CN106952496A - Pilotless automobile intelligent car-searching position method - Google Patents
Pilotless automobile intelligent car-searching position method Download PDFInfo
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- CN106952496A CN106952496A CN201710232129.9A CN201710232129A CN106952496A CN 106952496 A CN106952496 A CN 106952496A CN 201710232129 A CN201710232129 A CN 201710232129A CN 106952496 A CN106952496 A CN 106952496A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
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- Business, Economics & Management (AREA)
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Abstract
The invention provides a kind of pilotless automobile intelligent car-searching position method, comprise the following steps：First, pilotless automobile receives cutoff command, and pilotless automobile sends the vehicle self information of geographical location information residing for the cutoff command of reception, automobile and pilotless automobile to background server；Background server is analyzed the information of reception, and the empty parking space information in nearest path is carried out into the matching analysis；Enter next step if matching, if mismatching, proceed the matching of empty parking space until the match is successful；Background server sends the route information of planning to pilotless automobile, and specified parking stall is reached after pilotless automobile receive information；Pilotless automobile reaches specified parking stall, is sent completely parking information to background server, background server starts metered.Beneficial effects of the present invention are embodied in：Personnel are left after vehicle, and vehicle can voluntarily find parking stall, are eliminated the time that passenger finds parking stall, are preferably saved the time.
Description
Technical field
The present invention relates to a kind of technical field of automotive electronics, and in particular to a kind of pilotless automobile intelligent car-searching position side
Method.
Background technology
With it is economical develop rapidly and living standards of the people raising, automobile becomes important the riding instead of walk of people's trip
Instrument.Pilotless automobile will also become universal as the important embodiment of scientific and technological progress in people live.In efficient
In the epoch, finding parking stall but becomes the time-consuming work for but having to perform, and existing parking stall of seeking is typically all artificial progress
Find.
The content of the invention
The invention provides a kind of pilotless automobile intelligent car-searching position method.
The purpose of the present invention is achieved through the following technical solutions：
Pilotless automobile intelligent car-searching position method, comprises the following steps：
S1, pilotless automobile receive cutoff command；
S2, pilotless automobile are by the car of geographical location information and pilotless automobile residing for the cutoff command of reception, automobile
Self information is sent to background server；The geographical location information includes automobile changing coordinates, destination coordinate, vehicle
Travel direction, current vehicle speed；
S3, background server are analyzed the information received in S2, and the empty parking space information in nearest path is carried out into matching point
Analysis；Enter next step if matching, if mismatching, proceed the matching of empty parking space until the match is successful；
S4, background server sends the route information of planning to pilotless automobile, is reached after pilotless automobile receive information
To specified parking stall；
S5, pilotless automobile reaches specified parking stall, is sent completely parking information to background server, background server starts
It is metered.
Preferably, vehicle self information includes vehicle body size, length of wagon, width, height of car, rear wheel in the S2
Away from tailstock distance, front vehicle wheel away from headstock distance.
Preferably, the S3 comprises the following steps：
S31, background server are analyzed the information received in S2；
S32, background server carry out searching for around the nearest vacant parking stall of destination coordinate according to the information of vehicles received, and one
Denier finds vacant parking stall, then information of vehicles of the vehicle data with receiving that stop of parking stall is compared；
S33, whether it is more than to parking stall width vehicle width, parking stall length and whether is more than Vehicle length, parking stall and can stop high
Whether degree is more than height of car, and next step comparison is carried out if condition is satisfied by；Next car is carried out if one of which is unsatisfactory for
The searching of position；
S34, judge whether parking stall has catch, if so, then the distance of catch and wall whether be all higher than rear wheel and tailstock distance with
Front vehicle wheel and headstock distance, meet catch and are more than rear wheel and headstock distance with parking stall front distance, if meeting condition, judge
Vehicle can enter parking stall using opening into or pouring into form；
S341, if the distance of catch and wall only takes turns to the distance of front truck head more than front truck vehicle can only open into；If catch and wall
The distance distance that only takes turns to the tailstock more than rear car can only then pour into parking stall；
If there is any one to be unsatisfactory in S35, conditions above, parking stall matching is unsuccessful, then is excluded to next purpose
The information of the nearest another empty parking space of ground planning distance is compared, until the match is successful；Carry out believing empty parking space if the match is successful
Coordinate position where breath carries out coordinate and pilotless automobile carries out the calculating of chainage, and send can stop information to nobody
Driving.
Preferably, also comprise the following steps：
S6, pilotless automobile are reached behind parking stall, carry out judging that parking stall is again by the sensor on pilotless automobile
No is sky, if finding, existing vehicle stops into transmission has vehicle and stopped into information to background server, server update parking stall letter
Breath；If parking stall is sky, whether the actual parking space information of progress meets stop condition judges again；
The parking space information and the parking space information of database purchase that S7, background server are returned to pilotless automobile are compared,
If judgement has renewal, the parking space information of replacement data storehouse original storage or storing again for parking space information of progress are included, if without renewal,
Do not replace then.
Preferably, also comprise the following steps：The S6 specifically includes following steps：
S61, sensor carry out actual detection to the information of parking stall, if parking stall width is less than vehicle width, parking stall length and is less than car
Length, height of car can stop height more than parking stall, then judge to stop into and reason-code being transferred into background server；
If S62, parking space information meet stop, parking storage is carried out, and by sensor by the newest parking space information on parking stall
It is acquired and transmits to background server；
If S63, next door parking stall are in the state for having vehicle parking, planning needs the vehicle stopped to be found by self-sensor device
Influenced each other, by planning that parking mobile route discovers whether to exist if so, waiting in line parking afterwards.
Preferably, information of vehicles includes vehicle location coordinate, vehicle heading, Vehicle Speed, mesh in the S32
Ground coordinate, bodywork height, length of wagon, body width, vehicle rear wheel is away from tailstock position, vehicle front tread headstock position.
Preferably, if parking space information meets stop condition in the S62, parking storage is carried out, when background server institute
When the parking stall of distribution is side coil：Pilotless automobile is carried out according to the distance exam of car before and after the progress of parking sensor itself
Lateral parking.
Preferably, the lateral parking comprises the following steps,
S621, when there is catch on side coil parking stall, then pilotless automobile parking sensor obtain front truck to catch distance
With the distance of rear car to catch；
S622, current vehicle are apart from catch farther out and more than the distance of vehicle rear wheel to headstock, and distance of the catch away from rear car be more than
Vehicle rear wheel to the tailstock apart from when, pilotless automobile attempt lateral parking stall is poured into by front side；
When the distance of catch and rear car is more than the distance of vehicle rear wheel and headstock, and the distance of catch and front truck is more than vehicle rear wheel
To the tailstock apart from when, vehicle attempt pour into parking stall from the front to the back；
If S623, catch position are respectively less than vehicle rear wheel to the distance of headstock with respect to the distance of front truck and rear car, taken to backstage
Business device sends feedback information, and background server returns to S3 steps and performs the instruction for finding parking stall matching again.
Preferably, the parking sensor in the S6 includes image visual transducer, millimetre-wave radar, ultrasonic radar.
Preferably, the pilotless automobile can also comprise the following steps after receiving cutoff command：
S2, pilotless automobile complete to stop by manual intervention；
S3, current parking space information is uploaded to background server,
After the confirmed parking space information of S4, system is effective, the data that upgrade in time background information is for subsequently using.
Preferably, the renewal of the hollow parking space informations of the S3 is retrieved as obtaining by location technology automatic decision, including such as
Lower step,
When vehicle is in halted state, the coordinate that the GPS location omniselector having in vehicle is navigated to is by being preloaded in
The stop position coordinate of vehicle is sent to background server by the software systems in vehicle；
The data that background server is returned by a large amount of vehicles, carry out parking space information judgement, and with initially having in background server
Some parking space informations are compared, and do not include such as, are then indexed to background server, according to a large amount of passback numbers if having included
According to correction position precision and parking stall relevant information.
Preferably, the data that the background server is returned by a large amount of vehicles, carry out parking space information and judge including as follows
Step,
First, background server carries out parking mapping according to the parking position largely returned, and the mapping is cumulative
Formula is drawn, and parking number of times is added up according to actual passback number of times, and is not reset；
Then, threshold value Tq is fixed using self-built algorithm according to the map and Threshold segmentation is fixed, when passback parking position
Put the coordinate position parking number of times A represented in map>During Tq, represent that the position parking number of times compares other positions more, and
The coordinate position belongs to active dynamic increase, then can mark doubtful parking stall；When the coordinate bit represented in passback parking position map
Although putting parking number of times A>Tq, but the position is in without newly-increased parking number of times, then the position is inactive, is not counted in period Tl
Doubtful parking stall；
When being included in doubtful parking stall, the mode that vehicle checking or special messenger verify is sent to using backstage, is verified whether as parking stall,
After confirmation, adding back-end data turns into parking space information；
When vehicle is not parking stall according to backstage prompting parking stall progress parking discovery parking position, according to the letter of vehicle feedback
Number, backstage asks parking stall mark into doubtful cancellation parking stall, concurrently after special messenger's checking, checking parking stall cancel, and parking space information is from rear
Platform is deleted.
Preferably, nearest path obtains the parking spot intensity according to different time sections by background server in the S3
Demand, divides equally Mobile state is entered to the vehicle for sending parking demand, and searching parking intensity is weak and away from the near area in current request position
Domain parking stall.
Beneficial effects of the present invention are embodied in：Personnel are left after vehicle, and vehicle can voluntarily find parking stall, eliminate seating
The time of personnel searching parking stall, preferably save the time.
Brief description of the drawings
Fig. 1：Stop schematic flow sheet in the present invention.
Fig. 2：Specific parking stall matching schematic flow sheet in the present invention.
Fig. 3：Length condition schematic diagram when parking stall is matched with car in the present invention.
Embodiment
Below in conjunction with Fig. 1-Fig. 3, specific explanations illustrate a kind of pilotless automobile intelligent car-searching position method.
Pilotless automobile intelligent car-searching position method, comprises the following steps：
S1, pilotless automobile receive cutoff command；
S2, pilotless automobile are by the car of geographical location information and pilotless automobile residing for the cutoff command of reception, automobile
Self information is sent to background server；The geographical location information includes automobile changing coordinates, destination coordinate, vehicle
Travel direction, current vehicle speed；The vehicle self information includes vehicle body size, length of wagon, width, height of car, rear wheel
Away from tailstock distance, front vehicle wheel away from headstock distance.
S3, background server are analyzed the information received in S2, and the empty parking space information in nearest path is carried out
With analysis；Enter next step if matching, if mismatching, proceed the matching of empty parking space until the match is successful；
S31, background server are analyzed the information received in S2；
S32, background server carry out searching for around the nearest vacant parking stall of destination coordinate according to the information of vehicles received, and one
Denier finds vacant parking stall, then information of vehicles of the vehicle data with receiving that stop of parking stall is compared；The information of vehicles
Including vehicle location coordinate, vehicle heading, Vehicle Speed, destination coordinate, bodywork height, length of wagon, vehicle body
Width, vehicle rear wheel are away from tailstock position, vehicle front tread headstock position.
S33, whether vehicle width, parking stall length are more than to parking stall width whether it are more than Vehicle length, parking stall and can stop
Whether height is more than height of car, and next step comparison is carried out if condition is satisfied by；Carried out down if one of which is unsatisfactory for
The searching of one parking stall；
S34, judge whether parking stall has catch, if so, then whether catch and wall are all higher than rear wheel and tailstock distance apart from Ln
Lb and front vehicle wheel and headstock distance Lc, meanwhile, meet catch and be more than rear wheel and headstock distance Lc apart from Lt with parking stall front, if
Condition is met, then judges that vehicle can enter parking stall using opening into or pouring into form；
S341, if catch and wall apart from Ln only taken turns to more than front truck front truck head apart from Lc if vehicle can only open into；If catch
With wall only apart from Lb parking stall can only be then poured into apart from Ln more than what rear car took turns to the tailstock；
If there is any one to be unsatisfactory in S35, conditions above, parking stall matching is unsuccessful, then is excluded to next purpose
The information of the nearest another empty parking space of ground planning distance is compared, until the match is successful；Carry out believing empty parking space if the match is successful
Coordinate position where breath carries out coordinate and pilotless automobile carries out the calculating of chainage, and send can stop information to nobody
Driving.
S4, background server sends the route information of planning to pilotless automobile, pilotless automobile receive information
After reach specified parking stall；
S5, pilotless automobile reaches specified parking stall, is sent completely parking information to background server, background server starts
It is metered.
S6, pilotless automobile are reached behind parking stall, and judgement car is carried out again by the sensor on pilotless automobile
Whether position is empty, if finding, existing vehicle stops into the existing vehicle of transmission stops into information to background server, server update car
Position information；If parking stall is sky, whether the actual parking space information of progress meets stop condition judges again；The parking sensor bag
Include image visual transducer, millimetre-wave radar, ultrasonic radar.
S61, sensor carry out actual detection to the information of parking stall, if parking stall width is small less than vehicle width, parking stall length
It can stop height more than parking stall in Vehicle length, height of car, then judge to stop into and reason-code being transferred into background service
Device；Subsequently, the abnormal cause scene that attendant uploads according to vehicle on schedule is checked and updates parking space information；
If S62, parking space information meet stop, parking storage is carried out, and by sensor by the newest parking space information on parking stall
It is acquired and transmits to background server；
If S63, next door parking stall are in the state for having vehicle parking, planning needs the vehicle stopped to be found by self-sensor device
Influenced each other, by planning that parking mobile route discovers whether to exist if so, waiting in line parking afterwards.
The parking space information and the parking space information of database purchase that S7, background server are returned to pilotless automobile compare
Right, if judging there is renewal, the parking space information of replacement data storehouse original storage or storing again for parking space information of progress are included, if without more
Newly, then do not replace.
Embodiment one,
Carrying personnel are sent to behind destination by vehicle, when producing parking demand, now, if the destination allows temporary transient stop,
Then resting state is sent to background server seeks parking stall request, and return data is changing coordinates, destination coordinate.If destination
Coordinate is identical with changing coordinates, vehicle heading is empty, speed is empty, and background server is according to information of vehicles analysis matching car
Vehicle is given in position.The parking stall coordinate and path planning that vehicle matches transmission according to background server drive to parking stall and stopped.
Embodiment two,
Carrying personnel are sent to behind destination by vehicle, when producing parking demand, if this destination does not allow temporary transient parking, car
It must as early as possible roll away from, and be sent to background server and seek parking stall request, passback is real during the parking stall request now sent
Current vehicle location coordinate, destination coordinate, vehicle heading, Vehicle Speed, background server is according to information of vehicles
Analysis matching parking stall is to vehicle.Vehicle matches the parking stall coordinate sent according to background server and path planning drives to parking stall simultaneously
Parking.
Embodiment three,
Carrying personnel are sent to behind destination by vehicle, if when producing parking demand, parking stall is in underground, and background server is according to pre-
The ground parking space map first inputted is pre-transmitted to vehicle, though without network, vehicle also can according to the map transmitted in advance and
The path of planning finds matching parking stall, completes parking, and described ground parking space map can one when progress parking space information input
And gather.
Parking stall for being possible to the place without network, pre-enters offline map.Also, background server is visual
Need arbitrary region（Include network and the region without network）Map is pushed to vehicle and used as offline map.
Example IV,
Carrying personnel are sent to behind destination by vehicle, if vehicle is when receiving parking demand, and vehicle passes through manual intervention etc.
Other situations are completed after parking, and current parking space information can be uploaded to background server by vehicle, and system is through artificial or vehicle
Transmit after image and radar confirm that parking space information is effective, the data that upgrade in time background information is for subsequently using.
The present invention still has a variety of specific embodiments.All skills formed by all use equivalents or equivalent transformation
Art scheme, all falls within the scope of protection of present invention.
Claims (13)
1. pilotless automobile intelligent car-searching position method, it is characterised in that：Comprise the following steps：
S1, pilotless automobile receive cutoff command；
S2, pilotless automobile are by the car of geographical location information and pilotless automobile residing for the cutoff command of reception, automobile
Self information is sent to background server；The geographical location information includes automobile changing coordinates, destination coordinate, vehicle
Travel direction, current vehicle speed；
S3, background server are analyzed the information received in S2, and the empty parking space information in nearest path is carried out into matching point
Analysis；Enter next step if matching, if mismatching, proceed the matching of empty parking space until the match is successful；
S4, background server sends the route information of planning to pilotless automobile, is reached after pilotless automobile receive information
To specified parking stall；
S5, pilotless automobile reaches specified parking stall, is sent completely parking information to background server, background server starts
It is metered.
2. pilotless automobile intelligent car-searching position as claimed in claim 1 method, it is characterised in that：Vehicle itself in the S2
Information includes vehicle body size, length of wagon, width, height of car, rear wheel away from tailstock distance, front vehicle wheel away from headstock distance.
3. pilotless automobile intelligent car-searching position as claimed in claim 2 method, it is characterised in that：The S3 includes following step
Suddenly：
S31, background server are analyzed the information received in S2；
S32, background server carry out searching for around the nearest vacant parking stall of destination coordinate according to the information of vehicles received, and one
Denier finds vacant parking stall, then information of vehicles of the vehicle data with receiving that stop of parking stall is compared；
S33, whether it is more than to parking stall width vehicle width, parking stall length and whether is more than Vehicle length, parking stall and can stop high
Whether degree is more than height of car, and next step comparison is carried out if condition is satisfied by；Next car is carried out if one of which is unsatisfactory for
The searching of position；
S34, judge whether parking stall has catch, if so, then the distance of catch and wall whether be all higher than rear wheel and tailstock distance with
Front vehicle wheel and headstock distance, meet catch and are more than rear wheel and headstock distance with parking stall front distance, if meeting condition, judge
Vehicle can enter parking stall using opening into or pouring into form；
S341, if the distance of catch and wall only takes turns to the distance of front truck head more than front truck vehicle can only open into；If catch and wall
The distance distance that only takes turns to the tailstock more than rear car can only then pour into parking stall；
If there is any one to be unsatisfactory in S35, conditions above, parking stall matching is unsuccessful, then is excluded to next purpose
The information of the nearest another empty parking space of ground planning distance is compared, until the match is successful；Carry out believing empty parking space if the match is successful
Coordinate position where breath carries out coordinate and pilotless automobile carries out the calculating of chainage, and send can stop information to nobody
Driving.
4. pilotless automobile intelligent car-searching position as claimed in claim 1 method, it is characterised in that：Also comprise the following steps：
S6, pilotless automobile are reached behind parking stall, carry out judging that parking stall is again by the sensor on pilotless automobile
No is sky, if finding, existing vehicle stops into transmission has vehicle and stopped into information to background server, server update parking stall letter
Breath；If parking stall is sky, whether the actual parking space information of progress meets stop condition judges again；
The parking space information and the parking space information of database purchase that S7, background server are returned to pilotless automobile are compared,
If judgement has renewal, the parking space information of replacement data storehouse original storage or storing again for parking space information of progress are included, if without renewal,
Do not replace then.
5. pilotless automobile intelligent car-searching position as claimed in claim 4 method, it is characterised in that：Also comprise the following steps：
The S6 specifically includes following steps：
S61, sensor carry out actual detection to the information of parking stall, if parking stall width is less than vehicle width, parking stall length and is less than car
Length, height of car can stop height more than parking stall, then judge to stop into and reason-code being transferred into background server；
If S62, parking space information meet stop, parking storage is carried out, and by sensor by the newest parking space information on parking stall
It is acquired and transmits to background server；
If S63, next door parking stall are in the state for having vehicle parking, planning needs the vehicle stopped to be found by self-sensor device
Influenced each other, by planning that parking mobile route discovers whether to exist if so, waiting in line parking afterwards.
6. pilotless automobile intelligent car-searching position as claimed in claim 4 method, it is characterised in that：Vehicle is believed in the S32
Breath includes vehicle location coordinate, vehicle heading, Vehicle Speed, destination coordinate, bodywork height, length of wagon, car
Body width, vehicle rear wheel are away from tailstock position, vehicle front tread headstock position.
7. pilotless automobile intelligent car-searching position as claimed in claim 5 method, it is characterised in that：If parking stall in the S62
Information meets stop condition, then carries out parking storage, when the parking stall that background server is distributed is side coil：Unmanned vapour
Car carries out lateral parking according to the distance exam of car before and after the progress of parking sensor itself.
8. pilotless automobile intelligent car-searching position as claimed in claim 7 method, it is characterised in that：The lateral parking bag
Include following steps,
S621, when there is catch on side coil parking stall, then pilotless automobile parking sensor obtain front truck to catch distance
With the distance of rear car to catch；
S622, current vehicle are apart from catch farther out and more than the distance of vehicle rear wheel to headstock, and distance of the catch away from rear car be more than
Vehicle rear wheel to the tailstock apart from when, pilotless automobile attempt lateral parking stall is poured into by front side；
When the distance of catch and rear car is more than the distance of vehicle rear wheel and headstock, and the distance of catch and front truck is more than vehicle rear wheel
To the tailstock apart from when, vehicle attempt pour into parking stall from the front to the back；
If S623, catch position are respectively less than vehicle rear wheel to the distance of headstock with respect to the distance of front truck and rear car, taken to backstage
Business device sends feedback information, and background server returns to S3 steps and performs the instruction for finding parking stall matching again.
9. pilotless automobile intelligent car-searching position as claimed in claim 4 method, it is characterised in that：Parking stall in the S6 is passed
Sensor includes image visual transducer, millimetre-wave radar, ultrasonic radar.
10. pilotless automobile intelligent car-searching position as claimed in claim 1 method, it is characterised in that：
The pilotless automobile can also comprise the following steps after receiving cutoff command：
S2, pilotless automobile complete to stop by manual intervention；
S3, current parking space information is uploaded to background server,
After the confirmed parking space information of S4, system is effective, the data that upgrade in time background information is for subsequently using.
11. pilotless automobile intelligent car-searching position as claimed in claim 4 method, it is characterised in that：The hollow parking stalls of S3
The renewal of information is retrieved as obtaining by location technology automatic decision, comprises the following steps,
When vehicle is in halted state, the coordinate that the GPS location omniselector having in vehicle is navigated to is by being preloaded in
The stop position coordinate of vehicle is sent to background server by the software systems in vehicle；
The data that background server is returned by a large amount of vehicles, carry out parking space information judgement, and with initially having in background server
Some parking space informations are compared, and do not include such as, are then indexed to background server, according to a large amount of passback numbers if having included
According to correction position precision and parking stall relevant information.
12. pilotless automobile intelligent car-searching position as claimed in claim 11 method, it is characterised in that：The background server
The data returned by a large amount of vehicles, carry out parking space information and judge to comprise the following steps,
First, background server carries out parking mapping according to the parking position largely returned, and the mapping is cumulative
Formula is drawn, and parking number of times is added up according to actual passback number of times, and is not reset；
Then, threshold value Tq is fixed using self-built algorithm according to the map and Threshold segmentation is fixed, when passback parking position
Put the coordinate position parking number of times A represented in map>During Tq, represent that the position parking number of times compares other positions more, and
The coordinate position belongs to active dynamic increase, then can mark doubtful parking stall；When the coordinate bit represented in passback parking position map
Although putting parking number of times A>Tq, but the position is in without newly-increased parking number of times, then the position is inactive, is not counted in period Tl
Doubtful parking stall；
When being included in doubtful parking stall, the mode that vehicle checking or special messenger verify is sent to using backstage, is verified whether as parking stall,
After confirmation, adding back-end data turns into parking space information；
When vehicle is not parking stall according to backstage prompting parking stall progress parking discovery parking position, according to the letter of vehicle feedback
Number, backstage asks parking stall mark into doubtful cancellation parking stall, concurrently after special messenger's checking, checking parking stall cancel, and parking space information is from rear
Platform is deleted.
13. pilotless automobile intelligent car-searching position as claimed in claim 1 method, it is characterised in that：Most shortcut in the S3
Footpath is obtained by background server according to the parking spot strength demand of different time sections, and the vehicle that send parking demand will be entered
Mobile state is divided equally, and searching parking intensity is weak and away from the near region parking stall in current request position.
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| CN108389426A (en) * | 2018-04-20 | 2018-08-10 | 驭势科技（北京）有限公司 | A kind of method and apparatus for controlling vehicle parking |
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| CN110880234A (en) * | 2019-11-14 | 2020-03-13 | 广东科学技术职业学院 | Unmanned vehicle parking method and device and unmanned vehicle |
| CN113741474B (en) * | 2021-09-13 | 2022-04-29 | 上海伯镭智能科技有限公司 | Method and device for identifying parking area of unmanned mine car |
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