Automatic parking interface recommendation method, device, equipment and readable storage medium

Abstract

The present application discloses a method, device, equipment and readable storage medium for recommending an automatic parking interface, which belongs to the field of automatic parking systems. The method includes the steps of obtaining parking process information of a vehicle during parking, determining the parking process information, and after determining that the parking process information meets the preset parking conditions, determining whether the driver has the intention to park, and if there is the intention to park, recommending the automatic parking interface to the driver. The present application realizes monitoring the vehicle's own state and the environment around the vehicle without relying on the driver's click operation, and recommending the automatic parking interface to the driver after detecting that the preset parking conditions are met and the driver has the intention to park, skipping the step of the driver finding and enabling the automatic parking function by himself, thereby saving the driver's time, avoiding the cumbersome steps required to enable the automatic parking system, and improving the convenience of using the automatic parking system.

Description

Technical Field

[0001] The present application relates to the field of automatic parking systems, and in particular to an automatic parking interface recommendation method, device, equipment and readable storage medium. Background Art

[0002] With the continuous development of intelligent driving technology, the configuration rate of automatic parking systems in automobiles is getting higher and higher. The automatic parking system is an intelligent driving assistance system that assists the driver in controlling the accelerator, brake, and steering wheel to help the driver park the vehicle in or out of the parking space.

[0003] When the driver wants to use the automatic parking system, the driver needs to find the automatic parking function from the function menu and click it multiple times before the automatic parking system can be turned on. The operation steps are cumbersome, resulting in low convenience for the driver when using the automatic parking function.

[0004] Application Contents

[0005] The main purpose of this application is to provide an automatic parking interface recommendation method, device, equipment and readable storage medium, aiming to solve the technical problem of low convenience when using the automatic parking function.

[0006] To achieve the above object, the present application provides an automatic parking interface recommendation method, the automatic parking interface recommendation method comprising the following steps:

[0007] Obtaining parking process information of the vehicle during the parking process;

[0008] If the parking process information satisfies the preset parking condition, determining whether the driver has parking intention;

[0009] If there is an intention to park, the automatic parking interface is recommended to the driver.

[0010] Exemplarily, the parking process information includes vehicle travel information and vehicle surrounding environment information, and if the parking process information satisfies a preset parking condition, determining whether the driver has a parking intention includes:

[0011] Predicting a travel route of the vehicle based on the vehicle travel information to obtain a predicted route;

[0012] Based on the predicted route, detecting the surrounding environment information of the vehicle's forward route to obtain the vehicle's surrounding environment information;

[0013] If the vehicle surrounding environment information satisfies the preset parking condition, it is determined whether the driver has the intention to park.

[0014] Exemplarily, if the vehicle surrounding environment information satisfies a preset parking condition, determining whether the driver has a parking intention further includes:

[0015] Based on the vehicle surrounding environment information, determining whether there is a parking space around the vehicle;

[0016] If there is a parking space, obtaining distance data between the vehicle and the parking space;

[0017] If the distance data is less than a preset distance threshold, it is determined that the vehicle meets a preset parking condition.

[0018] Exemplarily, the parking intention includes a parking space intention and a gear position intention. If the state information satisfies a preset parking condition, determining whether the driver has a parking intention includes:

[0019] When the preset parking condition is met, obtaining parking space information around the vehicle;

[0020] If the parking space information matches the parking space intention, obtaining the gear status of the vehicle;

[0021] If the gear state matches the gear intention, it is determined that the driver has a parking intention.

[0022] Exemplarily, if the parking space information meets the parking space intention, before obtaining the gear state of the vehicle, the method further includes:

[0023] Based on the parking space information, determining whether there is a valid parking space in the parking space information;

[0024] If the valid parking space exists, it is determined that the parking space information meets the parking space intention.

[0025] Exemplarily, if the gear state meets the gear intention, before determining that the driver has the intention to park, the method further includes:

[0026] Based on the gear state, determining whether the gear of the vehicle is in a preset gear;

[0027] If it is in the preset gear, it is determined that the gear state meets the gear intention.

[0028] Exemplarily, before obtaining the vehicle location information, the method further includes:

[0029] Monitor the speed of the vehicle and obtain the real-time speed;

[0030] If the real-time vehicle speed is less than the preset vehicle speed threshold, the step of obtaining the location information of the vehicle is executed.

[0031] Exemplarily, to achieve the above purpose, the present application further provides an automatic parking interface recommendation device, the automatic parking interface recommendation device comprising:

[0032] An acquisition module, used to acquire parking process information of the vehicle during the parking process;

[0033] a determination module, configured to determine whether the driver has a parking intention if the parking process information satisfies a preset parking condition;

[0034] The recommendation module is used to recommend an automatic parking interface to the driver if there is an intention to park.

[0035] Exemplarily, to achieve the above-mentioned purpose, the present application also provides an automatic parking interface recommendation device, which includes: a memory, a processor, and an automatic parking interface recommendation program stored in the memory and executable on the processor, wherein the automatic parking interface recommendation program is configured to implement the steps of the automatic parking interface recommendation method as described above.

[0036] Exemplarily, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which an automatic parking interface recommendation program is stored, and when the automatic parking interface recommendation program is executed by a processor, the steps of the automatic parking interface recommendation method as described above are implemented.

[0037] Compared with the prior art, when the driver wants to use the automatic parking system, the driver needs to find the automatic parking function from the function menu, and the automatic parking system is started when the user clicks the system manually. The operation process is cumbersome, resulting in low convenience for the driver when using the automatic parking function. In the present application, the state of the vehicle is detected. When the speed of the vehicle is detected to be lower than the preset speed threshold, the parking process information of the vehicle during the parking process is obtained, and the parking process information is analyzed and determined. After determining that the parking process information meets the preset parking conditions, the state of the vehicle is further determined. Based on the state of the vehicle, it is determined whether the driver has the intention to park. Under the conditions that the preset parking conditions are met and there is the intention to park, it is determined that the driver has the intention to park, and the automatic parking interface is recommended to the driver. If one of the conditions is not met, the system does not recommend the automatic parking interface to the driver. That is, this application will make a judgment based on the vehicle's own state and predict the driver's intention to drive the vehicle. When the vehicle's current state meets all the predicted criteria, the driver's parking intention will be derived and the automatic parking interface will be recommended to the driver, saving the driver's time in searching for the automatic parking function and skipping the driver's click operation process, thus avoiding the tedious steps when enabling the automatic parking system, thereby improving the convenience of using the automatic parking system. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1This is a flowchart of the first embodiment of the automatic parking interface recommendation method of the present application;

[0039] Figure 2 This is a flowchart of the second embodiment of the automatic parking interface recommendation method of the present application;

[0040] Figure 3 A schematic diagram of the relative positions of a vehicle and a parking space during parking in the second embodiment of the automatic parking interface recommendation method of the present application;

[0041] Figure 4 This is a schematic diagram of the structure of the hardware operating environment involved in the embodiment of the present application.

[0042] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] This application provides an automatic parking interface recommendation method, referring to Figure 1 , Figure 1 This is a flowchart diagram of the first embodiment of the automatic parking interface recommendation method of the present application.

[0045] The present application provides an embodiment of the automatic parking interface recommendation method. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than here. For ease of description, the following omits the execution subject to describe the various steps of the automatic parking interface recommendation method. The automatic parking interface recommendation method includes:

[0046] Step S110: Acquiring parking process information of the vehicle during the parking process;

[0047] When the driver wants to park, the parking space information around the vehicle will affect the driver's parking results. At the same time, the vehicle state during parking will produce a series of state changes, including changes in vehicle speed and changes in vehicle direction. Among them, the vehicle speed will increase or decrease, and the vehicle direction will turn or change direction.

[0048] Before obtaining the parking process information during the parking process, the preset vehicle speed threshold is 10km / h or 15km / h. The following preset vehicle speed threshold takes 10km / h as an example. The rotation speed of the vehicle axle is monitored, and the current vehicle speed is calculated by the rotation speed. The parking process information during the parking process is obtained only when the current vehicle speed is lower than the preset vehicle speed threshold.

[0049] Exemplarily, parking process information is generated during the vehicle parking process, and the parking process information includes vehicle travel information and vehicle surrounding environment information.

[0050] Among them, vehicle travel information includes: vehicle speed, steering wheel rotation angle data, braking system, turn signal light flashing command and gear status.

[0051] The vehicle surrounding environment information includes: road information around the vehicle, obstacles around the vehicle, other vehicles around the vehicle, and parking spaces around the vehicle.

[0052] Exemplarily, the method for acquiring parking process information includes: a method for acquiring vehicle travel information and a method for acquiring vehicle surrounding environment information.

[0053] Among them, the vehicle travel information acquisition method is:

[0054] Exemplarily, the state of the vehicle while in motion is monitored, and changes in the vehicle's motion state are detected, and the detection contents include: changes in vehicle speed, changes in the vehicle's motion direction, and changes in the vehicle's gear state.

[0055] Exemplarily, the driving state of the vehicle is monitored, and when the vehicle's braking system is used, the real-time speed of the vehicle is monitored to determine whether it is lower than a preset speed threshold, and the travel information of the vehicle's speed change is obtained.

[0056] Exemplarily, when a flashing instruction of a turn signal lamp of the vehicle is detected, it is determined that the traveling direction of the vehicle has changed, and the traveling information of the vehicle's direction change is obtained.

[0057] Exemplarily, the gear state of the vehicle is detected, and when switching from a forward gear to a reverse gear, it is determined that the vehicle has a gear change, and the travel information of the gear state of the vehicle is obtained.

[0058] Among them, the method for obtaining vehicle surrounding environment information is:

[0059] Exemplarily, the surrounding environment information of the vehicle is collected and determined to obtain objects around the vehicle, distances between the vehicle and the objects, and image information around the vehicle.

[0060] Exemplarily, the ultrasonic radar sensor sends and receives ultrasonic waves to the vehicle's surrounding environment, and fits the required point cloud data based on the received ultrasonic detection data to obtain the position data of objects around the vehicle and the distance and relative angle data between the objects and the vehicle, thereby obtaining the object information around the vehicle and the parking space and relative coordinate data of the required parking space.

[0061] Exemplarily, the vehicle-mounted camera collects images of the surrounding environment of the vehicle, and the collected images include images of the road around the vehicle and images of the parking space around the vehicle.

[0062] Exemplarily, before obtaining the vehicle location information, the method further includes:

[0063] Step a: monitor the speed of the vehicle and obtain the real-time speed;

[0064] When the vehicle is driving normally, the driver will not park the vehicle. Instead, the driver will reduce the speed in advance before parking. Therefore, the vehicle speed is monitored in real time. When the speed is detected to be reduced and below the preset speed threshold, there is a possibility that the driver is about to park the vehicle.

[0065] For example, before parking, the braking system is activated to control the speed of the vehicle, and when the speed of the vehicle changes, that is, when the speed approaches a preset speed threshold, the speed of the vehicle is monitored in real time. The real-time monitoring of the vehicle calculates the real-time speed of the vehicle through the axle speed of the vehicle.

[0066] For example, after the vehicle is started, the speed of the vehicle increases continuously during the driving process. At this time, the current speed is lower than the preset speed threshold, and the speed of the vehicle is monitored in real time to obtain the real-time speed.

[0067] Step b: If the real-time vehicle speed is less than the preset vehicle speed threshold, the step of acquiring parking process information of the vehicle during the parking process is executed.

[0068] Before obtaining the parking process information of the vehicle during the parking process, it is necessary to detect the vehicle speed. By comparing the vehicle speed with a preset speed threshold, the step of obtaining the parking process information is executed under the condition that the vehicle speed is lower than the preset speed threshold.

[0069] Exemplarily, when the vehicle speed is lower than 10 km / h and no longer increases, the vehicle drives from outside the parking lot to inside the parking lot, the parking process information of the vehicle is collected and detected, the parking process information is obtained, and based on the vehicle surrounding environment information in the parking process information, it is determined whether there is a parking space suitable for the vehicle around the vehicle.

[0070] For example, the vehicle speed is less than 10 km / h and the vehicle is driving out of the parking lot. During this process, the parking process information of the vehicle is collected and detected. According to the surrounding environment of the vehicle, it is judged that the vehicle is in the parking lot and there are parking spaces suitable for the vehicle around the vehicle. However, the speed of the vehicle is constantly increasing and the speed of the vehicle exceeds the preset speed threshold. It is judged that the vehicle is not parked at this time and the parking process information is not obtained.

[0071] Step S120: If the parking process information satisfies the preset parking condition, determining whether the driver has parking intention;

[0072] The parking process information includes the vehicle's travel information and the vehicle's surrounding environment information. Based on the parking process information, the vehicle's predicted route can be predicted, and the environment in the predicted route can be perceived. A comprehensive judgment is made on the parking process information to determine whether the vehicle's current state and the vehicle's surrounding environment meet the preset parking conditions. If the preset parking conditions are met, the vehicle's state is further analyzed to determine whether the driver has the intention to park.

[0073] Exemplarily, the content of the detection based on the preset parking conditions includes: detecting the current state of the vehicle and detecting the environment around the vehicle. When the vehicle's own state and the environment around the vehicle meet the conditions, it is determined that the vehicle meets the preset parking conditions.

[0074] The information for detecting the current state of the vehicle includes: the vehicle speed, the state of the turn signal lights, and the gear state of the vehicle.

[0075] The information about the environment around the vehicle includes: road conditions around the vehicle, conditions of other vehicles around the vehicle, obstacles around the vehicle and parking space information around the vehicle.

[0076] Exemplarily, the current speed of the vehicle is continuously decreasing and is lower than a preset speed threshold, and the vehicle's surrounding environment information is detected, and it is found that the vehicle's surrounding environment information contains a parking space suitable for parking and no obstacles. Based on this, the driver's parking intention is determined.

[0077] Exemplarily, based on the vehicle status information, the predicted route of the vehicle is determined, the environment on the predicted route is detected, the parking spaces in the vehicle's surrounding environment are detected, and the parking spaces are judged to be unused and without any obstacles. That is, the vehicle status information and the vehicle's surrounding environment information are comprehensively used to detect the situation on the predicted route. When the vehicle status information and the vehicle's surrounding environment information both meet the preset parking conditions, it is further determined whether the driver has the intention to park.

[0078] Exemplarily, when the vehicle's travel information meets the preset parking conditions, the vehicle's surrounding environment information is detected, and the vehicle's surrounding environment is detected using an ultrasonic radar sensor to detect whether there are obstacles or other objects in the parking space that may hinder the vehicle from parking. When the vehicle's surrounding environment information meets the preset parking conditions, it is determined whether the driver has the intention to park.

[0079] Exemplarily, when the vehicle status information meets the preset parking conditions, the vehicle's surrounding environment information is detected, and image collection of the vehicle's surrounding environment information is performed through the vehicle-mounted camera to collect parking space information around the vehicle. The image is fitted and analyzed to determine whether the parking space is suitable for parking. When the vehicle's surrounding environment information meets the preset parking conditions, it is determined whether the driver has the intention to park.

[0080] Step S130: If there is an intention to park, recommending an automatic parking interface to the driver.

[0081] When the vehicle's driving state and surrounding environment meet the preset parking conditions, the driver's parking intention is judged. At the same time, the vehicle's driving information and the vehicle's surrounding environment information are also used as judgment conditions for judging the driver's parking intention. The vehicle's speed, the vehicle's gear status, and the parking space conditions around the vehicle are all used to judge the driver's parking intention.

[0082] Exemplarily, parking intention refers to the driver's intention to park the vehicle in the process of driving the vehicle, wherein the parking intention includes parking space intention and gear intention. When both the parking space intention and the gear intention are met, it is determined that the driver has the parking intention.

[0083] Exemplarily, the parking intention includes a parking space intention and a gear intention. When determining whether there is a parking intention, the parking space intention and the gear intention must be judged separately. If both the parking space intention and the gear intention are met, it is determined that there is a parking intention.

[0084] The process of judging the parking space intention is as follows:

[0085] Exemplarily, the parking space intention is to judge the parking space information of the surrounding environment of the vehicle. If the parking space around the vehicle is not used and there are no obstacles on the parking space, it is determined that the parking space meets the parking space intention.

[0086] Exemplarily, the parking space intention is to judge the parking space information of the surrounding environment of the vehicle. If the parking space around the vehicle is used or there is an obstacle on the parking space, it is determined that the parking space does not meet the parking space intention.

[0087] The process of judging the gear intention is as follows:

[0088] Exemplarily, the gear intention is used to determine the current direction of travel of the vehicle and detect the vehicle's travel status. If it is detected that the gear status of the vehicle is in a preset gear, it is determined that the gear status of the vehicle meets the gear intention.

[0089] Exemplarily, the gear intention is used to determine the current direction of travel of the vehicle and to detect the vehicle's travel status. If it is detected that the gear status of the vehicle is not in a preset gear, it is determined that the gear status of the vehicle does not meet the gear intention.

[0090] Compared with the prior art, when the driver wants to use the automatic parking system, the driver needs to find the automatic parking function from the function menu, and the automatic parking system is started when the user clicks the system manually. The operation process is cumbersome, resulting in low convenience for the driver when using the automatic parking function. In the present application, the state of the vehicle is detected. When the speed of the vehicle is detected to be lower than the preset speed threshold, the parking process information of the vehicle during the parking process is obtained, and the parking process information is analyzed and determined. After determining that the parking process information meets the preset parking conditions, the state of the vehicle is further determined. Based on the state of the vehicle, it is determined whether the driver has the intention to park. Under the conditions that the preset parking conditions are met and there is the intention to park, it is determined that the driver has the intention to park, and the automatic parking interface is recommended to the driver. If one of the conditions is not met, the system does not recommend the automatic parking interface to the driver. That is, this application will make a judgment based on the vehicle's own state and predict the driver's intention to drive the vehicle. When the vehicle's current state meets all the predicted criteria, the driver's parking intention will be derived and the automatic parking interface will be recommended to the driver, saving the driver's time in searching for the automatic parking function and skipping the driver's click operation process, thus avoiding the tedious steps when enabling the automatic parking system, thereby improving the convenience of using the automatic parking system.

[0091] For example, refer to Figure 2 , Figure 2 : is a flow chart of the second embodiment of the automatic parking interface recommendation method of the present application. Based on the first embodiment of the automatic parking interface recommendation method of the present application, the second embodiment is proposed, and the method further includes:

[0092] Step S210: predicting a travel route of the vehicle based on the vehicle travel information to obtain a predicted route;

[0093] The vehicle travel information includes the vehicle speed, turn signal lights, steering wheel rotation angle, braking system and vehicle gear status information. When the vehicle travel information is detected, the vehicle's upcoming direction and route are predicted.

[0094] For example, it is detected that the vehicle's braking system is activated, the vehicle's speed is reduced by a certain amount, and the steering wheel is turned. At the same time, a flashing command of the right turn signal light is received, and it is predicted that the vehicle is about to turn the curve to the right.

[0095] For example, it is detected that the vehicle is in reverse gear, the current speed of the vehicle is less than a preset speed threshold, and the steering wheel rotation frequency of the vehicle is high, and it is predicted that the vehicle is moving backward and adjusting the body angle of the vehicle during the movement.

[0096] Step S220: Based on the predicted route, the surrounding environment information of the vehicle's forward route is detected to obtain the vehicle's surrounding environment information;

[0097] Detect surrounding environment information on the predicted route of the vehicle, capture surrounding environment information on the predicted route in advance, detect and process surrounding environment information, analyze objects in the environment, and parking space information contained in the environment. Overall control of environmental information is conducive to selecting suitable parking spaces. Detect the surrounding environment on the predicted route, and the detected results are used to determine whether the environmental information of the vehicle on the predicted route meets the preset parking conditions.

[0098] The steering wheel rotation angle of the vehicle is monitored. When the steering wheel of the vehicle is detected to be rotating, the steering wheel rotation direction and angle of the vehicle are detected. Then the gear position of the vehicle and the real-time speed of the vehicle are detected at this time. The movement trend of the vehicle is calculated by combining the above information to obtain the predicted route.

[0099] After predicting the vehicle's predicted route, the detection area and non-detection area are determined based on the predicted route, and the area is divided for precise detection, saving some of the computing power for detection.

[0100] Among them, an example of a method for formulating a detection area is that when a flashing instruction of a right turn signal light of a vehicle is detected, that is, the vehicle is about to turn to the right, the right side of the vehicle is the detection area, and the surrounding environment information on the route in which the vehicle is about to turn right is detected.

[0101] Among them, an example of a method for formulating a non-detection area is that when a flashing command of the right turn signal light of the vehicle is detected, that is, the vehicle is about to turn to the right, the left side of the vehicle is a non-detection area, that is, the surrounding environment information on the left side of the vehicle is not detected.

[0102] Environmental information on non-predicted routes is not detected, thereby saving the vehicle's computing power for sensing and detecting the vehicle's surrounding environment, and the saved computing power is used to calculate the surrounding environmental information on the predicted route, thereby improving the speed and accuracy of obtaining information on the predicted route.

[0103] Based on the predicted route of the vehicle, when detecting the vehicle's surrounding environment information, the vehicle's surrounding environment information includes objects, obstacles, other vehicles and parking spaces around the vehicle. Methods for obtaining the vehicle's surrounding environment information include using ultrasonic radar sensors and using vehicle-mounted cameras.

[0104] Among them, ultrasonic radar sensors are used to send and receive ultrasonic waves to the vehicle's surrounding environment, detect objects around the vehicle, and the distance between the objects and the vehicle.

[0105] The vehicle's surrounding environment is captured by a vehicle-mounted camera to obtain an environmental image of the vehicle's surrounding environment, which includes parking spaces, obstacles and other vehicles.

[0106] Step S230: If the vehicle surrounding environment information satisfies the preset parking condition, it is determined whether the driver has the intention to park.

[0107] Parking intention is the subjective intention of the driver. By detecting the way the driver drives the vehicle, the parking process information of the vehicle is judged. If the parking process information meets the preset parking conditions, it is determined whether the driver has parking intention, where parking intention includes: parking space intention and gear intention.

[0108] For example, when detecting the surrounding environment information of the vehicle, it is determined that there is a parking space around the vehicle, but the distance between the vehicle and the parking space is gradually increasing, that is, the vehicle is moving away from the parking space, and it is determined that this situation does not meet the preset parking conditions, then no judgment is made as to whether there is an intention to park.

[0109] Exemplarily, the relative position distance between the vehicle body and the parking space meets the standard, and there is a parking space suitable for parking the vehicle. It is determined that the vehicle's surrounding environment information meets the preset parking conditions. On this basis, the driver's intention to drive the vehicle is judged.

[0110] For example, refer to Figure 3 , Figure 3 is a schematic diagram of the relative position of the vehicle and the parking space during parking. If the vehicle surrounding environment information meets the preset parking conditions, determining whether the driver has the intention to park also includes:

[0111] Step c: determining whether there is a parking space around the vehicle based on the vehicle surrounding environment information;

[0112] When the vehicle speed is lower than the preset speed, the predicted route is predicted based on the vehicle's travel information, and the surrounding environment information on the predicted route is obtained. The vehicle's surrounding environment information includes parking space information, environmental information (such as obstacles, walls, pillars, etc.) and information of other vehicles around the vehicle.

[0113] Exemplarily, the premise for meeting the preset parking condition is that there is a parking space near the vehicle. If there is no parking space around the vehicle, it is determined that the vehicle will not park nearby, and thus it is determined that the vehicle does not meet the preset parking condition when it is in this position.

[0114] For example, when detecting the surrounding environment information of the vehicle, if there is no parking space in the detection result, the detection is stopped to save the computing power used to perceive the surroundings of the vehicle.

[0115] For example, when a parking space is detected around the vehicle, the next step of detection will be triggered to perform other detections on the surrounding environment information to determine whether the vehicle's surrounding environment information meets the preset parking conditions.

[0116] Step d: If there is a parking space, obtaining distance data between the vehicle and the parking space;

[0117] like Figure 3 As shown, Figure 3 A110, A111 and A112 above are three parking spaces. The distance between the vehicle and the parking space is an important parameter. When the driver intends to park, the vehicle will approach the parking space, and the distance between the vehicle and the parking space meets the conditions, determining that the surrounding environment of the vehicle is suitable for parking.

[0118] For example, when a vehicle is traveling toward a parking space, the vehicle continues to approach the parking space, and the relative distance between the vehicle and the parking space becomes smaller and smaller. Based on this, it is determined that the vehicle is approaching the parking space, and it can be determined that the surrounding environment of the vehicle is suitable for parking.

[0119] Exemplarily, when the vehicle is traveling in a direction away from the parking space, the relative distance between the vehicle and the parking space increases from small to large, that is, when the distance between the vehicle and the parking space is too large, it is determined that the preset parking condition is not met.

[0120] Step e: If the distance data is less than a preset distance threshold, it is determined that the vehicle meets a preset parking condition.

[0121] The preset distance threshold refers to a criterion for judging the distance between the vehicle and the parking space. When the distance between the vehicle and the parking space is greater than the preset distance threshold, it is determined that the vehicle is far away from the parking space or the distance between the vehicle and the parking space is too far, and the preset parking conditions are not met.

[0122] Exemplarily, the preset distance threshold is a basis for determining the distance between the vehicle and the parking space. The preset distance threshold is set to 2m or 3m, etc. The following preset distance threshold takes 2m as an example.

[0123] For example, when the vehicle is driving towards a parking space, but the distance between the vehicle and the parking space is greater than 2m, it is determined that the vehicle is not suitable for parking at this time. The vehicle continues to drive towards the parking space, and the distance between the vehicle and the parking space is less than 2m, then it is determined that the preset parking conditions are met.

[0124] For example, when the vehicle travels away from the parking space, the distance between the vehicle and the parking space gradually increases. When the distance between the vehicle and the parking space is greater than 2 m, it is determined that the vehicle is not near the parking space at this time and does not meet the preset parking conditions.

[0125] Step S240: When the preset parking condition is met, obtaining parking space information around the vehicle;

[0126] When the vehicle's speed, position and environment meet the preset parking conditions, the parking space information is extracted from the vehicle's surrounding environment information, or after obtaining partial parking space information, the parking space information continues to be detected to obtain complete parking space information.

[0127] For example, when the surrounding environment information on the predicted route of the vehicle is detected, the parking space information is obtained. The parking space information obtained at this time is used to determine the distance between the vehicle and the parking space. The parking space information is incomplete, and the parking space is detected to obtain complete parking space information.

[0128] Exemplarily, when the surrounding environment information on the predicted route is detected, the complete information of the parking space is obtained, and when the preset parking conditions are met, the parking space information is extracted from the vehicle's surrounding environment information.

[0129] Step S250: If the parking space information meets the parking space intention, the gear status of the vehicle is obtained:

[0130] The parking space information includes the selection range of the parking space, the usage of the parking space, and whether there are obstacles on the parking space. After obtaining the parking space information, it is necessary to analyze it and determine whether the parking space meets the parking space intention based on the parking space information. The parking space intention means that the parking space is suitable for parking. The gear status of the vehicle is divided into P gear, R gear, N gear, D gear, S gear and L gear. (P gear: means parking gear, R gear: means reverse gear, N gear: means neutral gear, D gear: means forward gear, S gear: means sports gear, L gear: means low speed gear.)

[0131] Exemplarily, the parking space information is analyzed, and it is detected that the parking space is not in use, and the space within the parking space selection range is not occupied by other vehicles, and there are no obstacles on the parking space, then it is determined that the parking space meets the parking space intention, and the vehicle gear status is determined.

[0132] Exemplarily, the parking space information is analyzed, and if an obstacle is detected in the parking space, it is determined that the parking space does not meet the parking intention. Other parking space information is analyzed. After it is determined that there is a parking space that meets the parking intention, the analysis of the parking space information is stopped, and the vehicle gear status is determined.

[0133] Exemplarily, if the parking space information meets the parking space intention, before obtaining the gear state of the vehicle, the method further includes:

[0134] Step f: Based on the parking space information, determining whether there is a valid parking space in the parking space information;

[0135] The parking space information includes the selection range of the parking space, the usage of the parking space, and whether there are obstacles on the parking space. When analyzing the parking space information, each parking space will be tested in turn. If the test results meet the judgment criteria, the parking space is determined to be a valid parking space.

[0136] Exemplarily, the judgment result of the parking space information includes two situations: invalid parking space and valid parking space.

[0137] The determination of invalid parking spaces includes:

[0138] Exemplarily, a parking space in the parking space information is analyzed to determine whether the parking space is used. If the parking space is used by other vehicles, the parking space is determined to be an invalid parking space.

[0139] Exemplarily, a parking space in the parking space information is analyzed to determine whether the parking space is used. If the parking space is not used by other vehicles, the parking space information is checked to determine whether there is an obstacle on the parking space. If there is an obstacle, the parking space is determined to be an invalid parking space.

[0140] The determination of effective parking spaces includes:

[0141] Exemplarily, a parking space in the parking space information is analyzed to determine whether the parking space is used. If the parking space is not used by other vehicles, the parking space information is checked to determine whether there is an obstacle on the parking space. If there is no obstacle, the parking space is determined to be a valid parking space.

[0142] Exemplarily, a parking space in the parking space information is analyzed to determine that the parking space is not in use, and other vehicles are parked in the parking spaces adjacent to the left and right of the parking space. The space above the parking space is measured, and if the measurement result determines that the space above the parking space is suitable for parking, the parking space is determined to be a valid parking space.

[0143] Step g: If the valid parking space exists, determining whether the parking space information meets the parking space intention.

[0144] After analyzing the parking space information, it is determined whether the parking space is a valid parking space, and the usage and space information of the parking space are judged, that is, the parking space is proved to be suitable for parking, that is, the parking space information meets the parking space intention.

[0145] Exemplarily, the parking space information is obtained from the vehicle's surrounding environment information, and it is detected that there is a valid parking space in the parking space information, and it is determined that the parking space is suitable for parking and meets the parking space intention.

[0146] Exemplarily, it is detected that there is no valid parking space in the parking space information, and it is determined that the parking space information included in the vehicle surrounding environment information does not meet the parking space intention.

[0147] Step S260: If the gear state matches the gear intention, it is determined that the driver has a parking intention.

[0148] Exemplarily, the parking intention includes: parking space intention and gear intention. When both the parking space intention and the gear intention are met, the parking intention is determined to be met. There are multiple gear states in the vehicle during driving. The gear state is used as a basis for determining the driving state of the vehicle, and the driving state of the vehicle driven by the driver at this time is determined.

[0149] Exemplarily, it is determined whether the parking space information meets the parking space intention, wherein the parking space information includes valid parking spaces and invalid parking spaces.

[0150] For a valid parking space, the valid parking space meets the preset parking conditions, and the vehicle can be parked in the valid parking space. When the vehicle approaches the valid parking space at a low speed, it is determined that the valid parking space meets the parking space intention in the parking intention.

[0151] For an invalid parking space, the invalid parking space does not meet the preset parking conditions, and the vehicle cannot be parked in the invalid parking space, and it is determined that the invalid parking space does not meet the parking space intention in the parking intention.

[0152] Exemplarily, it is determined whether the gear state meets the gear intention, wherein the gear state includes the gear state being in the L gear and the gear state being in the R gear.

[0153] When the gear status is in L gear, the vehicle is moving out of the parking space and the vehicle speed is gradually increasing, it is determined that the gear status of the vehicle does not meet the gear intention, and it is determined that the vehicle has no parking action and no parking intention.

[0154] For the gear status of R gear, the vehicle is traveling at a low speed, there are valid parking spaces around the vehicle, it is determined that the vehicle is parking, it is determined that the gear status of the vehicle is consistent with the gear intention and the parking space intention, and it is determined that the driver has the intention to park.

[0155] Exemplarily, if the gear state meets the gear intention, before determining that the driver has the intention to park, the method further includes:

[0156] Step h: based on the gear state, determining whether the gear of the vehicle is in a preset gear;

[0157] When the vehicle is parking, the gear status of the vehicle is monitored, and the driving status of the vehicle at this time is determined based on the change in the gear status. Combined with the previous judgment of the vehicle's surrounding environment, it is concluded whether the vehicle has the intention to park. The preset gear is the gear set to determine whether the vehicle has the intention to park.

[0158] For example, when the vehicle is parking, the vehicle has the action of reversing into the garage, the gear state of the vehicle will be switched to R gear, and the preset gear is set to R gear. When the gear state of the vehicle is switched to R gear, it is determined that the gear state of the vehicle meets the gear intention.

[0159] Exemplarily, the gear state of the vehicle is switched from the R gear to another gear, and it is determined that the gear state of the vehicle does not conform to the gear intention.

[0160] Step i: if the gear is in the preset gear, determining that the gear state meets the gear intention;

[0161] The gear of the vehicle is in the preset gear, that is, the gear state of the vehicle at this time is in the parking tendency state, then it is determined that the current gear state of the vehicle meets the gear intention, and the gear intention is used to determine whether the driver has the parking intention at this time.

[0162] Exemplarily, the gear state of the vehicle is switched to a preset gear, that is, the gear state of the vehicle meets the requirements of the gear intention.

[0163] Exemplarily, the gear state of the vehicle is switched from a preset gear to another gear, that is, the gear state of the vehicle does not meet the requirements of the gear intention.

[0164] In this embodiment, the monitoring of the vehicle status is refined, the parking process information is obtained, the vehicle's position status is monitored, and the environmental information of the vehicle is detected at the same time, the vehicle status and the environmental information around the vehicle are mastered, and after integrating various data information, a comprehensive judgment is made. On the one hand, it can predict the route that the vehicle is about to take, and detect the surrounding environmental information of the vehicle based on the predicted route, saving a part of the detection computing power, thereby improving the accuracy and speed of the perception of the environmental information on the predicted route, and facilitating the subsequent detection of whether the vehicle's surrounding environmental information meets the preset parking conditions. When the preset parking conditions are met, The parking intention of the driver is judged based on the parking process information, and the parking spaces in the surrounding environment of the vehicle are identified and the status of the vehicle itself is judged, which saves the time and computing power required to obtain and judge the parking intention. At the same time, under the dual conditions of meeting the preset parking conditions and having the parking intention, the automatic parking interface is recommended to the driver to avoid the driver clicking to start the automatic parking function by himself, thereby improving the intelligence of the automatic parking system and thus improving the convenience of the automatic parking system. If one of the conditions is not met, no recommendation is made and the driver's normal driving is not affected.

[0165] In addition, the present application also provides an automatic parking interface recommendation device, the automatic parking interface recommendation device comprising:

[0166] An acquisition module, used to acquire parking process information of the vehicle during the parking process;

[0167] a determination module, configured to determine whether the driver has a parking intention if the parking process information satisfies a preset parking condition;

[0168] The recommendation module is used to recommend an automatic parking interface to the driver if there is an intention to park.

[0169] Exemplarily, the modules before the acquisition module is executed include:

[0170] Monitoring module: used to monitor the vehicle speed and obtain the real-time speed;

[0171] Comparison module: used for executing the step of acquiring parking process information of the vehicle during the parking process if the real-time vehicle speed is less than a preset vehicle speed threshold.

[0172] Exemplarily, the acquisition module includes:

[0173] A prediction submodule, used for predicting the travel route of the vehicle based on the vehicle travel information to obtain a predicted route;

[0174] A detection submodule: used for detecting the surrounding environment information of the vehicle's forward route based on the predicted route to obtain the vehicle's surrounding environment information;

[0175] The first determination submodule is used to determine whether the driver has parking intention if the vehicle surrounding environment information meets the preset parking condition.

[0176] Exemplarily, the determining submodule includes:

[0177] A first determining unit, configured to determine whether there is a parking space around the vehicle based on the vehicle surrounding environment information;

[0178] An acquisition unit: used for acquiring distance data between the vehicle and the parking space if there is a parking space;

[0179] The second determining unit is configured to determine that the vehicle meets a preset parking condition if the distance data is less than a preset distance threshold.

[0180] Exemplarily, the determining module includes:

[0181] A first acquisition submodule: when the preset parking condition is met, acquiring parking space information around the vehicle;

[0182] The second acquisition submodule: if the parking space information meets the parking space intention, then acquiring the gear status of the vehicle;

[0183] The second determination submodule: if the gear state matches the gear intention, determining that the driver has a parking intention.

[0184] Exemplarily, the submodules before the first acquisition submodule is executed include:

[0185] A third determining unit: based on the parking space information, determining whether there is a valid parking space in the parking space information;

[0186] The fourth determining unit: if the valid parking space exists, determines whether the parking space information meets the parking space intention.

[0187] Exemplarily, the submodules before the second determination submodule is executed include:

[0188] A fifth determining unit: configured to determine whether the gear of the vehicle is in a preset gear based on the gear state;

[0189] The sixth determining unit is used to determine whether the gear state meets the gear intention if the vehicle is in the preset gear.

[0190] The specific implementation of the automatic parking interface recommendation device of the present application is basically the same as the above-mentioned embodiments of the automatic parking interface recommendation method, and will not be repeated here.

[0191] In addition, the present application also provides an automatic parking interface recommendation device. Figure 4 As shown, Figure 4 It is a structural diagram of the hardware operating environment involved in the embodiment of the present application.

[0192] For example, Figure 4 This is a structural diagram of the hardware operating environment of the device recommended for the automatic parking interface.

[0193] like Figure 4 As shown, the automatic parking interface recommendation device may include a processor 401, a communication interface 402, a memory 404 and a communication bus 404, wherein the processor 401, the communication interface 402 and the memory 404 communicate with each other via the communication bus 404, the memory 404 is used to store computer programs; the processor 401 is used to implement the steps of the automatic parking interface recommendation method when executing the program stored in the memory 404.

[0194] The communication bus 404 mentioned in the automatic parking interface recommendation device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 404 can be divided into an address bus, a data bus, and a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0195] The communication interface 402 is used for communication between the automatic parking interface recommendation device and other devices.

[0196] The memory 404 may include a random access memory (RMD) or a non-volatile memory (NM), such as at least one disk memory. Optionally, the memory 404 may also be at least one storage device located away from the processor 401.

[0197] The above-mentioned processor 401 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0198] The specific implementation of the automatic parking interface recommendation device of the present application is basically the same as the above-mentioned embodiments of the automatic parking interface recommendation method, and will not be repeated here.

[0199] In addition, an embodiment of the present application further proposes a computer-readable storage medium, on which an automatic parking interface recommendation program is stored. When the automatic parking interface recommendation program is executed by a processor, the steps of the automatic parking interface recommendation method as described above are implemented.

[0200] The specific implementation of the computer-readable storage medium of the present application is basically the same as the above-mentioned embodiments of the automatic parking interface recommendation method, and will not be repeated here.

[0201] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0202] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0203] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0204] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An automatic parking interface recommendation method, characterized in that: The automatic parking interface recommendation method comprises the following steps: Obtaining parking process information of the vehicle during the parking process; If the parking process information satisfies the preset parking condition, determining whether the driver has a parking intention, wherein the parking intention includes a parking space intention and a gear position intention; If there is an intention to park, the automatic parking interface is recommended to the driver; If the parking process information satisfies the preset parking condition, determining whether the driver has the intention to park includes: When the preset parking condition is met, obtaining parking space information around the vehicle; If the parking space information matches the parking space intention, obtaining the gear status of the vehicle; If the gear position state matches the gear position intention, determining that the driver has a parking intention; If the parking space information meets the parking space intention, before obtaining the gear state of the vehicle, the method further includes: Based on the parking space information, determining whether there is a valid parking space in the parking space information; If the valid parking space exists, determining that the parking space information meets the parking space intention; If the gear state meets the gear intention, before determining that the driver has the intention to park, the method further includes: Based on the gear state, determining whether the gear of the vehicle is in a preset gear; If it is in the preset gear, it is determined that the gear state meets the gear intention.

2. The automatic parking interface recommendation method according to claim 1, characterized in that: The parking process information includes vehicle travel information and vehicle surrounding environment information. If the parking process information satisfies a preset parking condition, determining whether the driver has a parking intention includes: Predicting a travel route of the vehicle based on the vehicle travel information to obtain a predicted route; Based on the predicted route, detecting the surrounding environment information of the vehicle's forward route to obtain the vehicle's surrounding environment information; If the vehicle surrounding environment information satisfies the preset parking condition, it is determined whether the driver has the intention to park.

3. The automatic parking interface recommendation method according to claim 2, characterized in that: If the vehicle surrounding environment information satisfies the preset parking condition, determining whether the driver has parking intention also includes: Based on the vehicle surrounding environment information, determining whether there is a parking space around the vehicle; If there is a parking space, obtaining distance data between the vehicle and the parking space; If the distance data is less than a preset distance threshold, it is determined that the vehicle meets a preset parking condition.

4. The automatic parking interface recommendation method according to claim 1, characterized in that: Before obtaining the parking process information of the vehicle during the parking process, the method further includes: Monitor the speed of the vehicle and obtain the real-time speed; If the real-time vehicle speed is less than the preset vehicle speed threshold, the step of acquiring parking process information of the vehicle during the parking process is executed.

5. An automatic parking interface recommendation device, characterized in that: The automatic parking interface recommendation device comprises: An acquisition module, used to acquire parking process information of the vehicle during the parking process; a determination module, configured to determine whether the driver has a parking intention if the parking process information satisfies a preset parking condition, wherein the parking intention includes a parking space intention and a gear position intention; A recommendation module, for recommending an automatic parking interface to the driver if there is an intention to park; The determination module is further configured to obtain parking space information around the vehicle when the preset parking condition is met; if the parking space information meets the parking space intention, obtain the gear status of the vehicle; if the gear status meets the gear intention, determine that the driver has a parking intention; The determination module is further configured to determine whether there is a valid parking space in the parking space information based on the parking space information; if there is a valid parking space, determine that the parking space information meets the parking space intention; The determination module is further used to determine whether the gear position of the vehicle is in a preset gear position based on the gear position state; If it is in the preset gear, it is determined that the gear state meets the gear intention.

6. An automatic parking interface recommendation device, characterized in that: The device includes: a memory, a processor, and an automatic parking interface recommendation program stored in the memory and executable on the processor, wherein the automatic parking interface recommendation program is configured to implement the steps of the automatic parking interface recommendation method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an automatic parking interface recommendation program, and when the automatic parking interface recommendation program is executed by the processor, the steps of the automatic parking interface recommendation method according to any one of claims 1 to 4 are implemented.

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