigation information.

3. The method of claim 2, wherein fixed charging pile information of the at least one fixed charging pile information comprises: bluetooth signal strength and signal time of flight information: and

the selecting fixed charging pile information from the at least one piece of fixed charging pile information as the charging pile navigation information includes:

and generating a relative distance value based on the Bluetooth signal intensity and the signal flight time information included by each piece of fixed charging pile information in the at least one piece of fixed charging pile information, and obtaining a relative distance value set.

4. The method of claim 3, wherein fixed charging pile information of the at least one fixed charging pile information further comprises: charging pile identification information and position correlation information; and

the selecting fixed charging pile information from the at least one piece of fixed charging pile information as the charging pile navigation information further includes:

based on the set of relative distance values, selecting corresponding fixed charging pile information with the minimum relative distance value from the at least one piece of fixed charging pile information as the charging pile navigation information, wherein charging pile identification information included in the corresponding fixed charging pile information with the minimum relative distance value is used as navigation charging pile identification information included in the charging pile navigation information, and position association information included in the corresponding fixed charging pile information with the minimum relative distance value is used as navigation information included in the charging pile navigation information.

5. The method of claim 4, wherein the generating a relative distance value based on the Bluetooth signal strength and signal time-of-flight information included with each of the at least one fixed charging post information comprises:

performing distance value conversion processing on the Bluetooth signal intensity included in the fixed charging pile information to generate a first relative distance value;

Generating a second relative distance value based on the signal flight time information included in the fixed charging pile information;

combining the first relative distance value and the second relative distance value to generate the relative distance value.

6. A parking control apparatus comprising:

the charging system comprises an acquisition unit, a charging unit and a charging unit, wherein the acquisition unit is configured to acquire target charging pile identification information corresponding to a target vehicle and vehicle position information of the target vehicle;

a detection unit configured to detect a fixed charging pile within a preset range based on the vehicle position information to generate charging pile navigation information, wherein the charging pile navigation information includes: navigation charging pile identification information and navigation information;

a first control unit configured to control the target vehicle to travel to a position of a target charging pile according to a preset step length based on navigation information included in the charging pile navigation information in response to determining that the charging pile navigation information satisfies a navigation condition, wherein the navigation condition is: the navigation charging pile navigation information comprises navigation charging pile identification information and target charging pile identification information which are different;

a second control unit configured to control the target vehicle to complete automatic parking based on the vehicle position information of the target vehicle in response to determining that the charging pile navigation information does not satisfy a navigation condition;

Wherein, the navigation information that charging pile navigation information includes: the relative direction of the charging piles and the relative distance value of the charging piles are obtained; and

the first control unit further configured to:

generating a vehicle running path based on the charging pile relative direction and the charging pile relative distance value included in the navigation information included in the charging pile navigation information;

and controlling the target vehicle to travel to the position of the target charging pile according to a preset step length based on the vehicle traveling path.

7. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon;

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.

8. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-5.

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