A parking area determination method and related equipment

Abstract

The present invention relates to the field of automatic parking, and in particular to a parking area determination method and related equipment. The method includes: acquiring image data collected by a camera and radar data collected by a radar; determining multiple candidate parking areas according to the radar data; determining whether each candidate parking area meets a vehicle parking condition according to the image data, wherein the vehicle parking condition includes a lane line determination condition; if a lane line is detected in an adjacent parking area of ​​the candidate parking area, determining whether a lane line is detected in the candidate parking area; if a lane line is not detected in the candidate parking area, determining that the candidate parking area does not meet the lane line determination condition, and determining that the candidate parking area does not meet the vehicle parking condition; determining the candidate parking area that meets the vehicle parking condition as a target parking area, and determining an actual parking area from the target parking area.

Description

[Technical field]

[0001] The present invention relates to the field of automatic parking, and in particular to a parking area determination method and related equipment. [Background technology]

[0002] As autonomous driving technology matures, the automatic parking system, as an important part of autonomous driving technology, is widely used. The automatic parking system can control the vehicle to automatically enter the parking position and park without manual control. The automatic parking system is mainly used in indoor scenes (such as parking lots, etc.) and outdoor scenes (such as roadsides). For indoor scenes, the automatic parking system mainly relies on the parking space lines drawn on the ground to identify the parking space. The camera configured on the vehicle is used to identify the parking space lines on the ground and determine the corner points of the parking space. Then, the radar configured on the vehicle is used to determine which parking space has a vehicle parked and which parking space has no vehicle parked, and then the vehicle is controlled to park. For outdoor scenes, in the absence of lane lines, the automatic system determines the boundary of the obstacle vehicle through the radar configured on the vehicle, determines the free space as the parking position, and executes parking. In the process of automatically parking by identifying the boundary of the obstacle vehicle based on the radar, there may be a situation where the space at the intersection or aisle is determined as the parking position, which eventually leads to the intersection or aisle being blocked by vehicles. [Summary of the invention]

[0003] In order to solve the above problems, an embodiment of the present invention provides a parking area determination method and related equipment, which can avoid parking vehicles in aisles or intersections.

[0004] In a first aspect, an embodiment of the present invention provides a parking area determination method applied to a vehicle-mounted terminal, comprising:

[0005] Obtain image data collected by the camera and radar data collected by the radar;

[0006] determining a plurality of candidate parking areas based on the radar data;

[0007] Determining whether each candidate parking area satisfies a vehicle parking condition according to the image data, wherein the vehicle parking condition includes a lane line determination condition;

[0008] If a lane line is detected in a parking area adjacent to the candidate parking area, determining whether a lane line is detected in the candidate parking area;

[0009] If no lane line is detected in the candidate parking area, determining that the candidate parking area does not meet the lane line determination condition, and determining that the candidate parking area does not meet the vehicle parking condition;

[0010] A candidate parking area satisfying the vehicle parking condition is determined as a target parking area, and an actual parking area is determined from the target parking area.

[0011] In the embodiment of the present invention, by identifying the lane lines, parking is avoided at the place where the lane lines are disconnected, thereby avoiding the situation where the intersection or aisle is blocked by vehicles.

[0012] In a possible implementation, the vehicle parking condition further includes a limiter determination condition, and the method further includes:

[0013] Determine whether there is a stopper in a first area of ​​the candidate parking area, the first area being determined by an area where the front of the vehicle is located when the vehicle is parked in the candidate parking area;

[0014] If a stopper exists in the first area of ​​the parking area, determining that the candidate parking area does not satisfy the stopper determination condition, and determining that the candidate parking area does not satisfy the vehicle parking condition;

[0015] If there is no stopper in the first area of ​​the parking area, it is determined that the candidate parking area satisfies the stopper determination condition.

[0016] In a possible implementation, the vehicle parking condition further includes an obstacle determination condition, and the method further includes:

[0017] Determine whether there is an obstacle in the candidate parking area;

[0018] If there is an obstacle in the candidate parking area, determining that the candidate parking area does not satisfy the obstacle determination condition, and determining that the candidate parking area does not satisfy the vehicle parking condition;

[0019] If there is no obstacle in the candidate parking area, it is determined that the candidate parking area satisfies the obstacle determination condition.

[0020] In a possible implementation, the vehicle parking condition further includes a parking space line determination condition, and the method further includes:

[0021] If a parking space line is detected in a parking area adjacent to the candidate parking area, determining whether a parking space line is detected in the candidate parking area;

[0022] If no parking space line is detected in the candidate parking area, it is determined that the candidate parking area does not satisfy the parking space line determination condition, and it is determined that the candidate parking area does not satisfy the vehicle parking condition.

[0023] In a possible implementation, determining the actual parking area from the target parking area includes:

[0024] Determining the positioning information of the vehicle terminal and each target parking area;

[0025] Determining a parking path between the vehicle-mounted terminal and each target parking area according to the positioning information of the vehicle-mounted terminal and each target parking area;

[0026] The target parking area corresponding to the parking path with the shortest length is determined as the actual parking area.

[0027] In a second aspect, an embodiment of the present invention provides a vehicle-mounted terminal, including:

[0028] An acquisition module is used to acquire image data collected by the camera and radar data collected by the radar;

[0029] a processing module, configured to determine a plurality of candidate parking areas according to the radar data;

[0030] The processing module is further used to determine whether each candidate parking area meets a vehicle parking condition according to the image data, wherein the vehicle parking condition includes a lane line determination condition;

[0031] The processing module is further configured to determine whether a lane line is detected in the candidate parking area if a lane line is detected in an adjacent parking area of ​​the candidate parking area;

[0032] The processing module is further configured to determine that the candidate parking area does not satisfy the lane line determination condition if no lane line is detected in the candidate parking area, and determine that the candidate parking area does not satisfy the vehicle parking condition;

[0033] The processing module is further configured to determine a candidate parking area that meets the vehicle parking condition as a target parking area, and determine an actual parking area from the target parking area.

[0034] In a possible implementation manner, the processing module is further configured to:

[0035] Determine whether there is a stopper in a first area of ​​the candidate parking area, the first area being determined by an area where the front of the vehicle is located when the vehicle is parked in the candidate parking area;

[0036] If a stopper exists in the first area of ​​the parking area, determining that the candidate parking area does not satisfy the stopper determination condition, and determining that the candidate parking area does not satisfy the vehicle parking condition;

[0037] If there is no stopper in the first area of ​​the parking area, it is determined that the candidate parking area satisfies the stopper determination condition.

[0038] In a possible implementation manner, the processing module is further configured to:

[0039] Determine whether there is an obstacle in the candidate parking area;

[0040] If there is an obstacle in the candidate parking area, determining that the candidate parking area does not satisfy the obstacle determination condition, and determining that the candidate parking area does not satisfy the vehicle parking condition;

[0041] If there is no obstacle in the candidate parking area, it is determined that the candidate parking area satisfies the obstacle determination condition.

[0042] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0043] at least one processor; and

[0044] at least one memory in communication with the processor, wherein:

[0045] The memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the methods described in the first and second aspects.

[0046] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the methods described in the first to second aspects.

[0047] It should be understood that the second to fourth aspects of the embodiments of the present invention are consistent with the technical solutions of the first aspect of the embodiments of the present invention, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be described in detail.

Brief Description of the Drawings

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A flowchart of a parking area determination method provided by an embodiment of the present invention;

[0050] Figure 2 A schematic diagram of a scene of a parking area determination method provided by an embodiment of the present invention;

[0051] Figure 3 A flowchart of another parking area determination method provided by an embodiment of the present invention;

[0052] Figure 4 A schematic diagram of another parking area determination method provided by an embodiment of the present invention;

[0053] Figure 5 A schematic diagram of another parking area determination method provided by an embodiment of the present invention;

[0054] Figure 6 A schematic diagram of another parking area determination method provided by an embodiment of the present invention;

[0055] Figure 7 A schematic diagram of the structure of a vehicle-mounted terminal is provided for an embodiment of the present invention;

[0056] Figure 8 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. [Specific implementation method]

[0057] In order to better understand the technical solution of this specification, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0058] It should be clear that the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0060] In an embodiment of the present invention, when a lane line is detected in a parking area adjacent to a candidate parking area, whether the candidate parking area meets the parking conditions is determined based on whether there is a lane line in the candidate parking area, thereby avoiding parking at locations such as intersections or aisles.

[0061] Figure 1 is a flow chart of a parking area determination method provided by an embodiment of the present invention, the method is applied to a vehicle-mounted terminal, such as Figure 1 As shown, the processing steps of the method include:

[0062] Step 101, obtain image data collected by the camera and radar data collected by the radar. Among them, the vehicle-mounted terminal can be connected to the body controller (Body Control Module, BCM) of the vehicle through the vehicle bus, so that the image data collected by the camera and the radar data collected by the radar can be obtained. Among them, the camera can be a fisheye camera or a miniature camera arranged around the vehicle. The radar can be a sonic radar arranged around the vehicle. In some embodiments, the vehicle-mounted terminal can be an additional terminal independent of the existing terminals inside the vehicle. Optionally, the vehicle-mounted terminal can also be implemented as a vehicle control unit (VCU) of the vehicle. The VCU can directly obtain image data and radar data from the body controller.

[0063] Step 102, determine multiple candidate parking areas based on radar data. In some embodiments, multiple obstacle vehicle outlines can be identified based on radar data, and multiple obstacle vehicle areas can be determined based on the obstacle vehicle outlines, and then the interval areas between adjacent obstacle vehicle areas can be determined, and finally the interval areas with an area size larger than the preset area can be determined as candidate parking areas. The size of the preset area can be adjusted accordingly according to the size of the vehicle corresponding to the vehicle terminal.

[0064] Step 103: Determine whether each candidate parking area meets the vehicle parking condition based on the image data, wherein the vehicle parking condition includes a lane line determination condition. The lane line determination condition is used to determine whether the candidate parking area is an intersection area or an aisle area. Figure 2 As shown in the figure, the target vehicle is the vehicle corresponding to the vehicle-mounted terminal. The vehicles parked at the lower left and lower right of the figure are both obstacle vehicles. The area between the two obstacle vehicles is the candidate parking area. At this time, the obstacle vehicle area corresponding to the two obstacle vehicles is the adjacent parking area of ​​the candidate parking area.

[0065] Step 104: If a lane line is detected in a parking area adjacent to the candidate parking area, it is determined whether a lane line is detected in the candidate parking area. Figure 2 As shown in , lane markings are detected in two adjacent parking areas.

[0066] Step 105: If no lane line is detected in the candidate parking area, it is determined that the candidate parking area does not meet the lane line determination condition, and it is determined that the candidate parking area does not meet the vehicle parking condition. Figure 2As shown, under the premise that lane lines are detected in both adjacent parking areas, if no lane lines are detected in the candidate parking area, it can be determined that the candidate parking area is a road intersection area or a corridor area, and it is determined that the candidate parking area does not meet the lane line determination condition. In some embodiments, if no lane lines are detected in the adjacent parking areas of the candidate parking area, it can be determined that the candidate parking area is not a road intersection area or a corridor area, and it is determined that the candidate parking area meets the lane line determination condition.

[0067] Step 106, determine the candidate parking area that meets the vehicle parking conditions as the target parking area, and determine the actual parking area from the target parking area. Among them, the principle of proximity can be adopted to use the target parking area closest to the vehicle corresponding to the vehicle-mounted terminal as the actual parking area. Specifically, the positioning of the vehicle-mounted terminal can be used as the origin of the coordinate system to construct a plane coordinate system. Then, the straight-line distance between the vehicle-mounted terminal and each target parking area is determined based on the coordinate system and the position of each target parking area. Finally, the target parking area with the closest straight-line distance is determined as the actual parking area and parking is performed. Optionally, the vehicle-mounted terminal sends the vehicle control instruction to the body controller BCM, and the BCM sends the specific control instruction to each controller. For example, the forward instruction is sent to the engine controller so that the engine controller controls the engine to start to achieve the technical effect of controlling the vehicle to move forward.

[0068] In a specific example, the actual parking area can be determined based on the distance the vehicle travels to each target parking area. Figure 3 As shown, the processing steps of the method include:

[0069] Step 301, determining the positioning information of the vehicle terminal and each target parking area.

[0070] Step 302: Determine a parking path between the vehicle-mounted terminal and each target parking area according to the positioning information of the vehicle-mounted terminal and each target parking area.

[0071] Step 303: determine the target parking area corresponding to the shortest parking path as the actual parking area.

[0072] In some embodiments, the vehicle parking condition also includes a limiter determination condition. The limiter is a protective device fixed on the ground, which is used to protect the driver from hitting obstacles or walls behind the vehicle when reversing into a parking space. Due to the poor driving skills of the driver, the vehicle is prone to hitting the wall or building behind when reversing into the parking space. In order to avoid damage to the building and the vehicle caused by improper reversing, a limiter is set at the rear of the parking space to let the driver know the current reversing situation. Specifically, it can be determined whether there is a limiter in the first area of ​​the candidate parking area, and the first area is determined by the area where the front of the vehicle is located when the vehicle is parked in the candidate parking area. If there is a limiter in the first area of ​​the parking area, it is determined that the candidate parking area does not meet the limiter determination condition, and it is determined that the candidate parking area does not meet the vehicle parking condition. If there is no limiter in the first area of ​​the parking area, it is determined that the candidate parking area meets the limiter determination condition. Figure 4 A scene diagram of a parking area determination method provided by an embodiment of the present invention, such as Figure 4 As shown, when the vehicle is parked in the candidate parking area, the area where the front of the vehicle is located is the first area. Since automatic parking often uses a reverse parking method, if there is a limiter in the first area, parking failure will occur.

[0073] In some embodiments, when the candidate parking area is perpendicular to the current posture of the vehicle, whether the candidate parking area satisfies the limit stop determination condition may be determined by determining whether there is a limit stop on the side of the candidate parking area close to the vehicle. Figure 5 A scene diagram of a parking area determination method provided by an embodiment of the present invention, such as Figure 5 As shown, the target vehicle and the candidate parking area are perpendicular to each other. At this time, the limiter is located on the side of the candidate parking area close to the target vehicle. If automatic parking is performed in the candidate parking area, the target vehicle needs to run over the limiter during the reversing process, which may cause safety hazards, or the target vehicle may be stuck by the limiter and unable to continue reversing, resulting in parking failure. Figure 5 The two candidate parking areas shown in do not meet the limiter determination condition.

[0074] In some embodiments, there is also a situation where the candidate parking area is parallel to the vehicle. Figure 6 A schematic diagram of a parking area determination method provided by an embodiment of the present invention. Figure 6 As shown, when the vehicle is backing into the parking space according to the route shown by the arrow, the limiter will be crushed. Therefore, if there is a limiter in the area above the candidate parking area, it should be determined that the candidate parking area does not meet the limiter determination condition.

[0075] In some embodiments, the vehicle parking condition further includes an obstacle determination condition. First, it is determined whether there is an obstacle in the candidate parking area. If there is an obstacle in the candidate parking area, it is determined that the candidate parking area does not meet the obstacle determination condition, and it is determined that the candidate parking area does not meet the vehicle parking condition. If there is no obstacle in the candidate parking area, it is determined that the candidate parking area meets the obstacle determination condition. The obstacle may be a ground lock or other objects that may cause obstacles to parking.

[0076] In some embodiments, the vehicle parking condition further includes a parking line determination condition. If a parking line is detected in an adjacent parking area of ​​the candidate parking area, it is determined whether a parking line is detected in the candidate parking area. If a parking line is not detected in the candidate parking area, it is determined that the candidate parking area does not meet the parking line determination condition, and it is determined that the candidate parking area does not meet the vehicle parking condition. Similar to the determination of lane lines, when there are parking lines in the adjacent parking areas of the candidate parking area and there are no parking lines in the candidate parking area, the candidate parking area is determined to be a road intersection area or aisle area, and parking is not performed in the candidate parking area.

[0077] Corresponding to the above parking area determination method, an embodiment of the present invention provides a structural schematic diagram of a vehicle-mounted terminal, such as Figure 7 As shown, the vehicle-mounted terminal includes: an acquisition module 701 and a processing module 702 .

[0078] The acquisition module 701 is used to acquire image data collected by the camera and radar data collected by the radar.

[0079] The processing module 702 is used to determine a plurality of candidate parking areas according to the radar data.

[0080] The processing module 702 is further used to determine whether each candidate parking area meets the vehicle parking condition according to the image data, wherein the vehicle parking condition includes a lane line determination condition.

[0081] The processing module 702 is further configured to determine whether a lane line is detected in the candidate parking area if a lane line is detected in an adjacent parking area of ​​the candidate parking area.

[0082] The processing module 702 is further configured to determine that the candidate parking area does not meet the lane line determination condition if no lane line is detected in the candidate parking area, and determine that the candidate parking area does not meet the vehicle parking condition.

[0083] The processing module 702 is further configured to determine the candidate parking areas satisfying the vehicle parking conditions as target parking areas, and determine the actual parking areas from the target parking areas.

[0084] In some embodiments, the processing module 702 is further configured to:

[0085] It is determined whether there is a stopper in a first area of ​​the candidate parking area, where the first area is determined by the area where the front of the vehicle is located when the vehicle is parked in the candidate parking area.

[0086] If a stopper exists in the first area of ​​the parking area, it is determined that the candidate parking area does not satisfy the stopper determination condition, and it is determined that the candidate parking area does not satisfy the vehicle parking condition.

[0087] If there is no stopper in the first area of ​​the parking area, it is determined that the candidate parking area satisfies the stopper determination condition.

[0088] In some embodiments, the processing module 702 is further configured to:

[0089] Determine whether there are obstacles within the candidate parking area.

[0090] If there is an obstacle in the candidate parking area, it is determined that the candidate parking area does not satisfy the obstacle determination condition, and it is determined that the candidate parking area does not satisfy the vehicle parking condition.

[0091] If there is no obstacle in the candidate parking area, it is determined that the candidate parking area satisfies the obstacle determination condition.

[0092] Figure 7 The vehicle terminal provided in the embodiment shown can be used to execute the Figure 1-Figure 6 The technical solution of the method embodiment shown, its implementation principle and technical effects can be further referred to the relevant description in the method embodiment.

[0093] Figure 8 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention is shown in FIG. Figure 8 As shown, the electronic device may include at least one processor and at least one memory in communication with the processor, wherein the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the instructions of this specification. Figure 1-6 The illustrated embodiment provides a method for determining a parking area.

[0094] like Figure 8 As shown, the electronic device is in the form of a general computing device. The components of the electronic device may include but are not limited to: one or more processors 810, a communication interface 820 and a memory 830, and a communication bus 840 connecting different system components (including the memory 830, the communication interface 820 and the processing unit 810).

[0095] The communication bus 840 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnection (PCI) bus.

[0096] Electronic devices typically include a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0097] The memory 830 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 830 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of each embodiment of the present specification.

[0098] A program / utility having a set (at least one) of program modules may be stored in memory 830, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described in this specification.

[0099] The processor 810 executes various functional applications and data processing by running the programs stored in the memory 830, such as implementing the present specification. Figure 1-Figure 6 The illustrated embodiment provides a method for determining a parking area.

[0100] The embodiment of the present specification provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, wherein the computer instructions enable the computer to execute the present specification. Figure 1-Figure 6The illustrated embodiment provides a method for determining a parking area.

[0101] The above-mentioned computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ReadOnly Memory; hereinafter referred to as: ROM), an erasable programmable read-only memory (Erasable Programmable ReadOnly Memory; hereinafter referred to as: EPROM) or flash memory, optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0102] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0103] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this specification. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0104] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this specification, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0105] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of this specification includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of this specification belong.

[0106] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0107] It should be noted that the devices involved in the embodiments of this specification may include but are not limited to personal computers (Personal Computer; hereinafter referred to as: PC), personal digital assistants (Personal Digital Assistant; hereinafter referred to as: PDA), wireless handheld devices, tablet computers (Tablet Computer), mobile phones, MP3 displays, MP4 displays, etc.

[0108] In the several embodiments provided in this specification, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0109] In addition, each functional unit in each embodiment of this specification may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0110] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a connector, or a network device, etc.) or a processor (Processor) to perform some steps of the method described in each embodiment of this specification. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as: ROM), random access memory (Random Access Memory; hereinafter referred to as: RAM), disk or optical disk and other media that can store program codes.

[0111] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A parking area determination method, characterized in that: The method is applied to a vehicle-mounted terminal, comprising: Obtain image data collected by the camera and radar data collected by the radar; determining a plurality of candidate parking areas based on the radar data; Determining whether each candidate parking area satisfies a vehicle parking condition according to the image data, wherein the vehicle parking condition includes a lane line determination condition; If a lane line is detected in a parking area adjacent to the candidate parking area, determining whether a lane line is detected in the candidate parking area; If no lane line is detected in the candidate parking area, determining that the candidate parking area does not meet the lane line determination condition, and determining that the candidate parking area does not meet the vehicle parking condition; A candidate parking area satisfying the vehicle parking condition is determined as a target parking area, and an actual parking area is determined from the target parking area.

2. The method according to claim 1, characterized in that The vehicle parking condition also includes a limiter determination condition, and the method further includes: Determine whether there is a stopper in a first area of ​​the candidate parking area, the first area being determined by an area where the front of the vehicle is located when the vehicle is parked in the candidate parking area; If a stopper exists in the first area of ​​the parking area, determining that the candidate parking area does not satisfy the stopper determination condition, and determining that the candidate parking area does not satisfy the vehicle parking condition; If there is no stopper in the first area of ​​the parking area, it is determined that the candidate parking area satisfies the stopper determination condition.

3. The method according to claim 1, characterized in that The vehicle parking condition also includes an obstacle determination condition, and the method further includes: Determine whether there is an obstacle in the candidate parking area; If there is an obstacle in the candidate parking area, determining that the candidate parking area does not satisfy the obstacle determination condition, and determining that the candidate parking area does not satisfy the vehicle parking condition; If there is no obstacle in the candidate parking area, it is determined that the candidate parking area satisfies the obstacle determination condition.

4. The method according to claim 1, characterized in that: The vehicle parking condition also includes a parking space line determination condition, and the method further includes: If a parking space line is detected in a parking area adjacent to the candidate parking area, determining whether a parking space line is detected in the candidate parking area; If no parking space line is detected in the candidate parking area, it is determined that the candidate parking area does not satisfy the parking space line determination condition, and it is determined that the candidate parking area does not satisfy the vehicle parking condition.

5. The method according to claim 1, characterized in that Determining an actual parking area from the target parking area comprises: Determining the positioning information of the vehicle terminal and each target parking area; Determining a parking path between the vehicle-mounted terminal and each target parking area according to the positioning information of the vehicle-mounted terminal and each target parking area; The target parking area corresponding to the parking path with the shortest length is determined as the actual parking area.

6. A vehicle-mounted terminal, characterized in that: include: An acquisition module is used to acquire image data collected by the camera and radar data collected by the radar; a processing module, configured to determine a plurality of candidate parking areas according to the radar data; The processing module is further used to determine whether each candidate parking area meets a vehicle parking condition according to the image data, wherein the vehicle parking condition includes a lane line determination condition; The processing module is further configured to determine whether a lane line is detected in the candidate parking area if a lane line is detected in an adjacent parking area of ​​the candidate parking area; The processing module is further configured to determine that the candidate parking area does not satisfy the lane line determination condition if no lane line is detected in the candidate parking area, and determine that the candidate parking area does not satisfy the vehicle parking condition; The processing module is further configured to determine a candidate parking area that meets the vehicle parking condition as a target parking area, and determine an actual parking area from the target parking area.

7. The vehicle-mounted terminal according to claim 6, characterized in that: The processing module is also used for: Determine whether there is a stopper in a first area of ​​the candidate parking area, the first area being determined by an area where the front of the vehicle is located when the vehicle is parked in the candidate parking area; If a stopper exists in the first area of ​​the parking area, determining that the candidate parking area does not satisfy the stopper determination condition, and determining that the candidate parking area does not satisfy the vehicle parking condition; If there is no stopper in the first area of ​​the parking area, it is determined that the candidate parking area satisfies the stopper determination condition.

8. The vehicle-mounted terminal according to claim 6, characterized in that: The processing module is also used for: Determine whether there is an obstacle in the candidate parking area; If there is an obstacle in the candidate parking area, determining that the candidate parking area does not satisfy the obstacle determination condition, and determining that the candidate parking area does not satisfy the vehicle parking condition; If there is no obstacle in the candidate parking area, it is determined that the candidate parking area satisfies the obstacle determination condition.

9. An electronic device, characterized in that: include: at least one processor; as well as at least one memory in communication with the processor, wherein: The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 1 to 5 by calling the program instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the method according to any one of claims 1 to 5.

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