Parking lot map processing method, device, equipment and medium

Abstract

The present application provides a method, apparatus, device, and medium for processing parking lot maps. In this method, as multiple vehicles drive and park in a parking lot, the vehicles send data acquired through sensors and vehicle controllers to a server. The server generates parking routes based on the mapping data received from the multiple vehicles, and then groups them according to the parking lots. For each group segment, the server acquires ultrasonic data and static identification data from the mapping data corresponding to the parking routes, and generates static identification for each parking route segment. This allows the static identification of the vehicle's complete parking route to be generated on the map. In this solution, the server generates static identification of the vehicle's parking route on the map based on the mapping data of multiple vehicles, including the parking spaces where the vehicles are parked and the parking spaces and pillars that the parking routes pass through, effectively improving the integrity of the constructed map while also improving the efficiency of map construction.

Description

Technical Field

[0001] The present application relates to the field of autonomous valet parking, and more particularly to a method, apparatus, device, and medium for processing a parking lot map. Background Art

[0002] With the rapid development of technology and the improvement of people's living standards, cars are becoming increasingly intelligent. Cars have evolved from being completely controlled by humans to being able to drive themselves and provide autonomous parking. For autonomous parking, parking lot maps are essential data.

[0003] In the existing technology, the construction of parking lot maps requires drivers to drive along a specified route and park in a designated parking space. The vehicle is equipped with sensors, and the vehicle can upload the sensor data to a server, which then builds a map based on the data.

[0004] In summary, the existing parking lot map processing method only constructs a map containing the vehicle's travel routes and parking spaces, resulting in low map integrity and low map construction efficiency. Summary of the Invention

[0005] The embodiments of the present application provide a parking lot map processing method, apparatus, device, and medium for solving the problem that existing parking lot map processing methods only construct maps showing vehicle routes and parking spaces, resulting in low map integrity and low map construction efficiency.

[0006] In a first aspect, an embodiment of the present application provides a method for processing a parking lot map, which is applied to a server. The method includes:

[0007] Receive mapping data sent by multiple vehicles, the mapping data including wheel speed pulse data, inertial measurement unit (IMU) data, ultrasonic data, vehicle position data, and static marker data. The ultrasonic data includes the distance between the static marker and the vehicle. The static marker data includes the distance between the static marker and the vehicle and the static marker type. The static marker type includes parking spaces, pillars, ground guide arrows, and parking lot entrances.

[0008] Based on the mapping data, a static mark of the parking route of the vehicle is generated in a preset map.

[0009] In a specific embodiment, generating a static marker on a parking route in a map based on the mapping data includes:

[0010] generating parking routes corresponding to all vehicles based on the wheel speed pulse data and the IMU data;

[0011] Grouping all parking routes according to parking lots based on the vehicle position data, the IMU data, or the static identification type to obtain a parking route set corresponding to each parking lot;

[0012] For each parking lot corresponding to a parking route set, obtaining, from the parking route set, ultrasonic data and static identification data corresponding to each section of a preset length of each parking route starting from the parking lot entrance;

[0013] For each route of a preset length, from the ultrasonic data and static marker data of each parking route, select the target ultrasonic data and target static marker data with the shortest distance between the static marker and the vehicle;

[0014] For each parking route, generating a corresponding static marker in the map according to the target ultrasonic data and the target static marker data;

[0015] For each newly generated static marker, if the distance between the newly generated static marker and an existing static marker in the map is less than a preset distance, the newly generated static marker is removed, and all remaining newly generated static markers are classified according to their location and type to obtain at least one static marker group;

[0016] Performing least square fitting on the map position data of the static markers in each static marker group in the map to obtain fitted map position data;

[0017] A new static marker is generated according to the fitted static marker map position data, and the new static marker is used to replace all static markers in the static marker group, and the new static marker is added to the original static marker in the map.

[0018] In a specific embodiment, selecting, from the ultrasonic data and static marker data of each parking route, target ultrasonic data and target static marker data having the shortest distance between the static marker and the vehicle includes:

[0019] From the ultrasonic data and static sign data of each parking route, select the ultrasonic data and static sign data with the shortest distance between the static sign and the vehicle;

[0020] The ultrasonic data and static identification data with the shortest distance between the vehicle and the static identification are selected from the ultrasonic data and static identification data, in which the distance between the vehicle and the static identification is less than a preset screening distance, to obtain the target ultrasonic data and the target static identification data.

[0021] In a specific embodiment, after generating a new static identifier based on the fitted map location data and replacing all static identifiers in the static identifier group with the new static identifier, the method further includes:

[0022] According to the new static sign, the parking route corresponding to the new static sign is adjusted.

[0023] In a second aspect, an embodiment of the present application provides a method for processing a parking lot map, which is applied to a vehicle. The method includes:

[0024] Acquire mapping data, the mapping data including wheel speed pulse data, inertial measurement unit (IMU) data, ultrasonic data, vehicle position data, and static sign data. The ultrasonic data includes the distance between the static sign and the vehicle. The static sign data includes the distance between the static sign and the vehicle and the type of static sign. The static sign type includes parking spaces, pillars, ground guide arrows, and parking lot entrances.

[0025] The mapping data is sent to a server.

[0026] In a specific embodiment, obtaining mapping data includes:

[0027] acquiring the wheel speed pulse data through a wheel speed pulse sensor;

[0028] Acquire the IMU data through an IMU sensor;

[0029] Acquiring the ultrasonic data through an ultrasonic sensor;

[0030] Obtaining the vehicle location data through a global positioning system (GPS) locator;

[0031] The static identification data is obtained through a vehicle controller.

[0032] In a third aspect, an embodiment of the present application provides a parking lot map processing device, comprising:

[0033] A receiving module, configured to receive mapping data sent by multiple vehicles, the mapping data including wheel speed pulse data, inertial measurement unit (IMU) data, ultrasonic data, vehicle position data, and static marker data. The ultrasonic data includes the distance between the static marker and the vehicle. The static marker data includes the distance between the static marker and the vehicle and the static marker type. The static marker type includes parking spaces, pillars, ground guide arrows, and parking lot entrances.

[0034] A processing module is used to generate a static mark of the parking route of the vehicle in a preset map based on the mapping data.

[0035] In a specific embodiment, the processing module is specifically configured to:

[0036] generating parking routes corresponding to all vehicles based on the wheel speed pulse data and the IMU data;

[0037] Grouping all parking routes according to parking lots based on the vehicle position data, the IMU data, or the static identification type to obtain a parking route set corresponding to each parking lot;

[0038] For each parking lot corresponding to a parking route set, obtaining, from the parking route set, ultrasonic data and static identification data corresponding to each section of a preset length of each parking route starting from the parking lot entrance;

[0039] For each route of a preset length, from the ultrasonic data and static marker data of each parking route, select the target ultrasonic data and target static marker data with the shortest distance between the static marker and the vehicle;

[0040] For each parking route, generating a corresponding static marker in the map according to the target ultrasonic data and the target static marker data;

[0041] For each newly generated static marker, if the distance between the newly generated static marker and an existing static marker in the map is less than a preset distance, the newly generated static marker is removed, and all remaining newly generated static markers are classified according to their location and type to obtain at least one static marker group;

[0042] Performing least square fitting on the ultrasonic data and static identification data corresponding to the static identification in each static identification group to obtain the ultrasonic data and static identification data corresponding to the static identification after fitting;

[0043] A new static marker is generated according to the ultrasonic data and static marker data corresponding to the fitted static marker, and the new static marker is used to replace all static markers in the static marker group, and the new static marker is added to the original static marker in the map.

[0044] In a specific embodiment, the processing module is further configured to:

[0045] From the ultrasonic data and static sign data of each parking route, select the ultrasonic data and static sign data with the shortest distance between the static sign and the vehicle;

[0046] The ultrasonic data and static identification data with the shortest distance between the vehicle and the static identification are selected from the ultrasonic data and static identification data, in which the distance between the vehicle and the static identification is less than a preset screening distance, to obtain the target ultrasonic data and the target static identification data.

[0047] In a specific embodiment, the processing module is further configured to:

[0048] According to the new static sign, the parking route corresponding to the new static sign is adjusted.

[0049] In a fourth aspect, an embodiment of the present application provides a parking lot map processing device, comprising:

[0050] An acquisition module is configured to acquire mapping data, wherein the mapping data includes wheel speed pulse data, inertial measurement unit (IMU) data, ultrasonic data, vehicle position data, and static marker data. The ultrasonic data includes the distance between the static marker and the vehicle. The static marker data includes the distance between the static marker and the vehicle and the type of the static marker. The static marker types include parking spaces, pillars, ground guide arrows, and parking lot entrances.

[0051] The sending module is used to send the mapping data to the server.

[0052] In a specific implementation, the acquisition module is specifically configured to:

[0053] acquiring the wheel speed pulse data through a wheel speed pulse sensor;

[0054] Acquire the IMU data through an IMU sensor;

[0055] Acquiring the ultrasonic data through an ultrasonic sensor;

[0056] Obtaining the vehicle location data through a global positioning system (GPS) locator;

[0057] The static identification data is obtained through a vehicle controller.

[0058] In a fifth aspect, an embodiment of the present application provides a server, including:

[0059] Processor, memory, communication interface;

[0060] The memory is used to store executable instructions of the processor;

[0061] The processor is configured to execute the parking lot map processing method according to any one of the first aspects by executing the executable instructions.

[0062] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising:

[0063] Processor, memory, communication interface, wheel speed pulse sensor, IMU sensor, ultrasonic sensor, global positioning system GPS locator, camera and vehicle controller;

[0064] The wheel speed pulse sensor is used to obtain wheel speed pulse data;

[0065] The IMU sensor is used to obtain IMU data;

[0066] The ultrasonic sensor is used to obtain ultrasonic data;

[0067] The GPS locator is used for the vehicle location data;

[0068] The camera is used to obtain video data or image data;

[0069] The vehicle controller is used to obtain static identification data based on the video data or the image data;

[0070] The memory is used to store executable instructions of the processor;

[0071] The processor is configured to execute the parking lot map processing method according to any one of the second aspects by executing the executable instructions.

[0072] In a seventh aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the parking lot map processing method described in any one of the first to second aspects is implemented.

[0073] In an eighth aspect, an embodiment of the present application provides a computer program product, comprising a computer program, which, when executed by a processor, is used to implement the parking lot map processing method described in any one of the first to second aspects.

[0074] The parking lot map processing method, device, equipment, and medium provided in the embodiments of the present application are as follows: when multiple vehicles drive and park in a parking lot, the vehicles transmit data acquired through sensors and vehicle controllers to a server. The server generates parking routes based on the mapping data received from the multiple vehicles, and then groups the vehicles according to the parking lots. For each group segment, the server obtains ultrasonic data and static identification data from the mapping data corresponding to the parking routes, and generates static identification data for each parking route segment. This allows the static identification of the vehicle's complete parking route to be generated on the map. In this solution, the server generates static identification of the vehicle's parking route on the map based on the mapping data of the multiple vehicles, including the parking spaces where the vehicles are parked and the parking spaces and pillars that the parking routes pass through, effectively improving the integrity of the constructed map and also improving the efficiency of map construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0076] Figure 1 A flowchart of a first embodiment of a method for processing a parking lot map provided in this application;

[0077] Figure 2 A flowchart of a second embodiment of the parking lot map processing method provided in this application;

[0078] Figure 3 A flowchart of a third embodiment of the parking lot map processing method provided in this application;

[0079] Figure 4a An interaction diagram between a vehicle and a sensor provided in an embodiment of the present application;

[0080] Figure 4b A schematic diagram of generating a map based on mapping data provided in an embodiment of the present application;

[0081] Figure 5 This is a schematic diagram of the structure of a first embodiment of a parking lot map processing device provided by this application;

[0082] Figure 6 This is a schematic diagram of the structure of the second embodiment of the parking lot map processing device provided by this application;

[0083] Figure 7 A schematic diagram of the structure of a server provided for this application;

[0084] Figure 8 A schematic structural diagram of a vehicle provided in this application. DETAILED DESCRIPTION

[0085] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments made by ordinary technicians in this field based on the inspiration of these embodiments fall within the scope of protection of this application.

[0086] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the numbers used in this way are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0087] With the rapid development of technology and the improvement of people's living standards, people's expectations for cars are becoming increasingly higher, demanding greater comfort, higher safety, and higher intelligence. Cars have evolved from fully manually controlled driving to autonomous driving and self-parking. For autonomous valet parking, parking lot maps are essential data.

[0088] Typically, parking lot maps are constructed by installing sensors on vehicles. Drivers drive through the parking lot and park. The vehicles upload sensor data to a server, which then generates a map of the vehicle's route and parking spaces. To create a relatively complete parking lot map, the driver must drive and park in every parking space. Existing parking lot map processing methods only construct maps showing the vehicle's route and parking spaces, resulting in incomplete and inefficient maps.

[0089] To address the problems existing in the prior art, the inventors, while researching methods for processing parking lot maps, discovered that, to improve the completeness and efficiency of map construction, multiple vehicles can be used to drive and park in a parking lot. This method eliminates the need to park in every parking space. Instead, a complete parking lot map can be generated by generating a map based on static markers along the parking route, including parking spaces, pillars, and ground guide arrows. Vehicles are equipped with wheel speed pulse sensors, inertial measurement units (IMUs), ultrasonic sensors, global positioning system (GPS) locators, and vehicle controllers. After driving and parking in the parking lot, the vehicles transmit the data acquired by these devices to a server. The server generates parking routes based on the received mapping data, categorizes the parking routes by parking lot, segments the parking routes corresponding to each parking lot, and acquires the corresponding ultrasonic data and static marker data. Static markers corresponding to each parking route segment are then generated on the map, resulting in a map of the parking lot. Based on the aforementioned inventive concepts, the parking lot map processing solution presented in this application was designed.

[0090] Exemplarily, the application scenario of the parking lot map processing method provided in the embodiment of the present application is described below. The application scenario may include: multiple vehicles, a parking lot, static signs in the parking lot, and a server.

[0091] For example, in this application scenario, the vehicle is equipped with wheel speed pulse sensors, IMU sensors, ultrasonic sensors, a Global Positioning System (GPS) locator, a vehicle controller, and cameras. As the vehicle drives and parks in a parking lot, the sensors capture corresponding sensor data. The video captured by the camera is processed by the vehicle controller to generate static marker data, including the distance between the static marker and the vehicle and the type of static marker. Static marker types include parking spaces, pillars, ground guide arrows, and parking lot entrances. The vehicle then sends mapping data to a server, including wheel speed pulse data, IMU data, ultrasonic data, vehicle position data, and static marker data.

[0092] After receiving mapping data from multiple vehicles, the server generates parking routes corresponding to all vehicles based on wheel speed pulse data and IMU data, and then groups all parking routes according to parking lots. For each group of parking routes, the server obtains ultrasonic data and static marker data corresponding to each preset length of route starting from the parking lot entrance. For each preset length of route, the server determines the target ultrasonic data and target static marker data from the ultrasonic data and static marker data of each parking route, and then generates static markers on the map. The newly generated static markers are removed based on the existing static markers in the map. The remaining static markers are classified, and the ultrasonic data and static marker data corresponding to each type of static marker are fitted. New static markers are generated based on the fitted data, and the newly generated static markers replace the static markers of that type. In this way, static markers are generated on the map for each parking route, resulting in a map of the parking lot.

[0093] It should be noted that the above scenario is only an illustration of an application scenario provided by an embodiment of the present application. The embodiment of the present application does not limit the actual form of the various devices included in the scenario, but limits the interaction method between the devices. In the specific application of the solution, it can be set according to actual needs.

[0094] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0095] Figure 1 This is a flow chart of the first embodiment of the method for processing a parking lot map provided in this application, as shown in FIG. Figure 1 As shown, the parking lot map processing method specifically includes the following steps:

[0096] S101: Acquire mapping data.

[0097] S102: Sending mapping data to the server.

[0098] In order to realize automatic parking of vehicles in parking lots, it is necessary to build a map of the parking lot.

[0099] In the above steps, map construction requires data, which requires the vehicle to acquire data. Vehicles are equipped with sensors, vehicle controllers, and cameras. After driving through a parking lot and parking, the sensors and vehicle controllers acquire mapping data. This data includes wheel speed pulse data, IMU data, ultrasonic data, vehicle position data, and static sign data. Ultrasonic data includes the distance between the static sign and the vehicle. Static sign data includes the distance between the static sign and the vehicle, as well as the type of static sign. Static sign types include parking spaces, pillars, ground guide arrows, and parking lot entrances. The vehicle then sends this mapping data to a server, which then constructs a map of the parking lot based on the mapping data.

[0100] S103: Receive mapping data sent by multiple vehicles.

[0101] S104: Generate a static mark of the parking route of the vehicle in a preset map according to the mapping data.

[0102] In the above steps, after multiple vehicles send mapping data to the server, the server can receive the mapping data sent by multiple vehicles, obtain parking routes based on the wheel speed pulse data and IMU data in the mapping data, group the parking routes based on the vehicle position data in the mapping data, the IMU data, or the static identification type in the static identification data, and generate static identification of the vehicle's parking route on the map based on the ultrasonic data and static identification data corresponding to each group of parking routes.

[0103] For example, a group of parking routes has 5, and the 5 parking routes pass through 20 parking spaces and 8 pillars. Thus, there are 25 parking spaces and 8 pillars in the generated parking lot map, and the 25 parking spaces include the 20 parking spaces passed through and the 5 parking spaces where the vehicles finally park.

[0104] It should be noted that the above example is only an example of a map generated for a parking lot. The embodiment of the present application does not limit the number of parking routes, the static signs along the parking routes, the number of other signs, etc., which can be determined according to actual conditions.

[0105] It should be noted that the preset map is set by the staff before the implementation of this solution and is used to generate static markers on the preset map. The preset map can be a blank map or a map with static markers. This embodiment of the application does not limit the preset map and can be set according to actual circumstances.

[0106] In the parking lot map processing method provided in this embodiment, a vehicle acquires mapping data through sensors and a vehicle controller, and then transmits the mapping data to a server. Based on the mapping data, the server generates static markings on the map indicating the vehicle's parking route. Compared to the prior art, which only generates parking spaces at the end of the parking route on the map, this solution can generate static markings along the parking route. These static markings include not only parking spaces but also pillars and ground guide arrows, effectively improving the completeness of the constructed map. Furthermore, compared to the prior art, which requires parking in every parking space in the parking lot to construct a complete parking lot map, this solution does not require parking in every parking space, effectively improving the efficiency of map construction.

[0107] The following describes the process of obtaining mapping data for a vehicle provided in an embodiment of the present application.

[0108] Map building needs to be based on the mapping data obtained by the vehicle, and wheel speed pulse sensors, IMU sensors, ultrasonic sensors, global positioning system GPS locators, vehicle controllers and cameras need to be installed on the vehicle.

[0109] The vehicle obtains wheel speed pulse data through the wheel speed pulse sensor; obtains IMU data through the IMU sensor; obtains ultrasonic data through the ultrasonic sensor; obtains vehicle position data through the GPS locator; and obtains static identification data through the vehicle controller.

[0110] Specifically, wheel speed pulse data includes the rotational speed of the vehicle's four wheels, IMU data includes the vehicle's acceleration and angular velocity in three dimensions, and ultrasonic data includes the distance between static signs and the vehicle. The vehicle is equipped with a camera, and the captured video or images are processed by the vehicle controller to generate static sign data. This static sign data includes the distance between the static sign and the vehicle and the type of static sign. Static sign types include parking spaces, pillars, ground guide arrows, and parking lot entrances.

[0111] It should be noted that the vehicle controller can generate static identification data based on the acquired video or image by inputting the acquired image into an image recognition neural network model, or by first extracting frames from the acquired video and then inputting them into the image recognition neural network model. This embodiment of the application does not limit the method by which the vehicle controller generates static identification data based on the acquired video or image, and the method can be selected based on actual circumstances.

[0112] It should be noted that the acquired vehicle position data may be GPS data or Real Time Kinematic (RTK) data obtained by further calculation based on GPS data. This embodiment of the application does not limit the vehicle position data and may be selected based on actual conditions.

[0113] The parking lot map processing method provided in this embodiment obtains corresponding data through sensors, obtains vehicle position data based on the locator, obtains static identification data based on the vehicle controller, and constructs a parking lot map based on these data, effectively improving the accuracy of the constructed map.

[0114] Figure 2 This is a flow chart of the second embodiment of the parking lot map processing method provided by this application, as shown in FIG. Figure 2 As shown, based on the above embodiment, step S104 in embodiment 1 can be implemented by the following steps:

[0115] S201: Generate parking routes corresponding to all vehicles based on wheel speed pulse data and IMU data.

[0116] In this step, after receiving the mapping data sent by multiple vehicles, the server generates parking routes corresponding to all vehicles based on the wheel speed pulse data and IMU data.

[0117] Specifically, since the wheel speed pulse data includes the rotational speed of the vehicle's four wheels, and the IMU data includes the acceleration of the vehicle in three dimensions: front-to-back, left-to-right, and up-down, the parking routes corresponding to all vehicles can be generated based on the pulse data and IMU data, combined with the vehicle's initial position.

[0118] S202: Grouping all parking routes according to parking lots based on vehicle position data, IMU data or static identification type to obtain a parking route set corresponding to each parking lot.

[0119] In this step, after the server generates parking routes for all vehicles, since vehicles travel and park in different parking lots, in order to build maps of different parking lots, the parking routes need to be grouped according to the parking lots.

[0120] Specifically, for underground parking lots, the GPS signal typically disappears after entering the parking lot entrance, and there's a downhill section. Since IMU data also includes three-dimensional angular velocity, the vehicle's position data and angular velocity changes at the time the GPS signal disappears can be used to determine which parking lot the vehicle entered and the location of the parking lot entrance. For surface and above-ground parking lots, the GPS signal typically persists. Therefore, the vehicle's position data and the static identification data indicating the parking lot entrance type can be used to determine the parking lot and the location of the parking lot entrance. All parking routes can then be grouped by parking lot, yielding a parking route set corresponding to each parking lot.

[0121] Optionally, the parking routes in the parking route set corresponding to each parking lot may be sorted in order from short to long.

[0122] S203: For each parking lot corresponding to a parking route set, obtain, from the parking route set, ultrasonic data and static identification data corresponding to each section of a preset length of each parking route starting from the parking lot entrance.

[0123] In this step, after obtaining the parking route set corresponding to each parking lot, the server processes each parking route set to generate a map corresponding to each parking lot. For each parking route set corresponding to a parking lot, the server obtains ultrasonic data and static marker data corresponding to each segment of a preset length starting from the parking lot entrance.

[0124] For example, there are 3 parking routes corresponding to the parking lot, the first one is 7 meters, the second one is 15 meters, and the third one is 16 meters. The preset length is 5 meters, so there are three first routes, including the first 5-meter route of the first route, the first 5-meter route of the second route, and the first 5-meter route of the third route; there are three second routes, including the remaining 2 meters of the first route, the second 5 meters of the second route, and the second 5 meters of the third route; there are two third routes, including the remaining 5 meters of the second route and the third 5 meters of the third route; there is one fourth route, which is the remaining 1 meter of the third route.

[0125] It should be noted that the above example is only an illustration of the process of segmenting the parking route. The embodiment of the present application does not limit the number of parking routes, the length of the parking routes, the preset length, etc., which can be determined and set according to actual conditions.

[0126] It should be noted that the preset length is set by the staff in the server before the implementation of this solution and is used to segment the parking route. The preset length can be 5 meters, 10 meters, or 3 meters. This embodiment of the application does not limit the preset length and can be set according to actual circumstances.

[0127] S204: For each route of a preset length, select target ultrasonic data and target static marker data with the shortest distance between the static marker and the vehicle from the ultrasonic data and static marker data of each parking route.

[0128] In this step, after the server obtains the ultrasonic data and static marker data corresponding to each section of a preset length starting from the parking lot entrance in each parking route, each parking route will correspond to multiple ultrasonic data and static marker data because the data collection cycle is relatively short while the vehicle is driving. To reduce the error in the generated static markers, it is necessary to select the target ultrasonic data and target static marker data with the shortest distance between the static marker and the vehicle from the ultrasonic data and static marker data for each section of the preset length.

[0129] It should be noted that since the number of static signs passed by this parking route may be one, multiple, or zero, the distance between the static sign and the vehicle in the target ultrasonic data and the target static sign data may be one, multiple, or zero; the static sign included in the target static sign data may be one, multiple, or zero.

[0130] S205: For each parking route, generate a corresponding static marker in the map according to the target ultrasonic data and the target static marker data.

[0131] In this step, after the server determines the target ultrasonic data and target static identification data of each parking route, it can generate a corresponding static identification in the map for each parking route based on the target ultrasonic data and target static identification data.

[0132] Specifically, since the ultrasonic data includes the distance between the static sign and the vehicle, the direction angle of the static sign relative to the vehicle, and the outline of the static sign, and the types of static signs that can be detected by the ultrasonic sensor include pillars, the corresponding static signs such as pillars can be generated on the map based on the distance between the static sign and the vehicle, the direction angle of the static sign relative to the vehicle, the location of the parking lot entrance and the parking route.

[0133] Static sign data includes the distance between the static sign and the vehicle, the type of static sign, the direction angle of the static sign relative to the vehicle, and the outline of the static sign. Therefore, based on the distance between the static sign and the vehicle, the direction angle of the static sign relative to the vehicle, the location of the parking lot entrance and the parking route, corresponding static signs such as pillars, parking spaces, and ground guide arrows can be generated on the map.

[0134] S206: For each newly generated static marker, if the distance between the newly generated static marker and the original static marker in the map is less than a preset distance, the newly generated static marker is removed, and all remaining newly generated static markers are classified according to the location of the static marker and the type of the static marker to obtain at least one static marker group.

[0135] In this step, after the server generates the static marker corresponding to each parking route on the map, since the map can be a blank map or a map with static markers, if there are existing static markers in the map, there is no need to generate new static markers at the locations of these static markers. Therefore, for each newly generated static marker, if the distance between the newly generated static marker and the existing static marker in the map is less than the preset distance, the newly generated static marker is removed.

[0136] In addition, due to errors in the data, for the same static marker in reality, the location of the static marker corresponding to each parking route generated on the map will not be completely repeated. Therefore, the static markers must be classified according to different static markers in reality. That is, all the remaining newly generated static markers must be classified according to their location and type to obtain at least one static marker group.

[0137] It should be noted that the newly generated static markers whose distance to the original static markers in the map is less than the preset distance are removed because there will be errors in the data. The newly generated static markers whose distance to the original static markers in the map is less than the preset distance will be considered to correspond to the same static marker in reality as the original static markers in the map and need to be removed.

[0138] It should be noted that the preset distance is set by the staff in the server before the implementation of this solution, and is used to remove the newly generated static markers. The preset distance can be 20 cm or 50 cm. This embodiment of the application does not limit the preset distance and can be set according to actual conditions.

[0139] S207: performing least square fitting on the map position data of the static markers in each static marker group in the map to obtain fitted map position data.

[0140] In this step, after the server obtains at least one static identification group, each static identification group corresponds to a static identification in reality. Therefore, the static identifications in each static identification group need to be merged into one static identification. In this way, it is necessary to perform least squares fitting on the map position data of the static identifications in each static identification group in the map to obtain the fitted map position data, so that the static identification can be generated subsequently based on the fitted map position data.

[0141] It should be noted that the map location data includes the coordinates of the static markers in the map and the coordinate angles of the static markers. When performing least squares fitting, the coordinates of the static markers in the map and the coordinate angles of the static markers are respectively least squares fitted. For example, the number of static markers in the static marker group is 5, so the coordinates of the static markers in the map are also 5, and the coordinate angles of the static markers are also 5. The coordinates of the static markers in the map are (30, 20), (25, 15), (35, 25), (27, 17), and (33, 23). The coordinates of the static markers in the map after least squares fitting are (30, 20). The coordinate angles of the static markers are 10 degrees, 20 degrees, 15 degrees, 14 degrees, and 16 degrees respectively. The coordinate angle of the static marker after least squares fitting is 15 degrees.

[0142] It should be noted that the above example is only an illustration of the map location data and the least squares fitting process. The embodiment of the present application does not limit the map location data and the data in the least squares fitting process, and can be determined according to actual conditions.

[0143] S208: Generate a new static marker according to the fitted map position data, replace all static markers in the static marker group with the new static marker, and add the new static marker to the original static marker in the map.

[0144] In this step, after obtaining the fitted map location data, the server generates a new static marker based on the fitted map location data and replaces all static markers in the static marker group with the new static marker. This new static marker then corresponds to a static marker in reality. Furthermore, the new static marker is added to the existing static markers in the map, ensuring that the next time this solution is used to generate static markers on the map, the existing static markers in the map will not be regenerated.

[0145] It should be noted that this solution is to obtain the ultrasonic data and static identification data corresponding to each section of the preset length starting from the parking lot entrance in each parking route from the parking route set, and then process the ultrasonic data and static identification data corresponding to each section of the preset length in sequence; it can also be to first obtain the ultrasonic data and static identification data corresponding to the route of the preset length starting from the parking lot entrance, and process them to generate a static identification, and then, starting from the end point of the route of the preset length obtained last time, obtain the ultrasonic data and static identification data corresponding to the route of the preset length again, and process them to generate a static identification, and continue in this way until no ultrasonic data and static identification data corresponding to the route of the preset length can be obtained.

[0146] The parking lot map processing method provided in this embodiment generates parking routes based on mapping data, groups the parking routes according to parking lots, segments the parking routes in each group, and generates static markers on the map for each segment, effectively improving the integrity of the constructed map and also improving the efficiency of map construction.

[0147] Figure 3 This is a flow chart of the third embodiment of the parking lot map processing method provided by this application, as shown in FIG. Figure 3 As shown, based on the above embodiment, step S204 in embodiment 2 can be implemented by the following steps:

[0148] S301: From the ultrasonic data and static marker data of each parking route, select the ultrasonic data and static marker data with the shortest distance between the static marker and the vehicle.

[0149] In this step, after obtaining the ultrasonic data and static marker data corresponding to each section of a preset length starting from the parking lot entrance in each parking route, the server selects the ultrasonic data and static marker data with the shortest distance between the static marker and the vehicle from the ultrasonic data and static marker data for each parking route to reduce errors.

[0150] S302: Selecting ultrasonic data and static identification data with a distance between the vehicle and the static identification less than a preset screening distance from the ultrasonic data and static identification data with the shortest distance to obtain target ultrasonic data and target static identification data.

[0151] In this step, the server selects the ultrasonic data and static identification data with the shortest distance between the static identification and the vehicle. Although the ultrasonic data and static identification data with the shortest distance between the static identification and the vehicle are selected, there are inevitably some static identification data whose distance between the static identification and the vehicle is too long. In order to ensure the accuracy of the generated static identification position, it is also necessary to select the ultrasonic data and static identification data with the distance between the vehicle and the static identification less than the preset screening distance from the ultrasonic data and static identification data with the shortest distance to obtain the target ultrasonic data and target static identification data.

[0152] It should be noted that the preset screening distance is set by the staff in the server before the implementation of this solution. It is used to filter out ultrasonic data and static marker data where the distance between the vehicle and the static marker is less than the preset screening distance. The preset screening distance can be 80 cm or 1 meter. This embodiment of the application does not limit the preset screening distance and can be set according to actual circumstances.

[0153] The parking lot map processing method provided in this embodiment effectively reduces errors in the generated static markers by selecting, from the ultrasonic data and static marker data for each parking route, the ultrasonic data and static marker data with the shortest distance from the vehicle, and the distance being less than a preset screening distance.

[0154] The following describes the processing of vehicle trajectories provided in an embodiment of the present application.

[0155] After generating a new static marker according to the fitted map position data and replacing all static markers in the static marker group with the new static marker, the server may further adjust the parking route corresponding to the new static marker according to the new static marker.

[0156] For example, there are three parking routes in the parking route set, and there are also three static markers in the static marker group obtained based on the parking routes. The coordinates of the static marker in the static marker group obtained based on the first parking route on the map are (30, 20), the coordinates of the static marker in the static marker group obtained based on the second parking route on the map are (25, 20), and the coordinates of the static marker in the static marker group obtained based on the third parking route on the map are (30, 25). The coordinates of the static marker finally generated on the map are (30, 20). In this way, to adjust the parking routes corresponding to the new static markers, it is necessary to move the second parking route 5 units in the positive direction of the horizontal coordinate and the third parking route 5 units in the positive direction of the vertical coordinate. The first parking route does not need to be moved.

[0157] The parking lot map processing method provided in this embodiment effectively reduces the error of static markings generated on the map by adjusting the parking routes.

[0158] The following is an example to illustrate the method for processing a parking lot map provided in the embodiment of the present application.

[0159] Five vehicles equipped with wheel speed pulse sensors, IMU sensors, ultrasonic sensors, GPS locators, vehicle controllers, and cameras are used to drive and park in a parking lot, and the parking data is sent to the server. For example, Figure 4a The interaction diagram between the vehicle and the sensor provided in the embodiment of the present application is as follows: Figure 4a As shown, the vehicle captures video or images through a camera. The video or image is processed by the vehicle controller to generate static identification data. Wheel speed pulse data is obtained through the wheel speed pulse sensor, IMU data is obtained through the IMU sensor, ultrasonic data is obtained through the ultrasonic sensor, vehicle position data is obtained through the GPS locator, and static identification data is obtained through the vehicle controller. The mapping data, which includes wheel speed pulse data, IMU data, ultrasonic data, vehicle position data, and static identification data, is then sent to the server. The server generates static identification on the map based on the mapping data, completing the construction of the parking lot map. This map can then be sent to the vehicle, which can then perform autonomous valet parking according to the map.

[0160] For example, Figure 4b A schematic diagram of generating a map based on mapping data provided in an embodiment of the present application; Figure 4b As shown, the server receives mapping data from five vehicles and generates five parking routes based on this data. These routes are located within the same parking lot. The parking routes are segmented, with only two segments shown. The first segment is the solid line corresponding to the first dashed line starting from the parking lot entrance, and the second segment corresponds to two segments, corresponding to the remaining dashed lines. The solid boxes represent parking spaces, and the black squares represent pillars. The static markers generated for the first parking route segment have three parking spaces, namely spaces 1-3 in the figure. For the second parking route segment, based on parking routes 2-5, since space 3 has already been generated and is the existing static marker in the figure, the generated static markers have three parking spaces, namely spaces 4-6 in the figure. For parking route 1, since spaces 13 and 19 are farther away from the vehicles corresponding to parking route 1, two static markers are generated, namely pillars 20 and 21 in the figure. This solution allows the generation of a parking lot map.

[0161] The parking lot map processing method provided in this embodiment obtains corresponding data through sensors, obtains vehicle position data based on the locator, and obtains static identification data based on the vehicle controller. Based on this data, a map of the parking lot is constructed in sections, effectively improving the accuracy of the constructed map.

[0162] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0163] Figure 5 This is a structural diagram of a first embodiment of a parking lot map processing device provided in this application; Figure 5 As shown, the parking lot map processing device 50 includes:

[0164] Receiving module 51, configured to receive mapping data sent by multiple vehicles, the mapping data including wheel speed pulse data, inertial measurement unit (IMU) data, ultrasonic data, vehicle position data, and static marker data. The ultrasonic data includes the distance between the static marker and the vehicle. The static marker data includes the distance between the static marker and the vehicle and the static marker type. The static marker type includes parking spaces, pillars, ground guide arrows, and parking lot entrances.

[0165] The processing module 52 is configured to generate a static identifier of the parking route of the vehicle in a preset map based on the mapping data.

[0166] Furthermore, the processing module 52 is specifically configured to:

[0167] generating parking routes corresponding to all vehicles based on the wheel speed pulse data and the IMU data;

[0168] Grouping all parking routes according to parking lots based on the vehicle position data, the IMU data, or the static identification type to obtain a parking route set corresponding to each parking lot;

[0169] For each parking lot corresponding to a parking route set, obtaining, from the parking route set, ultrasonic data and static identification data corresponding to each section of a preset length of each parking route starting from the parking lot entrance;

[0170] For each route of a preset length, from the ultrasonic data and static marker data of each parking route, select the target ultrasonic data and target static marker data with the shortest distance between the static marker and the vehicle;

[0171] For each parking route, generating a corresponding static marker in the map according to the target ultrasonic data and the target static marker data;

[0172] For each newly generated static marker, if the distance between the newly generated static marker and an existing static marker in the map is less than a preset distance, the newly generated static marker is removed, and all remaining newly generated static markers are classified according to their location and type to obtain at least one static marker group;

[0173] Performing least square fitting on the map position data of the static markers in each static marker group in the map to obtain fitted map position data;

[0174] A new static marker is generated according to the fitted map position data, and all static markers in the static marker group are replaced with the new static marker, and the new static marker is added to the original static marker in the map.

[0175] Furthermore, the processing module 52 is further configured to:

[0176] From the ultrasonic data and static sign data of each parking route, select the ultrasonic data and static sign data with the shortest distance between the static sign and the vehicle;

[0177] The ultrasonic data and static identification data with the shortest distance between the vehicle and the static identification are selected from the ultrasonic data and static identification data, in which the distance between the vehicle and the static identification is less than a preset screening distance, to obtain the target ultrasonic data and the target static identification data.

[0178] Furthermore, the processing module 52 is further configured to:

[0179] According to the new static sign, the parking route corresponding to the new static sign is adjusted.

[0180] The parking map processing device provided in this embodiment is used to execute the technical solution of the server in any of the aforementioned method embodiments. Its implementation principle and technical effects are similar and will not be repeated here.

[0181] Figure 6 This is a schematic diagram of the structure of the second embodiment of the parking lot map processing device provided by this application; Figure 6 As shown, the parking lot map processing device 60 includes:

[0182] Acquisition module 61 is used to acquire mapping data, wherein the mapping data includes wheel speed pulse data, inertial measurement unit (IMU) data, ultrasonic data, vehicle position data, and static marker data. The ultrasonic data includes the distance between the static marker and the vehicle. The static marker data includes the distance between the static marker and the vehicle and the type of the static marker. The static marker types include parking spaces, pillars, ground guide arrows, and parking lot entrances.

[0183] The sending module 62 is used to send the mapping data to the server.

[0184] Furthermore, the acquisition module 61 is specifically configured to:

[0185] acquiring the wheel speed pulse data through a wheel speed pulse sensor;

[0186] Acquire the IMU data through an IMU sensor;

[0187] Acquiring the ultrasonic data through an ultrasonic sensor;

[0188] Obtaining the vehicle location data through a global positioning system (GPS) locator;

[0189] The static identification data is obtained through a vehicle controller.

[0190] The parking lot map processing device provided in this embodiment is used to execute the technical solution of the vehicle in any of the aforementioned method embodiments. Its implementation principle and technical effects are similar and will not be repeated here.

[0191] Figure 7 This is a schematic diagram of the structure of a server provided by this application. Figure 7 As shown, the server 70 includes:

[0192] Processor 71, memory 72, and communication interface 73;

[0193] The memory 72 is used to store executable instructions of the processor 71;

[0194] The processor 71 is configured to execute the technical solution of the server in any of the aforementioned method embodiments by executing the executable instructions.

[0195] Optionally, the memory 72 can be independent or integrated with the processor 71.

[0196] Optionally, when the memory 72 is a device independent of the processor 71, the server 70 may further include:

[0197] A bus is used to connect the above devices.

[0198] The server is used to execute the technical solution of the server in any of the aforementioned method embodiments, and its implementation principle and technical effects are similar and will not be repeated here.

[0199] Figure 8 This is a schematic diagram of the structure of a vehicle provided in this application. Figure 8 As shown, the vehicle 80 includes:

[0200] Processor 81, memory 82, and communication interface 83, wheel speed pulse sensor 84, IMU sensor 85, ultrasonic sensor 86, GPS locator 87, camera 88 and vehicle controller 89;

[0201] The wheel speed pulse sensor 84 is used to obtain wheel speed pulse data;

[0202] The IMU sensor 85 is used to obtain IMU data;

[0203] The ultrasonic sensor 86 is used to obtain ultrasonic data;

[0204] The GPS locator 87 is used for the vehicle location data;

[0205] The camera 88 is used to obtain video data or image data;

[0206] The vehicle controller 89 is used to obtain static identification data based on the video data or the image data;

[0207] The memory 82 is used to store executable instructions of the processor 81;

[0208] The processor 81 is configured to execute the technical solution of the vehicle in any of the aforementioned method embodiments by executing the executable instructions.

[0209] Optionally, the memory 82 can be independent or integrated with the processor 81.

[0210] Optionally, when the memory 82 is a device independent of the processor 81, the vehicle 80 may further include:

[0211] A bus is used to connect the above devices.

[0212] The vehicle is used to implement the technical solution of the vehicle in any of the aforementioned method embodiments, and its implementation principles and technical effects are similar and will not be repeated here.

[0213] An embodiment of the present application further provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the technical solution provided by any of the aforementioned method embodiments.

[0214] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the technical solution provided by any of the aforementioned method embodiments.

[0215] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0216] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for processing a parking lot map, characterized in that: Applied to a server, the method includes: Receive mapping data sent by multiple vehicles, the mapping data including wheel speed pulse data, inertial measurement unit (IMU) data, ultrasonic data, vehicle position data, and static marker data. The ultrasonic data includes the distance between the static marker and the vehicle. The static marker data includes the distance between the static marker and the vehicle and the static marker type. The static marker type includes parking spaces, pillars, ground guide arrows, and parking lot entrances. generating parking routes corresponding to all vehicles based on the wheel speed pulse data and the IMU data; For underground parking lots: the vehicle's location data and angular velocity changes when the GPS signal disappears are used to determine which parking lot the vehicle entered and the location of the parking lot entrance. For surface and above-ground parking lots: the vehicle's location data and the static identification type of the static identification data, used to determine which parking lot the vehicle entered and the location of the parking lot entrance. All parking routes are grouped by parking lot to obtain a parking route set corresponding to each parking lot. For each parking lot corresponding to a parking route set, obtaining, from the parking route set, ultrasonic data and static identification data corresponding to each section of a preset length of each parking route starting from the parking lot entrance; For each route of a preset length, from the ultrasonic data and static marker data of each parking route, select the target ultrasonic data and target static marker data with the shortest distance between the static marker and the vehicle; For each parking route, generating a corresponding static marker in the map according to the target ultrasonic data and the target static marker data; For each newly generated static marker, if the distance between the newly generated static marker and an existing static marker in the map is less than a preset distance, the newly generated static marker is removed, and all remaining newly generated static markers are classified according to their location and type to obtain at least one static marker group; Performing least square fitting on the map position data of the static markers in each static marker group in the map to obtain fitted map position data; A new static marker is generated according to the fitted map position data, and all static markers in the static marker group are replaced with the new static marker, and the new static marker is added to the original static marker in the map.

2. The method according to claim 1, characterized in that The step of selecting target ultrasonic data and target static marker data having the shortest distance between the static marker and the vehicle from the ultrasonic data and static marker data of each parking route includes: From the ultrasonic data and static sign data of each parking route, select the ultrasonic data and static sign data with the shortest distance between the static sign and the vehicle; The ultrasonic data and static identification data with the shortest distance between the vehicle and the static identification are selected from the ultrasonic data and static identification data, in which the distance between the vehicle and the static identification is less than a preset screening distance, to obtain the target ultrasonic data and the target static identification data.

3. The method according to claim 1 or 2, characterized in that After generating a new static identifier based on the fitted map location data and replacing all static identifiers in the static identifier group with the new static identifier, the method further includes: According to the new static sign, the parking route corresponding to the new static sign is adjusted.

4. A method for processing a parking lot map, characterized in that: Applied to a vehicle, the method comprises: Acquire mapping data, the mapping data including wheel speed pulse data, inertial measurement unit (IMU) data, ultrasonic data, vehicle position data, and static sign data. The ultrasonic data includes the distance between the static sign and the vehicle. The static sign data includes the distance between the static sign and the vehicle and the type of static sign. The static sign type includes parking spaces, pillars, ground guide arrows, and parking lot entrances. Sending the mapping data to a server so that the server generates parking routes corresponding to all vehicles based on the wheel speed pulse data and the IMU data; For underground parking lots: the vehicle's location data and angular velocity changes when the GPS signal disappears are used to determine which parking lot the vehicle entered and the location of the parking lot entrance. For surface and above-ground parking lots: the vehicle's location data and the static identification type of the static identification data, used to determine which parking lot the vehicle entered and the location of the parking lot entrance. All parking routes are grouped by parking lot to obtain a parking route set corresponding to each parking lot. For each parking lot corresponding to a parking route set, obtaining, from the parking route set, ultrasonic data and static identification data corresponding to each section of a preset length of each parking route starting from the parking lot entrance; For each route of a preset length, from the ultrasonic data and static marker data of each parking route, select the target ultrasonic data and target static marker data with the shortest distance between the static marker and the vehicle; For each parking route, generating a corresponding static marker in the map according to the target ultrasonic data and the target static marker data; For each newly generated static marker, if the distance between the newly generated static marker and an existing static marker in the map is less than a preset distance, the newly generated static marker is removed, and all remaining newly generated static markers are classified according to their location and type to obtain at least one static marker group; Performing least square fitting on the map position data of the static markers in each static marker group in the map to obtain fitted map position data; generating a new static marker according to the fitted map position data, replacing all static markers in the static marker group with the new static marker, and adding the new static marker to the original static marker in the map; The obtaining of mapping data includes: acquiring the wheel speed pulse data through a wheel speed pulse sensor; Acquire the IMU data through an IMU sensor; Acquiring the ultrasonic data through an ultrasonic sensor; Obtaining the vehicle location data through a global positioning system (GPS) locator; The static identification data is obtained through a vehicle controller.

5. A parking lot map processing device, characterized in that: include: A receiving module, configured to receive mapping data sent by multiple vehicles, the mapping data including wheel speed pulse data, inertial measurement unit (IMU) data, ultrasonic data, vehicle position data, and static marker data. The ultrasonic data includes the distance between the static marker and the vehicle. The static marker data includes the distance between the static marker and the vehicle and the static marker type. The static marker type includes parking spaces, pillars, ground guide arrows, and parking lot entrances. a processing module, configured to generate a static identifier of the parking route of the vehicle in a preset map based on the mapping data; The processing module is specifically used to: generating parking routes corresponding to all vehicles based on the wheel speed pulse data and the IMU data; For underground parking lots: the vehicle's location data and angular velocity changes when the GPS signal disappears are used to determine which parking lot the vehicle entered and the location of the parking lot entrance. For surface and above-ground parking lots: the vehicle's location data and the static identification type of the static identification data, used to determine which parking lot the vehicle entered and the location of the parking lot entrance. All parking routes are grouped by parking lot to obtain a parking route set corresponding to each parking lot. For each parking lot corresponding to a parking route set, obtaining, from the parking route set, ultrasonic data and static identification data corresponding to each section of a preset length of each parking route starting from the parking lot entrance; For each route of a preset length, from the ultrasonic data and static marker data of each parking route, select the target ultrasonic data and target static marker data with the shortest distance between the static marker and the vehicle; For each parking route, generating a corresponding static marker in the map according to the target ultrasonic data and the target static marker data; For each newly generated static marker, if the distance between the newly generated static marker and an existing static marker in the map is less than a preset distance, the newly generated static marker is removed, and all remaining newly generated static markers are classified according to their location and type to obtain at least one static marker group; Performing least square fitting on the map position data of the static markers in each static marker group in the map to obtain fitted map position data; A new static marker is generated according to the fitted map position data, and all static markers in the static marker group are replaced with the new static marker, and the new static marker is added to the original static marker in the map.

6. The device according to claim 5, characterized in that The processing module is further configured to: From the ultrasonic data and static sign data of each parking route, select the ultrasonic data and static sign data with the shortest distance between the static sign and the vehicle; The ultrasonic data and static identification data with the shortest distance between the vehicle and the static identification are selected from the ultrasonic data and static identification data, in which the distance between the vehicle and the static identification is less than a preset screening distance, to obtain the target ultrasonic data and the target static identification data.

7. The device according to claim 5 or 6, characterized in that The processing module is further configured to: According to the new static sign, the parking route corresponding to the new static sign is adjusted.

8. A parking lot map processing device, characterized in that: include: An acquisition module is configured to acquire mapping data, wherein the mapping data includes wheel speed pulse data, inertial measurement unit (IMU) data, ultrasonic data, vehicle position data, and static marker data. The ultrasonic data includes the distance between the static marker and the vehicle. The static marker data includes the distance between the static marker and the vehicle and the type of the static marker. The static marker types include parking spaces, pillars, ground guide arrows, and parking lot entrances. a sending module, configured to send the mapping data to a server, so that the server generates parking routes corresponding to all vehicles based on the wheel speed pulse data and the IMU data; For underground parking lots: the vehicle's location data and angular velocity changes when the GPS signal disappears are used to determine which parking lot the vehicle entered and the location of the parking lot entrance. For surface and above-ground parking lots: the vehicle's location data and the static identification type of the static identification data, used to determine which parking lot the vehicle entered and the location of the parking lot entrance. All parking routes are grouped by parking lot to obtain a parking route set corresponding to each parking lot. For each parking lot corresponding to a parking route set, obtaining, from the parking route set, ultrasonic data and static identification data corresponding to each section of a preset length of each parking route starting from the parking lot entrance; For each route of a preset length, from the ultrasonic data and static marker data of each parking route, select the target ultrasonic data and target static marker data with the shortest distance between the static marker and the vehicle; For each parking route, generating a corresponding static marker in the map according to the target ultrasonic data and the target static marker data; For each newly generated static marker, if the distance between the newly generated static marker and an existing static marker in the map is less than a preset distance, the newly generated static marker is removed, and all remaining newly generated static markers are classified according to their location and type to obtain at least one static marker group; Performing least square fitting on the map position data of the static markers in each static marker group in the map to obtain fitted map position data; generating a new static marker according to the fitted map position data, replacing all static markers in the static marker group with the new static marker, and adding the new static marker to the original static marker in the map; The acquisition module is specifically used to: acquiring the wheel speed pulse data through a wheel speed pulse sensor; Acquire the IMU data through an IMU sensor; Acquiring the ultrasonic data through an ultrasonic sensor; Obtaining the vehicle location data through a global positioning system (GPS) locator; The static identification data is obtained through a vehicle controller.

9. A server, characterized in that: include: Processor, memory, communication interface; The memory is used to store executable instructions of the processor; The processor is configured to execute the parking lot map processing method according to any one of claims 1 to 3 by executing the executable instructions.

10. A vehicle, characterized in that: include: Processor, memory, communication interface, wheel speed pulse sensor, inertial measurement unit (IMU) sensor, ultrasonic sensor, global positioning system (GPS) locator, camera and vehicle controller; The wheel speed pulse sensor is used to obtain wheel speed pulse data; The IMU sensor is used to obtain IMU data; The ultrasonic sensor is used to obtain ultrasonic data; The GPS locator is used for the vehicle location data; The camera is used to obtain video data or image data; The vehicle controller is used to obtain static identification data based on the video data or the image data; The memory is used to store executable instructions of the processor; The processor is configured to execute the parking lot map processing method according to claim 4 by executing the executable instructions.

11. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the parking lot map processing method according to any one of claims 1 to 4 is implemented.

12. A computer program product, characterized in that The method comprises a computer program, which is used to implement the parking lot map processing method according to any one of claims 1 to 4 when executed by a processor.

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