CN111554121A - Vehicle management method, device and equipment - Google Patents
Vehicle management method, device and equipmentDownload PDFInfo
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- CN111554121A CN111554121ACN202010328511.1ACN202010328511ACN111554121ACN 111554121 ACN111554121 ACN 111554121ACN 202010328511 ACN202010328511 ACN 202010328511ACN 111554121 ACN111554121 ACN 111554121A
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- 238000000034methodMethods0.000claimsabstractdescription28
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- 238000001514detection methodMethods0.000claimsdescription19
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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
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
Description
Technical Field
The present application relates to the field of vehicles, and in particular, to a method, an apparatus, and a device for vehicle management.
Background
Along with the rapid development of economy, the automobile holding capacity is stably improved, and parking lots are built in public places such as markets, hospitals, stations and communities, so that the automobile owner can conveniently park.
At present, a vehicle owner needs to drive a vehicle to a parking lot, needs to find an unoccupied free parking space by himself or herself, and then stops the vehicle at the free parking space.
However, the process of finding an empty parking space and parking in the parking lot wastes much time for the car owner, and reduces the car using experience of the car owner.
Disclosure of Invention
In order to overcome the problems in the related art, the application provides a vehicle management method, a device and equipment.
In a first aspect, a vehicle management method is provided, which is applied to a vehicle management device, and comprises the following steps:
determining location information for an empty parking space within a parking lot in response to a first vehicle traveling to an entrance of the parking lot;
determining a first driving route from the entrance to the vacant parking space based on the position information of the entrance and the position information of the vacant parking space;
and controlling the first vehicle to run to the vacant parking space according to the first driving route and park.
Optionally, a plurality of detection devices are installed in the parking lot, and each detection device is used for detecting the use information of a preset parking space; the determining of the position information of the free parking spaces in the parking lot comprises:
acquiring detection data obtained by the plurality of detection devices;
determining whether there is an empty parking space in the parking lot based on all the detection data;
and if so, acquiring the position information of the idle parking space.
Optionally, a camera is installed at the inlet; the method further comprises the following steps:
acquiring an image acquired by the camera, wherein the image comprises license plate information of the first vehicle;
acquiring the license plate information from the image;
determining that the first vehicle is traveling to the entrance based on the license plate information.
Optionally, the controlling the first vehicle to travel to the vacant parking space according to the first driving route and park includes:
determining the vehicle identification bound with the license plate information;
and controlling the first vehicle with the vehicle identification, driving to the vacant parking space according to the first driving route and parking.
Optionally, the method further comprises:
after the first vehicle stops in the idle parking space, acquiring a driving instruction of the first vehicle, wherein the driving instruction carries position information of a target position;
determining a second driving route of the first vehicle based on the position information of the free parking space and the position information of the target position;
and controlling the first vehicle to travel to the target position according to the second driving route.
Optionally, a scanning code is arranged at an entrance of the parking lot; the vehicle owner of the first vehicle carries a terminal, and vehicle management software is installed on the terminal; the acquiring of the driving instruction of the first vehicle includes:
and acquiring the driving instruction sent by the terminal, wherein the driving instruction is triggered after the vehicle management software scans the scanning code, and the driving instruction carries the position information of the entrance.
Optionally, a vehicle owner of the first vehicle carries a terminal, and vehicle management software and positioning software are installed on the terminal; the acquiring of the driving instruction of the first vehicle includes:
and acquiring the driving instruction sent by the terminal, wherein the driving instruction is generated after the vehicle management software acquires the positioning information acquired by the positioning software, and the driving instruction carries the positioning information.
Optionally, the controlling the first vehicle to travel to the target position according to the second driving route includes:
in the process that the first vehicle drives according to the second driving route, vehicle driving information on the remaining route of the second driving route is acquired, wherein the vehicle driving information comprises: information on the remaining routes of different vehicles;
determining a third driving route of the first vehicle from the current driving position to the target position based on the vehicle driving information;
and controlling the first vehicle to travel according to the third driving route.
Optionally, the vehicle travel information includes: a plurality of vehicles detour a position on the remaining route within a historical period; the determining a third driving route for the first vehicle to travel from the current driving position to the target position based on the vehicle driving information comprises:
determining whether a number of the plurality of vehicles is greater than or equal to a number threshold;
and if so, determining a third driving route of the first vehicle from the current driving position to the target position, wherein the third driving route does not pass through the position.
In a second aspect, a vehicle management apparatus is provided, which is applied to a vehicle management device, and comprises:
a first determination module configured to determine location information of an empty parking space within a parking lot in response to a first vehicle traveling to an entrance of the parking lot;
a second determination module configured to determine a first driving route from the entrance to the vacant parking space based on the position information of the entrance and the position information of the vacant parking space;
a control module configured to control the first vehicle to travel into the vacant parking space according to the first travel route and to park.
In a third aspect, there is provided a vehicle management apparatus including: the system comprises an internal bus, a memory, a processor and an external interface which are connected through the internal bus; wherein,
the external interface is used for acquiring data;
the memory to store machine readable instructions corresponding to vehicle management;
the processor is configured to read the machine-readable instructions on the memory and execute the instructions to implement the following operations:
determining location information for an empty parking space within a parking lot in response to a first vehicle traveling to an entrance of the parking lot;
determining a first driving route from the entrance to the vacant parking space based on the position information of the entrance and the position information of the vacant parking space;
and controlling the first vehicle to run to the vacant parking space according to the first driving route and park.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
the embodiment of the application provides a novel vehicle management method, vehicle management equipment is behind the entry that first vehicle went to the parking area, confirm the positional information in the idle parking stall in the parking area, based on the positional information of entry and the parking stall information in idle parking stall, confirm the first driving route of entry to idle parking stall, control first vehicle and go to in the idle parking stall and park according to first driving route, thereby realize that the vehicle is automatic to go to the idle parking stall in the parking area and park from the entry in parking area, saved the car owner and driven the vehicle to the parking area, the process of looking for idle parking stall and parking, the car owner time has been saved, the car use experience of car owner has been improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a flow chart illustrating a method of vehicle management according to an exemplary embodiment of the present application;
FIG. 2 is a flow chart illustrating another vehicle management method according to an exemplary embodiment of the present application;
FIG. 3 is a schematic illustration of a vehicle management apparatus shown in an exemplary embodiment of the present application;
fig. 4 is a schematic diagram of a vehicle management apparatus shown in an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a vehicle management method according to an exemplary embodiment of the present application, applied to a vehicle management device, where the embodiment may include the following steps:
in step 101, position information of an empty parking space within a parking lot is determined in response to a first vehicle traveling to an entrance of the parking lot.
In this embodiment, the vehicle management device is used for determining an empty parking space in the parking lot, and controlling the vehicle to automatically drive to the empty parking space and park. The vehicle management apparatus may be a parking platform for managing vehicles in one or more parking lots.
In one embodiment, a camera is installed at an entrance of a parking lot, the camera collects images of license plates of vehicles running to the entrance, the collected images comprise license plate information of the vehicles, and the collected images are uploaded to a vehicle management device.
When the first vehicle runs to the entrance of the parking lot, the camera collects images of the license plate of the first vehicle, and the collected images comprise license plate information of the first vehicle. The vehicle management equipment acquires an image acquired by the camera, acquires license plate information from the image, and determines that the first vehicle runs to the entrance of the parking lot based on the license plate information.
In one embodiment, a plurality of detection devices are installed in the parking lot, each detection device being used for detecting usage information of a preset parking space. The detection means may be an infrared sensor, an ultrasonic sensor, a camera, or the like. The usage information of the parking space includes: the parking space is occupied or the parking space is unoccupied.
Each detection device is used for detecting the use information of a certain number of parking spaces. For example, a camera is installed for three adjacent parking spaces, the camera can carry out image acquisition to three adjacent parking space regions, and the use information of each parking space can be known through image recognition. For another example, an infrared sensor is installed for each parking space, and since the vehicle is parked in the parking space and the vehicle is driven away from the parking space, the sensing data obtained by the infrared sensor is different under the two conditions, so that whether the vehicle is parked in the parking space at the current moment can be determined based on the sensing data obtained by the infrared sensor.
The detection means may upload the obtained detection data to the vehicle management apparatus. Based on this, the operation of the vehicle management apparatus to determine the position information of the vacant parking spaces in the parking lot may be realized by: firstly, acquiring detection data obtained by a plurality of detection devices; secondly, determining whether an idle parking space exists in the parking lot based on all the detection data; and if so, acquiring the position information of the idle parking space.
When the quantity of the free parking stall in the parking area is a plurality of, can obtain an idle parking stall through multiple mode, for example, can select the nearest free parking stall of entry from a plurality of free parking stalls, or, the parking area includes a plurality of parking areas, can select the free parking stall that is arranged in the parking area that the parking stall rate of utilization is minimum from a plurality of free parking stalls.
The position information of the vacant parking spaces indicates the positions of the vacant parking spaces. The position information of the vacant parking spaces may include: geographical position information of the parking space, the number of the parking area where the parking space is located, and the like. The geographic location information may include geographic location coordinates.
In step 102, a first driving route from the entrance to the vacant parking space is determined based on the position information of the entrance and the position information of the vacant parking space.
The following exemplifies a process in which the vehicle management apparatus determines the first travel route.
One implementation is as follows: the vehicle management device prestores corresponding relations between parking space numbers and geographical position information of different parking spaces, determines geographical position information corresponding to the parking space numbers based on the corresponding relations after the parking space numbers of the idle parking spaces are obtained, and determines a first driving route based on the geographical position information of the entrance and the geographical position information of the idle parking spaces.
The other realization mode is as follows: the vehicle management device stores a map of a parking lot in advance, an entrance and each parking space of the parking lot are drawn on the map, the vehicle management device determines the position of the parking space with the parking space number on the map after acquiring the parking space number of the idle parking space, and determines a first driving route based on the entrance and the position of the idle parking space on the map.
In step 103, the first vehicle is controlled to drive to the free parking space according to the first driving route and park.
In one embodiment, the vehicles have globally unique vehicle identifications, the vehicle management device stores in advance the corresponding relationship between the license plate information and the vehicle identifications of different vehicles, and stores in advance the corresponding relationship between the license plate information and the vehicle identifications of the first vehicle.
In application, the vehicle management device may determine a vehicle identifier bound to license plate information of a first vehicle, control the first vehicle with the vehicle identifier, and drive and park the first vehicle in an idle parking space according to a first driving route, that is, control the first vehicle to drive and park the first vehicle in the idle parking space from an entrance of a parking lot.
The vehicle management device can send the first driving route to the first vehicle with the vehicle identification, and trigger the first vehicle to drive to the free parking space according to the first driving route and stop the vehicle.
The first vehicle in the present embodiment refers to a vehicle traveling to a parking lot entrance, and is a vehicle that is broadly referred to. The first vehicle may be an unmanned vehicle or may be another type of vehicle having the above-described functions.
The embodiment of the application provides a novel vehicle management method, vehicle management equipment is behind the entry that first vehicle went to the parking area, confirm the positional information in the idle parking stall in the parking area, based on the positional information of entry and the parking stall information in idle parking stall, confirm the first driving route of entry to idle parking stall, control first vehicle and go to in the idle parking stall and park according to first driving route, thereby realize that the vehicle is automatic to go to the idle parking stall in the parking area and park from the entry in parking area, saved the car owner and driven the vehicle to the parking area, the process of looking for idle parking stall and parking, the car owner time has been saved, the car use experience of car owner has been improved.
Fig. 2 is a flowchart illustrating another vehicle management method according to an exemplary embodiment of the present application, which is applied to a vehicle management apparatus, and the embodiment may include the following steps:
in step 201, after a first vehicle stops in an idle parking space, a driving instruction of the first vehicle is obtained, where the driving instruction carries position information of a target position.
In one embodiment, a scanning code is arranged at an entrance of a parking lot, a terminal is carried by a vehicle owner of a first vehicle, vehicle management software is installed on the terminal and has a scanning function, the vehicle owner can scan the scanning code at the entrance by using the vehicle management software, and the vehicle management software is triggered to send a driving instruction to vehicle management equipment through the terminal.
Correspondingly, the vehicle management equipment acquires a driving instruction sent by the terminal, wherein the driving instruction is triggered after the vehicle management software scans the scanning code, and the driving instruction carries the position information of the entrance.
In one embodiment, a terminal is carried by a vehicle owner of the first vehicle, vehicle management software and positioning software are installed on the terminal, the vehicle management software has a scanning function, the positioning software has a positioning function and can be GPS software or the like, and positioning information obtained by the positioning software can be understood as position information of the vehicle owner.
The vehicle owner can control the vehicle management software to acquire the positioning information acquired by the positioning software by operating the vehicle management software, a driving instruction is generated based on the acquired positioning information, the driving instruction carries the positioning information and can be understood as the driving instruction carrying the position information of the vehicle owner, and then the driving instruction is sent to the vehicle management equipment through the terminal.
Correspondingly, the vehicle management equipment acquires a driving instruction sent by the terminal, wherein the driving instruction is generated after the vehicle management software acquires the positioning information acquired by the positioning software, and the driving instruction carries the positioning information acquired by the positioning software.
In step 202, a second driving route of the first vehicle is determined based on the position information of the free parking space and the position information of the target position.
Similar to the method of determining the first driving route, the vehicle management apparatus may determine the second driving route based on the geographical position information of the free parking space and the target position, the parking space number of the free parking space, the map of the parking lot, and the like.
When the target position is an entrance position of the parking lot, the vehicle management apparatus may determine a reverse travel route of the first travel route, and determine the reverse travel route of the first travel route as the second travel route.
In step 203, the first vehicle is controlled to travel to the target position according to the second driving route.
For example, after the first vehicle is parked in a parking space, the vehicle management apparatus controls the first vehicle to travel from the parking space to the entrance of the parking lot according to the second route, or controls the first vehicle to travel from the parking space to the location of the vehicle owner according to the second route.
In the embodiment of the application, the vehicle management equipment can control the parked vehicle in the parking lot to travel to the target position, the operation of taking the vehicle by the vehicle owner is omitted, the vehicle using experience of the vehicle owner is improved, and the function of the vehicle management equipment is enriched.
In one embodiment, the vehicle management apparatus controls the first vehicle to travel to the target position according to the second travel route in various ways, for example, controls the first vehicle to travel according to the second travel route at all times.
For another example, in the process that the first vehicle travels according to the second driving route, the vehicle management software obtains vehicle travel information on the remaining route of the second driving route, and the vehicle travel information includes: and determining a third driving route of the first vehicle from the current driving position to the target position based on the vehicle driving information according to the driving information of the different vehicles on the residual routes, and controlling the first vehicle to drive according to the third driving route.
The traveling information of the vehicle may include: driving speed, driving route, etc.
The vehicle travel information may include: when a plurality of vehicles detour a position on the remaining route in the history period, the vehicle management apparatus may determine the third route by: first, whether the number of the plurality of vehicles is larger than or equal to a number threshold value is determined, and if yes, a third driving route of the first vehicle from the current driving position to the target position is determined, and the third driving route does not pass through the bypassing position.
When the vehicles detour the same position, the problems of traffic jam, driving danger and the like exist in the position, so that the vehicle management equipment replans the remaining route of the first vehicle and controls the first vehicle to detour the position, thereby avoiding driving danger and ensuring the driving safety of the first vehicle.
The vehicle travel information may include: the vehicle management apparatus may determine the third route by the following means when the traveling speeds of the plurality of vehicles on the remaining routes during the history period: firstly, determining target vehicles with the running speeds smaller than a speed threshold value from the plurality of vehicles, determining whether the number of the target vehicles exceeds a preset value, and if so, determining a third running route of the first vehicle from the current running position to the target position, wherein the third running route is different from the rest routes.
The speed threshold is smaller, if the number of the target vehicles is determined to exceed the preset value, the driving speed of the vehicles on the remaining routes is slower, and at the moment, the vehicle management device determines the driving routes again to bypass the sections with the slower driving speed, so that the time for the first vehicle to drive to the target position is shortened.
Corresponding to the vehicle management method, the application also provides embodiments of a vehicle management device, a vehicle management device and a vehicle management system.
Referring to fig. 3, which is a schematic diagram of a vehicle management apparatus according to an exemplary embodiment of the present application, the vehicle management apparatus shown in fig. 3 is applied to a vehicle management device, and the apparatus includes: afirst determination module 310, asecond determination module 320, and acontrol module 330; wherein,
thefirst determination module 310 configured to determine location information of an empty parking space within a parking lot in response to a first vehicle driving to an entrance of the parking lot;
the second determiningmodule 320 is configured to determine a first driving route from the entrance to the vacant parking space based on the position information of the entrance and the position information of the vacant parking space;
thecontrol module 330 is configured to control the first vehicle to travel to the vacant parking space according to the first travel route and to park.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
Referring to fig. 4, which is a schematic diagram of a vehicle management apparatus according to an exemplary embodiment of the present application, the vehicle management apparatus shown in fig. 4 may include: amemory 420, aprocessor 430, and anexternal interface 440 connected by aninternal bus 410;
theexternal interface 440 is used for acquiring data;
amemory 420 for storing machine readable instructions corresponding to vehicle management;
aprocessor 430 configured to read the machine-readable instructions on thememory 420 and execute the instructions to:
determining location information for an empty parking space within a parking lot in response to a first vehicle traveling to an entrance of the parking lot;
determining a first driving route from the entrance to the vacant parking space based on the position information of the entrance and the position information of the vacant parking space;
and controlling the first vehicle to run to the vacant parking space according to the first driving route and park.
The non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (11)
1. A vehicle management method, characterized by being applied to a vehicle management apparatus, the method comprising:
determining location information for an empty parking space within a parking lot in response to a first vehicle traveling to an entrance of the parking lot;
determining a first driving route from the entrance to the vacant parking space based on the position information of the entrance and the position information of the vacant parking space;
and controlling the first vehicle to run to the vacant parking space according to the first driving route and park.
2. The method according to claim 1, wherein a plurality of detection devices are installed in the parking lot, each detection device being for detecting usage information of a preset parking space; the determining of the position information of the free parking spaces in the parking lot comprises:
acquiring detection data obtained by the plurality of detection devices;
determining whether there is an empty parking space in the parking lot based on all the detection data;
and if so, acquiring the position information of the idle parking space.
3. The method of claim 1, wherein a camera is mounted at the inlet; the method further comprises the following steps:
acquiring an image acquired by the camera, wherein the image comprises license plate information of the first vehicle;
acquiring the license plate information from the image;
determining that the first vehicle is traveling to the entrance based on the license plate information.
4. The method of claim 3, wherein said controlling said first vehicle to travel into said vacant parking space and park according to said first route of travel comprises:
determining the vehicle identification bound with the license plate information;
and controlling the first vehicle with the vehicle identification, driving to the vacant parking space according to the first driving route and parking.
5. The method of claim 1, further comprising:
after the first vehicle stops in the idle parking space, acquiring a driving instruction of the first vehicle, wherein the driving instruction carries position information of a target position;
determining a second driving route of the first vehicle based on the position information of the free parking space and the position information of the target position;
and controlling the first vehicle to travel to the target position according to the second driving route.
6. The method of claim 5, wherein the entrance of the parking lot is provided with a scanning code; the vehicle owner of the first vehicle carries a terminal, and vehicle management software is installed on the terminal; the acquiring of the driving instruction of the first vehicle includes:
and acquiring the driving instruction sent by the terminal, wherein the driving instruction is triggered after the vehicle management software scans the scanning code, and the driving instruction carries the position information of the entrance.
7. The method according to claim 5, characterized in that a terminal is carried by a vehicle owner of the first vehicle, and vehicle management software and positioning software are installed on the terminal; the acquiring of the driving instruction of the first vehicle includes:
and acquiring the driving instruction sent by the terminal, wherein the driving instruction is generated after the vehicle management software acquires the positioning information acquired by the positioning software, and the driving instruction carries the positioning information.
8. The method of claim 5, wherein the controlling the first vehicle to travel to the target location according to the second driving route comprises:
in the process that the first vehicle drives according to the second driving route, vehicle driving information on the remaining route of the second driving route is acquired, wherein the vehicle driving information comprises: information on the remaining routes of different vehicles;
determining a third driving route of the first vehicle from the current driving position to the target position based on the vehicle driving information;
and controlling the first vehicle to travel according to the third driving route.
9. The method according to claim 8, wherein the vehicle travel information includes: a plurality of vehicles detour a position on the remaining route within a historical period; the determining a third driving route for the first vehicle to travel from the current driving position to the target position based on the vehicle driving information comprises:
determining whether a number of the plurality of vehicles is greater than or equal to a number threshold;
and if so, determining a third driving route of the first vehicle from the current driving position to the target position, wherein the third driving route does not pass through the position.
10. A vehicle management apparatus, characterized by being applied to a vehicle management device, the apparatus comprising:
a first determination module configured to determine location information of an empty parking space within a parking lot in response to a first vehicle traveling to an entrance of the parking lot;
a second determination module configured to determine a first driving route from the entrance to the vacant parking space based on the position information of the entrance and the position information of the vacant parking space;
a control module configured to control the first vehicle to travel into the vacant parking space according to the first travel route and to park.
11. A vehicle management apparatus characterized by comprising: the system comprises an internal bus, a memory, a processor and an external interface which are connected through the internal bus; wherein,
the external interface is used for acquiring data;
the memory to store machine readable instructions corresponding to vehicle management;
the processor is configured to read the machine-readable instructions on the memory and execute the instructions to implement the following operations:
determining location information for an empty parking space within a parking lot in response to a first vehicle traveling to an entrance of the parking lot;
determining a first driving route from the entrance to the vacant parking space based on the position information of the entrance and the position information of the vacant parking space;
and controlling the first vehicle to run to the vacant parking space according to the first driving route and park.
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| CN202010328511.1ACN111554121A (en) | 2020-04-23 | 2020-04-23 | Vehicle management method, device and equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112180932A (en)* | 2020-09-30 | 2021-01-05 | 东软睿驰汽车技术（沈阳）有限公司 | Parking method, device and equipment and unmanned system |
| CN112614379A (en)* | 2020-12-10 | 2021-04-06 | 奇瑞汽车股份有限公司 | Autonomous parking navigation method and device |
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