CN116022130A - Vehicle parking method, device, electronic device and computer readable medium - Google Patents

Abstract

Embodiments of the present disclosure disclose a vehicle parking method, device, electronic equipment and computer readable medium. A specific embodiment of the method includes: in response to detecting that the target vehicle has entered the parking lot, generating parking function activation information, and sending the parking function activation information to the automatic parking function module; obtaining front-view image data and vehicle coordinates ; Based on the front-view image data and the vehicle coordinates, generating the parking space information to be confirmed; based on the vehicle coordinates and the braking position coordinates, generating the first planned route information; in response to determining that the target vehicle has reached the target position, acquiring side image data; Perform image recognition processing on the image data to obtain target parking space information; generate second planned route information, and send the second planned route information to the vehicle control module. In this embodiment, in a parking lot with a large number of non-fixed parking spaces, the target vacant parking space can be confirmed more quickly for the vehicle to complete parking, and the parking efficiency is improved.

Description

Vehicle parking method, device, electronic device and computer readable medium

technical field

The embodiments of the present disclosure relate to the field of computer technology, and in particular to a vehicle parking method, device, electronic equipment, and computer readable medium.

Background technique

The vehicle parking method is a technology for controlling automatic parking of vehicles. At present, when controlling vehicle parking, the usual method is: control the vehicle to complete remote parking through the memory parking function, or combine a large number of high-precision maps of the parking lot for the vehicle to find a free parking space to complete remote parking.

However, the inventors have found that when the above method is used to control vehicle parking, the following technical problems often exist:

First, because the memory parking function usually requires the user to learn the route in advance for the fixed parking space, the user still needs to spend a lot of time looking for a free parking space to park in a parking lot with a large number of non-fixed parking spaces, thereby reducing the parking efficiency;

Second, when searching for parking spaces in conjunction with the high-precision map of the parking lot, due to the limited search range of the surround-view camera, the vehicle cannot quickly find vacant parking spaces far away, resulting in reduced parking efficiency.

The above information disclosed in this Background section is only for enhancement of understanding of the background of the inventive concept and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art.

Contents of the invention

The Summary of the Disclosure is provided to introduce concepts in a simplified form that are described in detail in the Detailed Description that follows. The content of this disclosure is not intended to identify the 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 provide a vehicle parking method, device, electronic device, and computer readable medium to solve one or more of the technical problems mentioned in the background art section above.

In a first aspect, some embodiments of the present disclosure provide a method for parking a vehicle, the method including: generating parking function activation information in response to detecting that a target vehicle has entered a parking lot, and sending the parking function activation information to Go to the automatic parking function module to enable the automatic parking function; in response to determining that the automatic parking function has been activated, obtain the front-view image data and the vehicle coordinates; based on the above-mentioned front-view image data and the above-mentioned vehicle coordinates, generate parking space information to be confirmed, Wherein, the parking space information to be confirmed includes the coordinates of the braking position; based on the coordinates of the vehicle and the coordinates of the braking position, the first planned route information is generated for the movement of the target vehicle; in response to determining that the target vehicle has reached the coordinates of the braking position Acquiring lateral image data corresponding to the target position; performing image recognition processing on the above lateral image data to obtain target parking space information; generating second planned route information based on the above target parking space information, and sending the above second planned route information to The vehicle control module is used for controlling the above-mentioned target vehicle to park.

In a second aspect, some embodiments of the present disclosure provide a vehicle parking device, the device includes: a first generating and sending unit configured to generate parking function activation information in response to detecting that a target vehicle has entered a parking lot, and sending the above-mentioned parking function enabling information to the automatic parking function module to enable the automatic parking function; the first acquisition unit is configured to acquire the front-view image data and the vehicle coordinates in response to determining that the above-mentioned automatic parking function has been activated; The second generating unit is configured to generate the parking space information to be confirmed based on the above-mentioned front-view image data and the above-mentioned vehicle coordinates, wherein the above-mentioned parking space information to be confirmed includes the coordinates of the braking position; the third generating unit is configured to be based on the above-mentioned vehicle coordinates and the above-mentioned braking position coordinates, generating first planned route information for the above-mentioned target vehicle to move; the second acquisition unit is configured to acquire a side image in response to determining that the above-mentioned target vehicle has reached the target position corresponding to the above-mentioned braking position coordinates data; an image recognition processing unit configured to perform image recognition processing on the above-mentioned lateral image data to obtain target parking space information; a fourth generating and sending unit configured to generate second planned route information based on the above-mentioned target parking space information, and Sending the above-mentioned second planned route information to the vehicle control module for controlling the parking of the above-mentioned target vehicle.

In a third aspect, some embodiments of the present disclosure provide an electronic device, including: one or more processors; The processor executes, so that one or more processors implement the method described in any implementation manner of the first aspect above.

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 computer 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 vehicle parking methods of some embodiments of the present disclosure, the user can confirm the target free parking space and complete parking more quickly in a parking lot with a large number of non-fixed parking spaces, Improved parking efficiency. Specifically, the reason for the reduction in parking efficiency is that the memory parking function usually requires users to learn routes in advance for fixed parking spaces, so that users still need to spend a lot of time looking for vacant parking spaces in parking lots with a large number of non-fixed parking spaces. car, thus, resulting in reduced parking efficiency. Based on this, in the vehicle parking method of some embodiments of the present disclosure, first, in response to detecting that the target vehicle has entered the parking lot, generate parking function activation information, and send the above parking function activation information to the automatic parking function module to activate the automatic parking function. Thereby, it is convenient to control the parking of the vehicle through the automatic parking function subsequently. Secondly, in response to determining that the above-mentioned automatic parking function has been turned on, the front view image data and the vehicle coordinates are acquired. In this way, the information of each parking space in front of the vehicle and the position of the vehicle can be obtained. Thirdly, based on the above-mentioned front-view image data and the above-mentioned vehicle coordinates, the parking space information to be confirmed is generated. Wherein, the parking space information to be confirmed may include the coordinates of the parking position. In this way, according to the information of each parking space in front of the vehicle and the position of the vehicle, the estimated vacant parking spaces available for parking can be obtained. Then, based on the vehicle coordinates and the braking position coordinates, first planned route information is generated for the target vehicle to move. Thus, it is convenient for subsequent vehicles to move to the front of the vacant parking space that is expected to be parked. Afterwards, in response to determining that the target vehicle has reached the target position corresponding to the braking position coordinates, acquiring side image data. And image recognition processing is performed on the above-mentioned lateral image data to obtain target parking space information. In this way, the above-mentioned estimated vacant parking spaces that can be parked can be verified and confirmed, and the target vacant parking spaces can be obtained. Finally, based on the target parking space information, second planned route information is generated, and the second planned route information is sent to the vehicle control module for controlling the target vehicle to park. Thereby, vehicle parking can be completed. Therefore, in the vehicle parking method of some embodiments of the present disclosure, in a parking lot with a large number of non-fixed parking spaces, the target vacant parking spaces available for parking can be confirmed more quickly to complete the parking by planning the path in sections. . Thus, parking efficiency can be improved. Furthermore, the versatility of the automatic parking function can be improved.

Description of drawings

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

FIG. 1 is a flowchart of some embodiments of a vehicle parking method according to the present disclosure;

Fig. 2 is a structural schematic diagram of some embodiments of a vehicle parking device according to the present disclosure;

FIG. 3 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. Although certain embodiments of the disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these examples are provided so that the understanding of this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for exemplary purposes only, and are not intended to limit the protection scope of the present disclosure.

It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings. In the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other.

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

It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative and not restrictive, and those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more" multiple".

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

FIG. 1 illustrates a process 100 of some embodiments of a vehicle parking method according to the present disclosure. The vehicle parking method includes the following steps:

Step 101 , in response to detecting that the target vehicle has entered the parking lot, generate parking function activation information, and send the parking function activation information to the automatic parking function module to enable the automatic parking function.

In some embodiments, the execution body of the vehicle parking method (such as the vehicle end server) may generate parking function activation information in response to detecting that the target vehicle has entered the parking lot, and send the above parking function activation information to the automatic parking system. vehicle function module to activate the automatic parking function. Wherein, the aforementioned target vehicle may be a vehicle to be parked. The above parking function enabling information may be instruction information for enabling the automatic parking function. The above-mentioned automatic parking function module may be a sub-module of the automatic driving function module. The above-mentioned automatic parking function module can be used to control the vehicle to perform automatic parking in the parking lot.

Step 102 , in response to determining that the automatic parking function has been activated, acquiring front-view image data and vehicle coordinates.

In some embodiments, the execution subject may acquire the front view image data and the vehicle coordinates through a wired connection or a wireless connection in response to determining that the automatic parking function has been activated. Wherein, the above-mentioned front-view image data may be an image of the road in front of the vehicle output by the front-view camera. The above vehicle coordinates may be GPS (Global Positioning System, Global Positioning System) coordinates output by vehicle navigation.

Step 103, based on the front-view image data and the vehicle coordinates, generate parking space information to be confirmed.

In some embodiments, the execution subject may generate the parking space information to be confirmed based on the front-view image data and the vehicle coordinates in various ways. Wherein, the parking space to be confirmed information may represent the parking space to be confirmed. The aforementioned parking spaces to be confirmed may be parking spaces expected to be available for parking. The parking space information to be confirmed may include the coordinates of the parking position. The above brake position coordinates can represent the target position. The above-mentioned target position may be the position when the vehicle directly in front of the parking space is braked.

In some optional implementations of some embodiments, the execution subject may generate parking space information to be confirmed based on the front-view image data and the vehicle coordinates through the following steps:

The first step is to perform corner detection processing on the above-mentioned front-view image data to obtain the corner point information set of the parking space. Wherein, the parking space corner point information in the above parking space corner point information set may represent the corner point of the parking space. The corner point detection processing may be performed on the front-view image data through a preset corner point detection processing method to obtain the corner point information set of the parking space.

As an example, the above-mentioned corner detection processing method may include but not limited to at least one of the following: Harris corner detection algorithm, FAST (Features From Accelerated Segment Test, fast feature detection) algorithm, SURF (Speed Up Robust Feature, accelerated robust feature) algorithm.

The second step is to perform target recognition on the above-mentioned forward-looking image data to obtain the obstacle bounding box information set. Wherein, the obstacle bounding frame information in the above obstacle bounding frame information set may represent an obstacle vehicle. The aforementioned obstacle vehicle may be a vehicle-type obstacle. Target recognition can be performed on the forward-looking image data through a preset target recognition method to obtain an obstacle bounding frame information set.

As an example, the above target recognition method may include but not limited to at least one of the following: RCNN (Region-CNN, region-based convolutional neural network) algorithm, YOLO (You Only Look Once, target detection) algorithm, SSD (Single Shot Multibox Detector, single stage detection) algorithm.

In the third step, an information set of free parking spaces is generated based on the information set of corner points of parking spaces and the information set of bounding boxes of obstacles. Wherein, the free parking space information in the above free parking space information set may represent the free parking spaces identified by the front-view camera. The free parking space information in the above free parking space information set may include the parking space identification and the coordinates of the braking position. The above-mentioned parking space identification can uniquely identify the parking space. The free parking space information set can be generated based on the above parking space corner point information set and the above obstacle bounding frame information set through the following steps:

The first sub-step is to perform group processing on the above-mentioned corner point information sets of parking spaces to obtain corner point information sets of parking spaces. Wherein, the parking space corner information group in the parking space corner information group set may be a set of corner points corresponding to the same parking space. The above-mentioned executive body may perform group processing on the above-mentioned parking space corner point information set through a preset grouping processing method to obtain a parking space corner point information group set.

As an example, the above grouping processing method may be a DBSCAN (Density-Based Spatial Clustering of Applications with Node, density-based clustering) algorithm.

The second sub-step is to divide and process the above-mentioned front-view image data based on the above-mentioned parking space corner point information set to obtain a parking space area information set. Wherein, the parking space area information in the above parking space area information set may represent a parking space. The parking space area information in the above parking space area information set may include the coordinates of the upper left corner point and the upper right corner point coordinates. The coordinates of the above-mentioned upper left corner point may be the coordinates of the corner point of the upper left corner of the parking space. The above-mentioned coordinates of the upper right corner point may be the coordinates of the corner point of the upper right corner of the parking space. The execution subject may divide and process the front-view image data based on the parking space corner point information set through a preset division processing method to obtain a parking space area information set.

As an example, the above division processing method may include but not limited to at least one of the following: a division method based on a convolutional neural network, and a division method based on an active contour model.

The third sub-step, for each parking space area information in the above parking space area information set, the following steps can be performed:

Step 1: Perform detection processing on the above-mentioned parking space area information and the above-mentioned obstacle enclosing frame information set to obtain a parking space status identifier. Wherein, the above-mentioned parking space status sign can indicate whether the parking space is occupied. For example, the above parking space status flag may be 0 or 1. 0 may indicate that the parking space is not occupied. 1 can indicate that the parking space is occupied. The parking space area information and the obstacle bounding frame information set may be detected and processed by a preset detection processing algorithm to obtain the parking space state identifier.

As an example, the detection processing algorithm may include but not limited to at least one of the following: a directed bounding box detection algorithm, and a SAT (Separating Axis Theorem, Separating Axis Theorem) detection algorithm.

Step 2: In response to determining that the parking space state sign meets a preset state condition, the braking position coordinates are generated based on the parking space area information. Wherein, the above state condition may be that the above parking space state sign indicates that the parking space is not occupied. First, the equation of the straight line passing through the coordinates of the upper left corner point and the upper right corner point is determined as the front frame line equation of the parking space. Wherein, the above frame line equation in front of the parking space can represent the frame line in front of the parking space. The front frame line of the parking space may be the front frame line of the parking space frame. Then, the coordinates of the points satisfying the preset intermediate condition on the frame line in front of the parking space are determined as the target intermediate coordinates. Wherein, the aforementioned preset intermediate condition may be that the distance from the point to the point corresponding to the coordinates of the upper left corner point is equal to the distance from the point to the point corresponding to the coordinates of the upper right corner point. Afterwards, according to the above frame line equation in front of the parking space, the equation of the straight line passing through the target intermediate coordinates and perpendicular to the frame line in front of the parking space is determined as the frame line middle line equation. Wherein, the above-mentioned middle line equation of the frame line can characterize the middle line of the frame line. The above-mentioned middle line of the frame line may be a straight line perpendicular to the frame line in front of the parking space. Finally, the coordinates of the points on the preset road centerline that satisfy the equation of the middle line of the frame line are determined as the coordinates of the braking position. Wherein, the aforementioned preset road centerline may be the centerline of the road where the vehicle is located at the current moment.

Step 3, determining the above parking space area information and the above braking position coordinates as free parking space information.

In a fourth step, in response to determining that the information set of free parking spaces satisfies a preset number condition, sort the information sets of free parking spaces to obtain a sequence of information about free parking spaces. Wherein, the aforementioned preset quantity condition may be that there is at least one free parking space information in the free parking space information set. The above free parking space information set can be sorted through the following steps to obtain the free parking space information sequence:

In the first sub-step, for each free parking space information in the free parking space information set, the distance between the braking position coordinates included in the free parking space information and the vehicle coordinates is determined as the braking distance.

The second sub-step is to sort the information set of free parking spaces in ascending order according to each braking distance corresponding to each free parking space information, to obtain a sequence of free parking space information. The above-mentioned free parking space information set can be sorted in ascending order by a preset sorting algorithm to obtain a sequence of free parking space information.

As an example, the above sorting algorithm may include but not limited to at least one item: quick sort, insertion sort, and bubble sort.

The fifth step is to select a vacant parking space information that satisfies the position condition of the preset sequence from the above-mentioned vacant parking space information sequence, as the parking space information to be confirmed. Wherein, the location condition of the above-mentioned preset sequence may be that the free parking space information is the first free parking space information in the above-mentioned free parking space information sequence.

Optionally, the above execution subject may also perform the following steps:

In the first step, in response to determining that the above-mentioned free parking space information set does not satisfy the above-mentioned preset quantity condition, the above-mentioned front-view image data is identified to obtain road information in the venue. Wherein, the above-mentioned road information in the parking lot may be information of roads in the parking lot. The above-mentioned in-field road information may include an intersection type identifier and an intersection location coordinate group. The above intersection type identifier can represent the type of intersection. Types of intersections may include "T" shapes, "L" shapes, and cross shapes. The intersection position coordinates in the above intersection position coordinate group may be the coordinates of points on the boundary line of the intersection area. The aforementioned boundary line of the intersection area may be a dividing line between the intersection area and the lane on the high-definition map. The intersection area described above may be an intersection between roads. The above-mentioned front-view image data can be identified through a preset image recognition algorithm to obtain road information in the venue.

As an example, the above-mentioned image recognition algorithm may include but not limited to at least one of the following: Scharr operator (edge detection), Hough transform, and the like.

The second step is to generate target route information for the target vehicle to park based on the above-mentioned vehicle coordinates and the above-mentioned in-field road information. Wherein, the above target route information may represent the route of the vehicle traveling to the intersection. Firstly, the target route information can be generated according to the above-mentioned vehicle coordinates and the intersection position coordinate group included in the above-mentioned in-field road information through a preset route planning algorithm. For example, the above path planning algorithm may include but not limited to at least one of the following: fast expanding random tree algorithm, A* (A-Star) algorithm. Then, the above target route information is sent to the vehicle control module to control the target vehicle to travel to the intersection. Wherein, the above-mentioned vehicle control module may be a module that controls the driving of the vehicle through various instructions. Various instructions may include but not limited to at least one of the following: steering instructions, acceleration instructions, and deceleration instructions. Afterwards, in response to determining that the intersection type identifier represents a cross, a right turn instruction is sent to the vehicle control module to control the target vehicle to turn right at the intersection to continue searching for a free parking space to complete parking.

Optionally, in response to determining that the intersection type sign represents "T" or "L", the above-mentioned execution subject recognizes the front-view image data as a wall and no parking space through the target recognition method, then the above-mentioned execution subject can send The vehicle control module sends a left steering command to control the target vehicle to continue searching for a free parking space to complete parking.

Step 104, based on the vehicle coordinates and the braking position coordinates, generate first planned route information for the target vehicle to move.

In some embodiments, the execution subject may generate first planned route information for the target vehicle to move based on the coordinates of the vehicle and the coordinates of the braking position in various ways. Wherein, the above-mentioned first planned route information may represent the route of the target vehicle traveling to the target position corresponding to the parking space to be confirmed. The above-mentioned first planned route information may include driving direction information and driving distance. The above traveling direction information may represent the traveling direction of the vehicle. The above-mentioned driving direction may include the front of the vehicle, the left front of the vehicle, and the right front of the vehicle. The above-mentioned traveling distance may be the distance that the vehicle needs to travel from the current location to the target location corresponding to the parking space to be confirmed.

In some optional implementations of some embodiments, the execution subject may generate first planned route information for the target vehicle to move based on the coordinates of the vehicle and the coordinates of the braking position through the following steps:

In the first step, route planning processing is performed on the vehicle coordinates and the braking position coordinates to obtain first planned route information. The above-mentioned path planning algorithm may be used to perform path planning processing on the above-mentioned vehicle coordinates and the above-mentioned braking position coordinates to obtain the first planned route information.

The second step is to integrate the above-mentioned first planned route information and the preset request template information to obtain the take-over vehicle information, and control the associated voice equipment to play the above-mentioned take-over vehicle information. Wherein, the aforementioned preset request template information may be preset template text information. For example, the above-mentioned template text may be "There is a vacant parking space at _square_meter of the vehicle, do you agree to park?" The above request to take over the vehicle information may be information requesting the user to perform automatic parking. The aforementioned voice device may be a device with a text-to-speech function and a speech-to-text function.

Step 3: In response to receiving the voice information of the user, perform matching processing on the voice information of the user to obtain target takeover information. Wherein, the above user voice information may represent the voice input by the user. The above-mentioned user voice information may be text information after the voice is converted into text. The above target takeover information may indicate whether the user agrees to the automatic parking of the vehicle. The above-mentioned user voice information and the preset confirmation information may be matched through a preset text matching algorithm to obtain target takeover information.

As an example, the above text matching algorithm may include but not limited to at least one of the following: BM25 (BestMatching 25, best matching) algorithm, DSSM (Deep Structured Semantic Models, deep semantic matching model) algorithm.

In a fourth step, in response to determining that the target takeover information satisfies a preset consent condition, sending the first planned route information to the vehicle control module, so as to control the movement of the target vehicle. Wherein, the above-mentioned preset consent condition may be that the above-mentioned target takeover information indicates that the user agrees to enable the automatic parking function.

Step 105, in response to determining that the target vehicle has reached the target position corresponding to the coordinates of the braking position, acquiring side image data.

In some embodiments, the execution subject may acquire side image data in response to determining that the target vehicle has reached the target position corresponding to the braking position coordinates. Wherein, the above-mentioned side image data may be the image data of the parking space output by the left camera and the right camera of the vehicle.

Optionally, before the above-mentioned response to determining that the above-mentioned target vehicle has reached the target position corresponding to the above-mentioned braking position coordinates, and before obtaining the side image data, the above-mentioned execution subject may also perform the following steps:

The first step is to obtain the image data sequence. Wherein, the above image data sequence may be image data of consecutive frames output by the front-view camera.

In the second step, based on the parking space information to be confirmed, target recognition is performed on each image data in the image data sequence to obtain a parking space state information sequence. Wherein, the parking space state information in the above parking space state information sequence may be the information of the parking space state of the parking space to be confirmed. The object recognition method may be used to perform target recognition on each image data in the image data sequence based on the parking space information to be confirmed, so as to obtain the parking space state information sequence.

The third step is to analyze and process the above parking space state information sequence to obtain the target parking space usage information. Wherein, the above target parking space usage information may represent the state of the parking space to be confirmed. The above target parking space usage information may be occupied parking space information or unoccupied parking space information. The above occupied parking space information may indicate that the parking space is occupied. The above unoccupied parking space information may indicate that the parking space is not occupied. The above sequence of parking space status information can be analyzed and processed by a preset analysis processing algorithm to obtain target parking space usage information.

As an example, the above analysis processing algorithm may include but not limited to at least one of the following: logistic regression algorithm, decision tree algorithm, naive Bayesian algorithm and the like.

Step 4: In response to determining that the target parking space usage information does not satisfy the preset empty parking space condition, update the parking space information to be confirmed. Wherein, the preset empty parking space condition may be that the target parking space usage information is unoccupied parking space information. A free parking space information that satisfies subsequent conditions may be selected from the above sequence of free parking space information as the updated parking space information, and the updated parking space information is determined as the parking space information to be confirmed. Wherein, the subsequent condition may be that: the information of the free parking space is the first information of the free parking space after the information of the parking space to be confirmed in the sequence of the information of the free parking space.

The fifth step is to obtain vehicle trajectory coordinates. Wherein, the above vehicle trajectory coordinates may be the current coordinates of the target vehicle. Vehicle trajectory coordinates can be obtained through vehicle navigation.

Step 6: Based on the above-mentioned vehicle trajectory coordinates and the updated parking space information to be confirmed, generate updated driving route information for the above-mentioned target vehicle to park. Wherein, the above-mentioned updated driving route information may be updated first planned route information. First, the updated driving route information may be generated based on the above-mentioned vehicle trajectory coordinates and the updated parking space information to be confirmed through the above-mentioned path planning algorithm. Then, the above-mentioned updated driving route information may be sent to the above-mentioned vehicle control module, so as to control the vehicle to drive to a free parking space for parking.

The above-mentioned steps of generating and updating the first planned route information and related contents are an inventive point of the embodiments of the present disclosure, which solve the technical problem 2 "parking efficiency reduction" mentioned in the background art. The factors that lead to the reduction of parking efficiency are often as follows: When searching for parking spaces in combination with the high-precision map of the parking lot, due to the limited search range of the surround-view camera, the vehicle cannot quickly find vacant parking spaces far away. If the above factors are solved, the effect of improving parking efficiency can be achieved. In order to achieve this effect, in the present disclosure, firstly, images of various parking spaces from near to far can be obtained through the front-view camera. Then, by identifying and screening the obtained images, an estimated usable parking space to be confirmed can be preliminarily identified. Finally, the vehicle can be controlled to move to the front of the parking space to be confirmed, and the status of the parking space can be confirmed for parking. In addition, during the movement process, the continuous images captured by the front-view camera are used to continuously confirm the status of the parking space to be confirmed. If the parking spaces to be confirmed are continuously confirmed to be occupied, a new parking space to be confirmed is selected, and the first planned route information is updated for parking. Therefore, by using the forward-looking camera to identify a parking space farther away, the deficiency of the limited search range of the surround-view camera can be made up for, so that the vehicle can find a free parking space faster to complete parking. Thus, the parking efficiency of the vehicle can be improved.

Step 106, performing target recognition processing on the side image data to obtain target parking space information.

In some embodiments, the execution subject may perform image recognition processing on the lateral image data to obtain target parking space information. Wherein, the above-mentioned target parking space information may be information of vacant parking spaces. Target recognition processing can be performed on the above-mentioned side image data by the above-mentioned target recognition method to obtain target parking space information.

Step 107, generating second planned route information based on the target parking space information, and sending the second planned route information to the vehicle control module for controlling the parking of the target vehicle.

In some embodiments, the above-mentioned execution subject can generate the second planned route information based on the above-mentioned target parking space information in various ways, and send the above-mentioned second planned route information to the vehicle control module for controlling the parking of the above-mentioned target vehicle . Wherein, the above-mentioned second planned route information may be the driving route of the vehicle from the parking position to the parking space.

In some optional implementations of some embodiments, the execution subject may generate second planned route information based on the braking position coordinates and the target parking space information in response to determining that the target parking space information satisfies a preset free parking space condition. Wherein, the preset condition of the free parking space may be that the target parking space information is not empty. The second planned route information may be generated based on the above target parking space information through the above path planning algorithm.

The above-mentioned embodiments of the present disclosure have the following beneficial effects: through the vehicle parking methods of some embodiments of the present disclosure, the user can confirm the target free parking space and complete parking more quickly in a parking lot with a large number of non-fixed parking spaces, Improved parking efficiency. Specifically, the reason for the reduction in parking efficiency is that the memory parking function usually requires users to learn routes in advance for fixed parking spaces, so that users still need to spend a lot of time looking for vacant parking spaces in parking lots with a large number of non-fixed parking spaces. car, thus, resulting in reduced parking efficiency. Based on this, in the vehicle parking method of some embodiments of the present disclosure, first, in response to detecting that the target vehicle has entered the parking lot, generate parking function activation information, and send the above parking function activation information to the automatic parking function module to activate the automatic parking function. Thereby, it is convenient to control the parking of the vehicle through the automatic parking function subsequently. Secondly, in response to determining that the above-mentioned automatic parking function has been turned on, the front view image data and the vehicle coordinates are acquired. In this way, the information of each parking space in front of the vehicle and the position of the vehicle can be obtained. Thirdly, based on the above-mentioned front-view image data and the above-mentioned vehicle coordinates, the parking space information to be confirmed is generated. Wherein, the parking space information to be confirmed may include the coordinates of the parking position. In this way, according to the information of each parking space in front of the vehicle and the position of the vehicle, the estimated vacant parking spaces available for parking can be obtained. Then, based on the vehicle coordinates and the braking position coordinates, first planned route information is generated for the target vehicle to move. Thus, it is convenient for subsequent vehicles to move to the front of the vacant parking space that is expected to be parked. Afterwards, in response to determining that the target vehicle has reached the target position corresponding to the braking position coordinates, acquiring side image data. And image recognition processing is performed on the above-mentioned lateral image data to obtain target parking space information. In this way, the above-mentioned estimated vacant parking spaces that can be parked can be verified and confirmed, and the target vacant parking spaces can be obtained. Finally, based on the target parking space information, second planned route information is generated, and the second planned route information is sent to the vehicle control module for controlling the target vehicle to park. Thereby, vehicle parking can be completed. Therefore, in the vehicle parking method of some embodiments of the present disclosure, in a parking lot with a large number of non-fixed parking spaces, the target vacant parking spaces available for parking can be confirmed more quickly to complete the parking by planning the path in sections. . Thus, parking efficiency can be improved. Furthermore, the versatility of the automatic parking function can be improved.

Further referring to FIG. 2 , as the realization of the methods shown in the above figures, the present disclosure provides some embodiments of a vehicle parking device, and these device embodiments correspond to those method embodiments shown in FIG. 1 , the device Specifically, it can be applied to various electronic devices.

As shown in FIG. 2 , the vehicle parking device 200 of some embodiments includes: a first generation and transmission unit 201, a first acquisition unit 202, a second generation unit 203, a third generation unit 204, a second acquisition unit 205, an image Identify the processing unit 206 and the fourth generating and sending unit 207 . Wherein, the first generating and sending unit 201 is configured to generate parking function activation information in response to detecting that the target vehicle has entered the parking lot, and send the parking function activation information to the automatic parking function module to enable automatic parking Vehicle function; the first acquisition unit 202 is configured to acquire the front view image data and vehicle coordinates in response to determining that the above-mentioned automatic parking function has been turned on; the second generation unit 203 is configured to Coordinates, generating parking space information to be confirmed, wherein the parking space information to be confirmed includes the coordinates of the braking position; the third generating unit 204 is configured to generate the first planned route information based on the coordinates of the vehicle and the coordinates of the braking position for the above-mentioned The target vehicle moves; the second acquisition unit 205 is configured to acquire side image data in response to determining that the target vehicle has reached the target position corresponding to the above-mentioned braking position coordinates; the image recognition processing unit 206 is configured to perform the above-mentioned side performing image recognition processing on the image data to obtain target parking space information; the fourth generation and sending unit 207 is configured to generate second planned route information based on the above target parking space information, and send the above second planned route information to the vehicle control module, For controlling the parking of the above-mentioned target vehicle.

It can be understood that the units recorded in the device 200 correspond to the steps in the method described with reference to FIG. 1 . Therefore, the operations, features and beneficial effects described above for the method are also applicable to the device 200 and the units contained therein, and will not be repeated here.

Further referring to FIG. 3 , it shows a schematic structural diagram of an electronic device 300 suitable for implementing some embodiments of the present disclosure. The electronic device shown in FIG. 3 is only an example, and should not limit the functions and scope of use of the embodiments of the present disclosure.

As shown in FIG. 3 , an electronic device 300 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 301 that can be randomly accessed according to a program stored in a read-only memory (ROM) 302 or loaded from a storage device 308 Various appropriate actions and processes are executed by programs in the memory (RAM) 303 . In the RAM 303, various programs and data necessary for the operation of the electronic device 300 are also stored. The processing device 301, ROM 302, and RAM 303 are connected to each other through a bus 304. An input/output (I/O) interface 305 is also connected to the bus 304 .

Typically, the following devices can be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speaker, vibration an output device 307 such as a computer; a storage device 308 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 309. The communication means 309 may allow the electronic device 300 to perform wireless or wired communication with other devices to exchange data. While FIG. 3 shows electronic device 300 having various means, it should be understood that implementing or having all of the means shown is not a requirement. More or fewer means may alternatively be implemented or provided. Each block shown in FIG. 3 may represent one device, or may 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, which includes a computer program carried on a computer-readable medium, where the computer program includes program codes for executing the methods shown in the flowcharts. In some such embodiments, the computer program may be downloaded and installed from a network via communication means 309, or from storage means 308, or from ROM 302. When the computer program is executed by the processing device 301, the above-mentioned functions defined in the methods of some embodiments of the present disclosure are performed.

It should be noted that the above-mentioned computer-readable medium 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 two. A computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In some embodiments of the present disclosure, a computer-readable storage medium may 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. In some embodiments of the present disclosure, however, 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 thereon. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can transmit, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device . Program code embodied on a computer readable medium may be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

In some embodiments, the client and the server can communicate using any currently known or future developed network protocols such as HTTP (HyperText Transfer Protocol), and can communicate with digital data in any form or medium (eg, communication network) interconnections. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), internetworks (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network of.

The above-mentioned computer-readable medium may be included in the above-mentioned device, or may exist independently without being incorporated 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: responds to detecting that the target vehicle has entered the parking lot, generates parking function enabling information, and sending the above-mentioned parking function activation information to the automatic parking function module to enable the automatic parking function; in response to determining that the above-mentioned automatic parking function has been activated, obtain the front-view image data and vehicle coordinates; based on the above-mentioned front-view image data and the above-mentioned Vehicle coordinates, generating parking space information to be confirmed, wherein the parking space information to be confirmed includes braking position coordinates; based on the vehicle coordinates and the braking position coordinates, generating first planned route information for the target vehicle to move; in response to determining the above The target vehicle has arrived at the target position corresponding to the above-mentioned braking position coordinates, obtaining lateral image data; performing image recognition processing on the above-mentioned lateral image data to obtain target parking space information; generating second planning route information based on the above-mentioned target parking space information, and Sending the above-mentioned second planned route information to the vehicle control module for controlling the parking of the above-mentioned 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, or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, 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 cases involving a remote computer, the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connected via the Internet).

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 a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more logical functions for implementing specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block 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 they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be 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 by a dedicated hardware-based system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.

The units described in some embodiments of the present disclosure may be realized by software or by hardware. The described units may also be set in a processor, for example, it may be described as: a processor includes a first generating and sending unit, a first acquiring unit, a second generating unit, a third generating unit, a second acquiring unit, An image recognition processing unit and a fourth generating and sending unit. Wherein, the names of these units do not constitute a limitation to the unit itself under certain circumstances, for example, the first generating and sending unit may also be described as "generating a parking function in response to detecting that the target vehicle has entered the parking lot activation information, and a unit that sends the above parking function activation information to the automatic parking function module to activate the automatic parking function”.

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), System on Chips (SOCs), Complex Programmable Logical device (CPLD) and so on.

The above descriptions are only 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, but also covers the above-mentioned invention without departing from the above-mentioned inventive concept. Other technical solutions formed by any combination of technical features or equivalent features. For example, a technical solution formed by replacing the above-mentioned features with technical features having similar functions disclosed in (but not limited to) the embodiments of the present disclosure.

Claims (9)

1. A vehicle parking method, comprising: In response to detecting that the target vehicle has entered the parking lot, generating parking function activation information, and sending the parking function activation information to the automatic parking function module to activate the automatic parking function; obtaining forward-looking image data and vehicle coordinates in response to determining that the automatic parking function has been activated; Based on the forward-looking image data and the vehicle coordinates, generating parking space information to be confirmed, wherein the parking space information to be confirmed includes braking position coordinates; generating first planned route information for the target vehicle to move based on the vehicle coordinates and the braking position coordinates; Obtaining lateral image data in response to determining that the target vehicle has reached a target position corresponding to the braking position coordinates; performing image recognition processing on the lateral image data to obtain target parking space information; Based on the target parking space information, generate second planned route information, and send the second planned route information to a vehicle control module for controlling parking of the target vehicle. 2. The method according to claim 1, wherein said generating parking space information to be confirmed based on said front view image data and said vehicle coordinates comprises: Performing corner detection processing on the front-view image data to obtain a corner information set of parking spaces; Performing target recognition on the forward-looking image data to obtain an obstacle bounding frame information set; Generate an idle parking space information set based on the parking space corner information set and the obstacle bounding frame information set; In response to determining that the free parking space information set satisfies a preset quantity condition, sorting the free parking space information set to obtain a free parking space information sequence; A free parking space information that satisfies the location condition of the preset sequence is selected from the sequence of free parking space information as the parking space information to be confirmed. 3. The method of claim 2, wherein the method further comprises: Responding to determining that the free parking space information set does not meet the preset quantity condition, identifying the forward-looking image data to obtain road information in the venue; Based on the vehicle coordinates and the on-site road information, target route information is generated for the target vehicle to park. 4. The method according to claim 1, wherein the generating first planned route information for the target vehicle to move based on the vehicle coordinates and the braking position coordinates comprises: performing path planning processing on the vehicle coordinates and the braking position coordinates to obtain first planned route information; Integrating the first planned route information and the preset request template information to obtain information about the vehicle requesting to take over, and controlling the associated voice device to play the information about the vehicle requesting to take over; In response to receiving user voice information, perform matching processing on the user voice information to obtain target takeover information; In response to determining that the target takeover information satisfies a preset approval condition, sending the first planned route information to the vehicle control module to control the movement of the target vehicle. 5. The method according to claim 1, wherein said generating second planned route information based on said target parking space information comprises: In response to determining that the target parking space information satisfies a preset free parking space condition, second planned route information is generated based on the braking position coordinates and the target parking space information. 6. The method according to claim 1, wherein, before the acquisition of side image data in response to determining that the target vehicle has reached the target position corresponding to the braking position coordinates, the method further comprises: Get image data sequence; Based on the parking space information to be confirmed, perform target recognition on each image data in the image data sequence to obtain a parking space state information sequence; Analyzing and processing the parking space state information sequence to obtain target parking space usage information; updating the parking space information to be confirmed in response to determining that the target parking space usage information does not meet the preset empty parking space condition; Get vehicle track coordinates; Based on the vehicle trajectory coordinates and the updated parking space information to be confirmed, generate updated driving route information for the target vehicle to park. 7. A vehicle parking device, comprising: The first generating and sending unit is configured to generate parking function enabling information in response to detecting that the target vehicle has entered the parking lot, and send the parking function enabling information to the automatic parking function module to enable the automatic parking function ; a first acquiring unit configured to acquire forward-looking image data and vehicle coordinates in response to determining that the automatic parking function has been turned on; The second generation unit is configured to generate parking space information to be confirmed based on the front-view image data and the vehicle coordinates, wherein the parking space information to be confirmed includes braking position coordinates; A third generating unit configured to generate first planned route information for the target vehicle to move based on the vehicle coordinates and the braking position coordinates; A second acquisition unit configured to acquire side image data in response to determining that the target vehicle has reached a target position corresponding to the braking position coordinates; The image recognition processing unit is configured to perform image recognition processing on the side image data to obtain target parking space information; The fourth generating and sending unit is configured to generate second planned route information based on the target parking space information, and send the second planned route information to a vehicle control module for controlling parking of the target vehicle. 8. An electronic device comprising: one or more processors; a storage device on which one or more programs are stored, When the one or more programs are executed by the one or more processors, the one or more processors are made to implement the method according to any one of claims 1-6. 9. A computer-readable medium, on which a computer program is stored, wherein the computer program implements the method according to any one of claims 1-6 when executed by a processor.

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