Automatic parking data acquisition method and device, computer device and storage medium

Abstract

This application relates to an automatic parking data acquisition method, apparatus, computer device, storage medium, and computer program product. The method includes: acquiring parking scene data of the vehicle when it is detected that the vehicle is in automatic parking mode; and recording the target parking data of the vehicle during the automatic parking process when it is determined from the parking scene data that the vehicle is in a target parking scene, i.e., an abnormal parking scene. This enables the automatic acquisition of parking data in abnormal parking scenes without relying on manual intervention, improving the efficiency of parking data acquisition and saving the cost of manual data collection.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to an automatic parking data acquisition method, apparatus, computer equipment, storage medium, and computer program product. Background Technology

[0002] With the development of intelligent automotive technology, more and more vehicles are equipped with automatic parking systems. These systems identify parking spaces and park automatically, which has made them popular with many users.

[0003] In traditional technologies, the development of automated parking systems is typically based on pre-collected data, requiring the manual taking of numerous parking space images. However, due to the complexity and diversity of real-world scenarios, the pre-collected parking space images often fail to meet the demands of automated parking systems in real-world applications, easily leading to inaccurate parking or parking failures. The data corresponding to these abnormal events during the parking process plays a crucial role in optimizing the automated parking system.

[0004] However, the collection of abnormal data during parking still mainly relies on manual intervention, resulting in low data collection efficiency. Summary of the Invention

[0005] Therefore, it is necessary to provide an automatic parking data acquisition method, device, computer equipment, computer-readable storage medium, and computer program product that can automatically collect parking data to address the above-mentioned technical problems.

[0006] Firstly, this application provides a method for acquiring automatic parking data. The method includes:

[0007] When the vehicle is detected to be in automatic parking mode, the parking scene data of the vehicle is acquired;

[0008] When the vehicle is determined to be in a target parking scenario based on the parking scenario data, the target parking data of the vehicle during the automatic parking process is recorded.

[0009] In one embodiment, the method further includes: reporting the target parking data.

[0010] In one embodiment, the target parking scenario includes an abnormal parking scenario, and the target parking data includes parking data of the vehicle in the abnormal parking scenario.

[0011] In one embodiment, the parking scenario data includes the collected parking space identification information of the vehicle; determining that the vehicle is in a target parking scenario based on the parking scenario data includes: when a parking space is identified based on the parking space identification information and it is determined that the parking space is unavailable, determining that the vehicle is in an abnormal parking scenario.

[0012] In one embodiment, the parking scene data further includes obstacle perception information of the parking space; determining that the vehicle is in a target parking scene based on the parking scene data includes: when a parking space is identified based on the parking space identification information and it is determined that the parking space is available, determining whether there is an obstacle in the parking space based on the obstacle perception information of the parking space; when it is determined that there is an obstacle in the parking space based on the obstacle perception information of the parking space, determining that the vehicle is in an abnormal parking scene.

[0013] In one embodiment, the parking scenario data further includes the number of gear shifts of the vehicle during the parking process; determining that the vehicle is in a target parking scenario based on the parking scenario data includes: when it is determined that there are no obstacles in the parking space based on the obstacle perception information of the parking space, determining whether the number of gear shifts of the vehicle during the parking process reaches a set first threshold; when the number of gear shifts of the vehicle during the parking process reaches the set first threshold, determining that the vehicle is in an abnormal parking scenario.

[0014] In one embodiment, the parking scenario data includes the number of gear shifts of the vehicle during the parking process; determining that the vehicle is in a target parking scenario based on the parking scenario data includes: determining that the vehicle is in an abnormal parking scenario when the number of gear shifts of the vehicle during the parking process reaches a set second threshold number.

[0015] In one embodiment, after detecting that the vehicle is in automatic parking mode, the method further includes: collecting parking data of the vehicle during the automatic parking process according to a first set time period; and caching the parking data when the first set time period is reached.

[0016] In one embodiment, before detecting that the vehicle is in automatic parking mode, the method further includes: when it is identified that there is a parking space within a preset range of the vehicle and the vehicle is in a target state, collecting the operating status data of the vehicle during operation according to a second set time period; when the second set time period is reached, using the operating status data as parking data cache.

[0017] In one embodiment, the method further includes: determining that the vehicle is in a target state when the vehicle's operating speed is less than a speed threshold; or determining that the vehicle is in a target state when the vehicle's gear is in a target gear.

[0018] In one embodiment, the parking data has a corresponding timestamp; the step of recording the target parking data of the vehicle during the automatic parking process when it is determined that the vehicle is in a target parking scenario based on the parking scenario data includes: determining the current time information when it is determined that the vehicle is in a target parking scenario based on the parking scenario data; determining the timestamp that matches the current time information from the cache; and using the parking data corresponding to the matching timestamp as the target parking data and recording the target parking data.

[0019] Secondly, this application also provides an automatic parking data acquisition device. The device includes:

[0020] The parking monitoring module is configured to acquire parking scene data of the vehicle when it is detected that the vehicle is in automatic parking mode.

[0021] The data recording module is configured to record the target parking data of the vehicle during the automatic parking process when it is determined that the vehicle is in the target parking scenario based on the parking scenario data.

[0022] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the automatic parking data acquisition method described in the first aspect above.

[0023] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the automatic parking data acquisition method described in the first aspect above.

[0024] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the automatic parking data acquisition method described in the first aspect above.

[0025] Sixthly, this application also provides an automatic parking system. It includes the automatic parking data acquisition device as described in the second aspect above, or includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the automatic parking data acquisition method as described in the first aspect above.

[0026] The aforementioned automatic parking data acquisition method, device, computer equipment, storage medium, and computer program product acquire parking scene data when the vehicle is detected to be in automatic parking mode. When the parking scene data determines that the vehicle is in a target parking scenario, the system records the target parking data during the automatic parking process. This enables the automatic acquisition of parking data in the target parking scenario without relying on manual intervention, improving the efficiency of parking data acquisition and eliminating the cost of manual data collection. Attached Figure Description

[0027] Figure 1 This is an application environment diagram of an automatic parking data acquisition method in one embodiment;

[0028] Figure 2 This is a flowchart illustrating an automatic parking data acquisition method in one embodiment;

[0029] Figure 3 This is a flowchart illustrating the automatic parking data acquisition method in another embodiment;

[0030] Figure 4 This is a flowchart illustrating the steps for determining that a vehicle is in a target parking scenario in one embodiment.

[0031] Figure 5 This is a flowchart illustrating the steps for determining that a vehicle is in a target parking scenario in another embodiment;

[0032] Figure 6 This is a flowchart illustrating the step of determining that the vehicle is in the target parking scenario in yet another embodiment;

[0033] Figure 7 This is a flowchart illustrating the automatic parking data acquisition method in yet another embodiment;

[0034] Figure 8 This is a flowchart illustrating the automatic parking data acquisition method in another embodiment;

[0035] Figure 9 This is a flowchart illustrating the steps for obtaining target parking data in one embodiment;

[0036] Figure 10 This is a structural block diagram of an automatic parking data acquisition device in one embodiment;

[0037] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0039] The automatic parking data acquisition method provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, the vehicle-mounted terminal 102 communicates with the data storage system 104 via a network. The data storage system can store data acquired from the vehicle-mounted terminal 102. The vehicle-mounted terminal 102 can be an intelligent vehicle-mounted device. The data storage system 104 can be integrated into a server, or it can be located in the cloud or on another network server.

[0040] Specifically, in one embodiment, the vehicle may be equipped with an on-board terminal 102. The on-board terminal can monitor the vehicle's operating mode. When it detects that the vehicle is in automatic parking mode, it acquires the vehicle's parking scene data. Upon determining that the vehicle is in a target parking scene based on the parking scene data, it records the target parking data during the automatic parking process. The vehicle can report the target parking data to a remote and / or local data storage system 104, thereby enabling automatic acquisition of parking data under the target parking scene.

[0041] In one embodiment, such as Figure 2 As shown, an automatic parking data acquisition method is provided, which is applied to... Figure 1 Taking the vehicle-mounted terminal as an example, the specific steps include:

[0042] Step 202: When the vehicle is detected to be in automatic parking mode, obtain the vehicle's parking scene data.

[0043] The automatic parking mode typically refers to a mode in which a vehicle can autonomously identify parking spaces and park itself without human intervention. Specifically, the automatic parking mode can be activated manually, for example, by clicking the "automatic parking" control on the in-vehicle terminal, or through voice interaction or gesture control with the in-vehicle terminal. Alternatively, the automatic parking mode can be activated autonomously by the vehicle itself; for example, when the in-vehicle terminal detects that the vehicle's current state matches the parking scenario, the vehicle can autonomously activate the automatic parking mode. Therefore, in this embodiment, the in-vehicle terminal can monitor the vehicle's operating mode in real time.

[0044] Parking scenario data can include various types of data, such as real-time data collected by the vehicle's various environmental perception sensors and the vehicle's operating status. Specifically, the real-time data from the environmental perception sensors includes, but is not limited to, image data collected by the vehicle's cameras and radar data collected by the radar, while the vehicle's operating status data can include the vehicle's speed, gear status, etc.

[0045] In this embodiment, when the vehicle terminal detects that the vehicle is in automatic parking mode, it can further acquire real-time data collected by the vehicle's current environmental perception sensors and data such as the vehicle's operating status.

[0046] Step 204: When the vehicle is in the target parking scenario according to the parking scenario data, record the target parking data of the vehicle during the automatic parking process.

[0047] The target parking scenario refers to a pre-set scenario where parking data needs to be collected. Since data corresponding to abnormal events during parking plays a crucial role in optimizing the automatic parking system, the target parking scenario in some embodiments of this disclosure may include abnormal parking scenarios. In some application scenarios of this disclosure, the abnormal parking scenario may specifically be a parking failure scenario. Of course, the abnormal parking scenario may also include automatic parking under other abnormal conditions, such as reaching a preset extremely hot or cold temperature, or automatic parking on a beach / water surface.

[0048] Specifically, the target parking data can be the parking data corresponding to the current abnormal parking scenario. Parking data includes, but is not limited to, raw data collected during the parking process by vehicle cameras, radar, inertial measurement units (IMUs), global positioning systems (GPS), odometers, gear position sensors, and speed sensors, as well as intermediate results calculated by the automatic parking system based on the aforementioned raw data.

[0049] In this embodiment, the vehicle terminal can determine the parking scenario the vehicle is in based on real-time data collected by the vehicle's environmental perception sensors and the vehicle's operating status. For example, it can determine whether the vehicle is in a normal parking scenario or an abnormal parking scenario, i.e., whether the vehicle is in the target parking scenario. When it is determined that the vehicle is in the target parking scenario, the target parking data during the automatic parking process can be recorded. In one scenario, the recording can be data acquisition; that is, when it is determined that the vehicle is in the target parking scenario, the acquisition of the target parking data during the automatic parking process begins. In another scenario, the recording can also be data writing to a storage medium; that is, when it is determined that the vehicle is in the target parking scenario, the storage of the target parking data during the automatic parking process begins. The storage medium can be a data storage medium, including but not limited to floppy disks, optical discs, DVDs, hard disks, flash memory, etc.

[0050] In the aforementioned automatic parking data acquisition method, when the onboard terminal detects that the vehicle is in automatic parking mode, it acquires the vehicle's parking scene data. When it is determined based on the parking scene data that the vehicle is in the target parking scene, the target parking data during the automatic parking process is recorded. This enables the automatic acquisition of parking data in the target parking scene without relying on manual intervention, improving the efficiency of parking data acquisition and saving the cost of manual data collection.

[0051] In one embodiment, such as Figure 3 As shown, the above-mentioned automatic parking data acquisition method, in addition to including the step of acquiring target parking data, may also include reporting the target parking data. The automatic parking data acquisition method includes the following steps:

[0052] Step 202: When the vehicle is detected to be in automatic parking mode, obtain the vehicle's parking scene data.

[0053] Step 204: When it is determined that the vehicle is in the target parking scenario based on the parking scenario data, record the target parking data of the vehicle during the automatic parking process.

[0054] Step 206: Report the target parking data.

[0055] Specifically, after the vehicle terminal obtains the target parking data through the above steps, it can also report the target parking data to the remote data storage system, thereby enabling the data storage system to collect the target parking data generated by each vehicle in the network, and then optimize the automatic parking system based on the large amount of collected data.

[0056] In one scenario, the vehicle-mounted terminal can also store the acquired target parking data in its local hard drive or memory, and then report the locally stored target parking data to a remote location based on certain reporting trigger conditions. This avoids data reporting anomalies caused by poor network conditions or excessive resource consumption due to frequent data reporting. The reporting trigger conditions can be manually triggered or other pre-set conditions, such as the amount of target parking data stored, the network conditions of the vehicle's environment, or a combination of both.

[0057] In one embodiment, parking scenario data may include collected vehicle parking space identification information. When it is determined that a vehicle is in a target parking scenario based on the parking scenario data, it may specifically include: when a parking space is identified based on the parking space identification information and it is determined that the parking space is unavailable, it is determined that the vehicle is in an abnormal parking scenario.

[0058] Parking space recognition information can be parking space feature information collected by the vehicle's perception modules, such as cameras and radar. For example, the vehicle's camera can collect image information of the ground near the vehicle. If the image information includes parking space signs, the onboard terminal can identify the corresponding parking line based on the corner coordinates of the parking space signs. Therefore, the image information and the corner coordinates corresponding to the parking lines in the image information can serve as parking space recognition information. In one scenario, ultrasonic radar can also collect information about the area near the vehicle. Taking the vehicle's forward direction as "front," when parking space areas are detected in front of, behind, to the left, or to the right of the vehicle, the corresponding parking space area can be represented based on a set of points. Therefore, the area information and the set of points corresponding to the parking space area in the area information can serve as parking space recognition information. It is understood that "front of the vehicle" usually refers to the area in front of the hood, and "rear of the vehicle" refers to the area behind the rear of the vehicle. "Left of the vehicle" is usually based on the hood, i.e., the left side of the hood, and "right of the vehicle" is the right side of the hood.

[0059] Specifically, when the vehicle terminal recognizes that the parking space identification information includes parking lines or parking space areas, it means that a parking space has been identified. When the parking space identification information does not include parking lines or parking space areas, it means that no parking space has been identified.

[0060] When the vehicle terminal identifies a parking space, it can further determine whether the space is available based on the parking space identification information. Specifically, a parking space is usually represented by a polygon (i.e., the shape formed by parking lines), and the parameters of the parking space include the coordinates of the polygon's corner points in the vehicle's coordinate system (i.e., the coordinates of the corner points corresponding to the parking line marks). Since the length, width, and height of the vehicle are known data, the coordinates of the corner points of the vehicle's bounding box in its own coordinate system can be calculated, and then it can be determined whether the vehicle's bounding box overlaps with the parking space polygon (i.e., whether there is an intersection). If there is no overlap, or if there is overlap but the intersection does not reach the corresponding area threshold, then a parking space is considered detected but unavailable. It can be understood that the area threshold is the minimum area required for a vehicle to park in the parking space, typically between 10% and 50% of the vehicle's own rectangular area. For example, if the area of ​​the vehicle's own rectangular area is S, then the area threshold can be any value between 10%*S and 50%*S, such as 10%*S, 15%*S, 25%*S, 50%*S, etc.

[0061] In this embodiment, the vehicle terminal determines whether a parking space is available by collecting the parking space identification information. When a parking space is identified but is unavailable, it means that the correct available parking space cannot be detected, which means that there may be an abnormality in the detection of available parking spaces. Therefore, the parking scenario of the vehicle can be determined to be an abnormal parking scenario, that is, the target parking scenario.

[0062] In the above embodiments, when a parking space is identified based on the parking space identification information and it is determined that the parking space is unavailable, the vehicle is determined to be in an abnormal parking scenario, that is, the parking scenario of the vehicle is determined to be the target parking scenario, thereby realizing the effective identification of scenarios where available parking spaces are detected to be abnormal.

[0063] In one embodiment, parking scene data may include, in addition to the parking space identification information mentioned above, obstacle perception information of the parking space. For example... Figure 4 As shown, when it is determined that the vehicle is in the target parking scenario based on parking scenario data, the following steps may also be included:

[0064] Step 402: When a parking space is identified based on the parking space identification information and it is determined that the parking space is available, determine whether there are obstacles in the parking space based on the obstacle perception information of the parking space.

[0065] Specifically, when the parking space recognition information includes parking lines or parking space areas, it indicates that a parking space has been identified. Conversely, when the parking space recognition information does not include parking lines or parking space areas, it indicates that no parking space has been identified. Once a parking space is identified, its availability can be further determined based on the recognition information. Specifically, a parking space is typically represented by a polygon (i.e., the shape formed by parking lines), and the parameters of the parking space include the coordinates of the polygon's corner points in the vehicle's coordinate system (i.e., the coordinates of the corner points corresponding to the parking line markings). Since the vehicle's length, width, and height are known data, the coordinates of the vehicle's bounding box corner points in its own coordinate system can be calculated. This allows a determination of whether the vehicle's bounding box overlaps with the parking space polygon (i.e., whether there is an intersection). If there is an overlap and the intersection exceeds a certain area threshold, the parking space is considered successfully detected and available.

[0066] In this embodiment, when the vehicle terminal identifies a parking space based on the parking space identification information and the parking space is available, it further acquires obstacle perception information based on the parking space during the parking process. This obstacle perception information can be the perception information of obstacles in the available parking space detected by the vehicle's ultrasonic radar during the parking process, and may include, but is not limited to, the probability and coordinates of the obstacles.

[0067] Step 404: When it is determined that there is an obstacle in the parking space based on the obstacle perception information of the parking space, the vehicle is determined to be in an abnormal parking scenario.

[0068] Specifically, based on the obstacle perception information mentioned above, it is further determined whether there are obstacles in the parking space. For example, the probability and coordinates of obstacles can be used to determine whether there are obstacles in the parking space. If the probability of detecting an obstacle reaches a certain threshold and the area corresponding to the coordinates of the obstacle overlaps with the area corresponding to the coordinates of the parking space, it indicates that there is an obstacle in the available parking space. In this case, the camera and other vision modules may have an anomaly of missing obstacle detection, thus the parking scenario can be determined to be an abnormal parking scenario. If the probability of detecting an obstacle does not reach a certain threshold and the area corresponding to the coordinates of the obstacle does not overlap with the area corresponding to the coordinates of the parking space, it indicates that there is no obstacle in the available parking space.

[0069] In the above embodiments, when a parking space is identified based on the parking space recognition information and its availability is determined, the presence of obstacles in the parking space is further determined based on the obstacle perception information. When the obstacle perception information determines that an obstacle exists in the parking space, the parking scenario is determined to be an abnormal parking scenario, i.e., the target parking scenario, thereby effectively identifying abnormal scenarios where obstacles were missed.

[0070] In one embodiment, parking scenario data, in addition to the aforementioned parking space recognition information and obstacle perception information, may also include the number of gear shifts performed by the vehicle during the parking process. For example... Figure 5 As shown, when it is determined that the vehicle is in the target parking scenario based on parking scenario data, the following steps may also be included:

[0071] Step 502: When a parking space is identified based on the parking space identification information and it is determined that the parking space is available, determine whether there are obstacles in the parking space based on the obstacle perception information of the parking space.

[0072] The specific implementation process for this step can be referred to the above. Figure 4 Step 402 of the illustrated embodiment will not be repeated here.

[0073] Step 504: When it is determined that there are no obstacles in the parking space based on the obstacle perception information of the parking space, determine whether the number of gear shifts during the parking process has reached the set first threshold number.

[0074] Specifically, when the vehicle terminal identifies a parking space based on the parking space recognition information and determines that the space is available, and confirms that there are no obstacles in the parking space based on the obstacle perception information, it further collects the number of gear shifts during the parking process. The number of gear shifts refers to the cumulative number of gear changes during a single parking maneuver. For example, if the vehicle shifts from reverse to drive, it completes one gear shift, and the cumulative number of gear shifts is 1. If the vehicle then shifts from drive to reverse again, it completes another gear shift, and the cumulative number of gear shifts is 2. Once the vehicle completes a parking maneuver, the corresponding number of gear shifts is reset to zero.

[0075] The initial threshold can be a pre-set acceptable number of gear shifts during automatic parking, and the specific threshold can be set differently depending on the actual scenario. Generally, it can be set to any number between 3 and 6 to achieve a better user experience.

[0076] In this embodiment, when the vehicle terminal identifies a parking space based on the parking space identification information and determines that the parking space is available, and determines that there are no obstacles in the parking space based on the obstacle perception information of the parking space, it can further determine the parking scenario of the vehicle by judging whether the number of gear shifts during the parking process reaches the set first threshold number.

[0077] Step 506: When the number of gear shifts during the parking process reaches the set first threshold number, it is determined that the vehicle is in an abnormal parking scenario.

[0078] For example, if the first threshold number is set to 4 times, and the vehicle terminal collects data showing that the vehicle shifts gears 4 times during a parking process, it indicates that there may be an anomaly in the parking process. Therefore, the parking scenario can be determined to be an abnormal parking scenario, i.e., the target parking scenario.

[0079] In the above embodiments, when the vehicle terminal identifies a parking space based on the parking space identification information and determines that the parking space is available, and determines that there are no obstacles in the parking space based on the obstacle perception information, it further determines whether the number of gear shifts during the parking process has reached a set first threshold. When it is determined that the number of gear shifts during the parking process has reached the set first threshold, the parking scenario can be determined as the target parking scenario. This enables effective identification of abnormal scenarios of inaccurate parking.

[0080] In one embodiment, parking scenario data may only include the number of gear shifts during the parking process. Therefore, when determining that a vehicle is in a target parking scenario based on the parking scenario data, specifically, it may include determining that the vehicle is in an abnormal parking scenario when the number of gear shifts during the parking process reaches a set second threshold.

[0081] It should be noted that this embodiment applies to scenarios where automatic parking is manually initiated. Specifically, when the vehicle detects that the automatic parking mode has been manually initiated, the number of gear shifts during the parking process can be collected. When the number of gear shifts reaches a set second threshold, the vehicle is determined to be in an abnormal parking scenario, i.e., the target parking scenario. The second threshold is a pre-set acceptable number of gear shifts during automatic parking, and different thresholds can be set according to the actual scenario. This second threshold can be the same as or different from the first threshold; this embodiment does not limit this.

[0082] For example, if the second threshold is set to 3 times, and the vehicle's cumulative gear shifts during the parking process reach 3 times, it indicates an abnormality in the parking, meaning there may be inaccurate parking. Therefore, it can be determined that the vehicle is in the target parking scenario. This effectively identifies abnormal scenarios during the parking process and improves the scope of abnormal scenario identification.

[0083] Understandably, the vehicle terminal can select which target parking scenarios to identify based on actual needs. Therefore, the vehicle terminal can accurately identify all the various combinations of abnormal parking scenarios mentioned above, thereby improving the flexibility of identifying various abnormal scenarios during the parking process.

[0084] In one embodiment, such as Figure 6 As shown, the steps for acquiring vehicle parking scene data and determining the vehicle's location in the target parking scene based on the parking scene data are further explained, which may include:

[0085] Step 602: When the vehicle is detected to be in automatic parking mode, collect the vehicle's parking space recognition information.

[0086] Parking space recognition information refers to parking space feature information collected by the vehicle's perception modules, such as cameras and radar. For example, a vehicle camera can capture images of the ground near the vehicle. If the image includes parking space markings, the corresponding parking lines are displayed based on corner coordinates. Therefore, the image information and the corner coordinates corresponding to the parking lines in the image can be used as parking space recognition information. Ultrasonic radar can also collect information about the area near the vehicle. Taking the vehicle's forward direction as "front," when parking spaces are detected in front of, behind, to the left, or to the right of the vehicle, the corresponding parking space area is represented based on a set of points. Therefore, the area information and the set of points corresponding to the parking space area within the area information can be used as parking space recognition information. It's understood that "front of the vehicle" usually refers to the area in front of the hood, and "rear of the vehicle" refers to the area behind the rear of the vehicle. "Left of the vehicle" is usually based on the hood, i.e., the left side of the hood, and "right of the vehicle" is the right side of the hood.

[0087] Step 604: Identify whether the parking space is available.

[0088] Specifically, when the parking space recognition information includes parking lines or parking space areas, it means that a parking space has been identified. When the parking space recognition information does not include parking lines or parking space areas, it means that no parking space has been identified.

[0089] When a parking space is detected, the vehicle-mounted terminal further determines its availability based on the parking space identification information. Specifically, a parking space is typically represented by a polygon (i.e., the shape formed by parking lines), and the parameters of the parking space include the coordinates of the polygon's corner points in the vehicle's coordinate system (i.e., the coordinates of the corner points corresponding to the parking line markings). Since the vehicle's length, width, and height dimensions are known data, the vehicle-mounted terminal can calculate the coordinates of the vehicle's bounding box corner points in its own coordinate system. It then determines whether the vehicle's bounding box overlaps with the parking space polygon (i.e., whether there is an intersection). If there is an overlap and the intersection exceeds a certain area threshold, the parking space is considered successfully detected and available. If there is no overlap, or if there is an overlap but the intersection does not reach the corresponding area threshold, the parking space is considered detected but unavailable.

[0090] In this embodiment, the availability of a parking space is determined using the parking space identification information collected above. When a parking space is identified but is unavailable, it indicates a possible problem with the detection of available parking spaces. Therefore, step 606 is executed to determine that the vehicle is in the target parking scenario. When a parking space is identified and is available, step 608 is executed.

[0091] Step 606: Determine that the vehicle is in the target parking scenario.

[0092] When the parking space recognition information indicates that a parking space has been identified but is unavailable, it means that an abnormal parking space detection has occurred. Therefore, the parking scenario of the vehicle can be identified as the target parking scenario.

[0093] Step 608: Obtain obstacle perception information based on the parking space during the parking process.

[0094] The obstacle perception information refers to the perception information of obstacles in the available parking spaces detected by the vehicle's ultrasonic radar during the parking process, including but not limited to the probability and coordinates of the obstacles. In this embodiment, when the vehicle terminal identifies a parking space and the parking space is available, it further acquires the obstacle perception information based on the parking space during the parking process.

[0095] Step 610: Identify whether there are obstacles in the parking space.

[0096] Specifically, the vehicle-mounted terminal further determines whether there is an obstacle in the parking space based on the aforementioned obstacle perception information. For example, it can determine whether there is an obstacle in the parking space based on the probability and coordinates of the obstacle. If the probability of detecting an obstacle reaches a certain threshold and the area corresponding to the coordinates of the obstacle overlaps with the area corresponding to the coordinates of the parking space, it indicates that there is an obstacle in the available parking space. If the probability of detecting an obstacle does not reach a certain threshold and the area corresponding to the coordinates of the obstacle does not overlap with the area corresponding to the coordinates of the parking space, it indicates that there is no obstacle in the available parking space.

[0097] In this embodiment, when the vehicle terminal detects an obstacle in the parking space, it indicates that the camera and other vision modules have missed detecting the obstacle, thus indicating an anomaly. Therefore, step 606 is executed, which determines that the vehicle is in the target parking scenario. When no obstacle is detected in the parking space, step 612 is executed.

[0098] Step 612: Collect the number of gear shifts during the parking process.

[0099] Specifically, when the onboard terminal determines that there are no obstacles in the parking space based on obstacle perception information, it further collects the number of gear shifts during the parking process. The number of gear shifts refers to the cumulative number of gear changes during a single parking maneuver. For example, if the vehicle shifts from reverse to drive, it completes one gear shift, and the cumulative number of gear shifts is 1. If the vehicle then shifts from drive to reverse again, it completes another gear shift, and the cumulative number of gear shifts is 2.

[0100] Step 614: Determine whether the number of gear shifts has reached the set first threshold number.

[0101] The first threshold can be a pre-set acceptable number of gear shifts during automatic parking, and different thresholds can be set according to the actual scenario. In one implementation, it can be set to any number between 3 and 6, thus providing a better user experience.

[0102] In this embodiment, when the number of gear shifts reaches a set first threshold, it indicates a possible parking error. Therefore, step 606 is executed to determine that the vehicle is in the target parking scenario. If the number of gear shifts does not reach the set first threshold, the process returns to step 612 to continue collecting the number of gear shifts during the parking process.

[0103] In the above embodiments, the vehicle terminal collects the vehicle's parking space recognition information to identify whether the parking space is available. When the parking space is identified as unavailable, the vehicle is determined to be in the target parking scenario. When the parking space is identified as available, the vehicle acquires obstacle perception information based on the parking space during the parking process and identifies whether there are obstacles in the parking space. When obstacles are identified in the parking space, the vehicle is determined to be in the target parking scenario. When no obstacles are identified in the parking space, the number of gear shifts during the parking process is further collected, and it is determined whether the number of gear shifts has reached a set first threshold. When the number of gear shifts reaches the set first threshold, the vehicle is determined to be in the target parking scenario. This enables effective identification of various abnormal scenarios during the parking process. Furthermore, when a target parking scenario is identified, the corresponding target parking data can be recorded to achieve data acquisition for various abnormal scenarios.

[0104] In one embodiment, such as Figure 7 As shown, after detecting that the vehicle is in automatic parking mode, the above method may further include:

[0105] Step 702: Collect parking data of the vehicle during the automatic parking process according to the first set time.

[0106] The first set duration can be a pre-defined time length for collecting and caching parking data. For example, it can be any length such as 30 seconds or 50 seconds. Parking data includes, but is not limited to, raw data collected during the vehicle parking process by vehicle cameras, radar, IMU, GPS, odometer, gear position sensor, vehicle speed sensor, etc., as well as intermediate results calculated by the automatic parking system based on the above raw data.

[0107] It should be noted that this embodiment applies to scenarios where automatic parking is manually initiated. In this embodiment, when the on-board terminal detects that the automatic parking mode has been manually initiated, it triggers the collection of parking data during the automatic parking process. The data collection duration is a first preset duration. For example, if the first preset duration is 30 seconds, after detecting that the vehicle has started automatic parking, it triggers the collection of parking data for 30 seconds starting from the current moment during the automatic parking process.

[0108] Step 704: When the first set time period is reached, cache the parking data.

[0109] Cached parking data refers to storing the collected parking data in a cache. The cache can be a high-speed storage device in the vehicle terminal used to store parking data. Alternatively, it can be persistent local terminal storage, such as an onboard hard drive, where data is retained even after power failure. It's understood that the cache can periodically or in fixed-capacity chunks delete data, thereby improving system performance. Typically, when the cache is triggered, raw data collected by vehicle cameras, radar, IMU, GPS, odometer, gear shift sensor, speed sensor, etc., as well as intermediate results calculated by the automatic parking system based on this raw data, are cached.

[0110] Specifically, when the first set time period is reached, that is, after the parking data collection for the first set time period is completed, the vehicle terminal can cache and store the collected parking data.

[0111] It is understandable that in this embodiment, the caching of parking data can be carried out by collecting and caching data within a first set time period until the first set time period is reached, and the corresponding data caching is completed. It does not require all data to be collected before caching.

[0112] In one scenario, parking data during the automatic parking process can be dynamically collected and cached based on a first set time interval. For example, if the first set time interval is 30 seconds, when the automatic parking mode is detected to be activated, parking data during the automatic parking process is collected and cached. When the collection process reaches 30 seconds, subsequent parking data is collected while the oldest collected data is deleted. For instance, if the current time is 40 seconds after the automatic parking mode was activated, the parking data currently cached is the parking data from 10 seconds to 40 seconds after the automatic parking mode was activated. This ensures that the first set time interval is met between the current time and the start time of the cached data, guaranteeing that the cached data is the most up-to-date data.

[0113] In the above embodiments, parking data caching begins after the vehicle is detected to be in automatic parking mode. Therefore, when the parking scenario data is subsequently used to determine that the vehicle is in the target parking scenario, complete parking data before and after the vehicle is in the target parking scenario can be obtained from the cache and recorded. This provides relatively complete parking data for the optimization of the automatic parking system.

[0114] In one embodiment, such as Figure 8 As shown, before detecting that the vehicle is in automatic parking mode, the above method may also include the following steps:

[0115] Step 802: When it is detected that there is a parking space within the preset range of the vehicle and the vehicle is in the target state, the operating status data of the vehicle during operation is collected according to the second preset time period.

[0116] The target state can be a vehicle speed below a certain speed threshold or a vehicle in a target gear. Since this embodiment primarily aims to collect parking data under abnormal parking scenarios, when a parking space is detected within the vehicle's preset range, the vehicle's speed or gear can be combined to further analyze whether the vehicle currently intends to park. Furthermore, since vehicles typically use reverse gear when parking, and the speed is usually low, the target gear in this embodiment can be reverse gear, and the speed threshold can be a small speed value, such as any speed less than 10 km / h.

[0117] Parking spaces can be identified using information collected by the vehicle's cameras, radar, and other sensors. For example, if the image of the ground near the vehicle captured by the vehicle's camera includes a parking space sign, it indicates that a parking space has been identified within the vehicle's preset range; or, if the information collected by the vehicle's ultrasonic radar shows a parking space area near the vehicle, it indicates that a parking space has been identified within the vehicle's preset range.

[0118] In GNSS (Global Navigation Satellite System) positioning scenarios, parking space identification can also be based on GNSS vehicle location and then querying parking availability in the cloud based on that location information. For example, if a nearby parking space is found in the cloud database based on the vehicle's location information, then a parking space has been identified. If no parking space is found in the cloud database based on the vehicle's location information, then no parking space has been identified.

[0119] The second set duration can be a pre-set time length for collecting and caching vehicle operating status data. For example, it can be any length such as 30 seconds or 50 seconds. Specifically, the second set duration can be the same as or different from the first set duration mentioned above.

[0120] The operational status data of the vehicle during operation includes, but is not limited to, the raw data collected by the vehicle's cameras, radar, IMU, GPS, odometer, gear position sensor, and speed sensor during vehicle operation, as well as the intermediate results calculated by the automatic parking system based on the above raw data.

[0121] In this embodiment, when the vehicle terminal detects a parking space within a preset range of the vehicle and the vehicle is in the target state, it indicates that the vehicle currently intends to park, meaning the vehicle is highly likely to be in a parking scenario. Therefore, the vehicle's operating status data can be collected according to the second preset duration. For example, if the second preset duration is 50 seconds, when the vehicle terminal detects a parking space within the preset range of the vehicle and the vehicle is in the target state, it triggers the collection of the vehicle's operating status data for 50 seconds starting from the current moment.

[0122] Step 804: When the second set time period is reached, the running status data is cached as parking data.

[0123] Specifically, when the second set time period is reached, that is, after the vehicle's operating status data has been collected for the second set time period, the operating status data is cached and stored as parking data.

[0124] Similarly, in this embodiment, the process of caching the running status data as parking data can also be carried out by collecting and caching data simultaneously within a second set time period until the second set time period is reached, without requiring all data to be collected before caching.

[0125] In the above embodiments, before the vehicle terminal detects that the vehicle is in automatic parking mode, when a parking space is identified within a preset range and the vehicle is in the target state, the vehicle's operating status data is collected according to a second preset time period. Upon the expiration of the second preset time period, the operating status data is cached as parking data. Therefore, when it is subsequently determined that the vehicle is in the target parking scenario based on parking scenario data, complete parking data before and after the vehicle is in the target parking scenario can be retrieved and recorded from the cache, thereby providing relatively complete and comprehensive parking data for the optimization of the automatic parking system.

[0126] In one embodiment, the parking data also has a corresponding timestamp, where the timestamp is time information used to indicate the time the parking data was generated or recorded. Therefore, each data segment in the parking data has a corresponding timestamp. For example... Figure 9 As shown, when it is determined that the vehicle is in the target parking scenario, the target parking data of the vehicle during the automatic parking process is recorded, which may include the following steps:

[0127] Step 902: When it is determined that the vehicle is in the target parking scenario, determine the current time information.

[0128] The current time information refers to the current moment when the vehicle is determined to be in the target parking scenario. For example, if the parking scenario is determined to be the target parking scenario at AM 09:52:35 on a certain day (i.e., 9:52:35 AM), then the current time information is determined to be AM 09:52:35 on that day.

[0129] Step 904: Determine the timestamp that matches the current time information from the cache.

[0130] The timestamp matching the current time information can be either a timestamp consistent with the current time information or a timestamp within a certain range based on the current time information. Specifically, if the certain range starts from a first duration before the current time information and ends at a second duration after the current time information, then the timestamps matching the current time information are all timestamps consistent with the first duration before the current time information and ends at the second duration after the current time information. For example, if the first duration is 5 seconds, the second duration is 10 seconds, and the current time information is AM 09:52:35 on a certain day, then the timestamps matching the current time information refer to all timestamps between AM 09:52:30 and AM 09:52:45 on that certain day. It is understood that the specific lengths and expressions of the first and second durations can be set according to actual needs. The examples in this embodiment are only used to illustrate the solution of this application and are not intended to limit the scope of this application.

[0131] Step 906: Use the parking data corresponding to the matching timestamp as the target parking data.

[0132] Since all parking data in the cache has a corresponding timestamp, when the vehicle terminal determines the current time information, it first determines the timestamp that matches the current time information from the cache, and then uses the parking data corresponding to the matching timestamp as the target parking data.

[0133] For example, if the first duration is 5 seconds, the second duration is 10 seconds, and the current time is 09:52:35 AM on a certain day, then the timestamps matching the current time are all timestamps between 09:52:30 AM and 09:52:45 AM on that day. Therefore, the target parking data refers to all parking data in the cache that has timestamps between 09:52:30 AM and 09:52:45 AM on that day.

[0134] In the above embodiments, when the vehicle terminal determines that the vehicle is in the target parking scenario, it further determines the current time information and determines the timestamp that matches the current time information from the cache, so as to use the parking data corresponding to the matching timestamp as the target parking data, so as to realize the recording of complete parking data in the target parking scenario.

[0135] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0136] Based on the same inventive concept, this application also provides an embodiment for implementing the above-described automatic parking data acquisition device. The device may include a system (including a distributed system), software (application), module, component, server, client, etc., using the methods described in the embodiments of this specification, combined with necessary hardware implementation. Based on the same innovative concept, the solution provided by this device is similar to the implementation scheme described in the above-described methods. Therefore, the specific limitations of one or more embodiments of the automatic parking data acquisition device provided below can be found in the limitations of the automatic parking data acquisition method above, and will not be repeated here. As used below, the terms "unit" or "module," etc., can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0137] In one embodiment, such as Figure 10 As shown, an automatic parking data acquisition device is provided, including: a parking monitoring module 1002 and a data recording module 1004, wherein:

[0138] The parking monitoring module 1002 is configured to acquire the parking scene of the vehicle when it is detected that the vehicle is in automatic parking mode.

[0139] The data recording module 1004 is configured to record the target parking data of the vehicle during the automatic parking process when it is determined that the vehicle is in the target parking scenario based on the parking scenario data.

[0140] In one embodiment, the above-described apparatus further includes a reporting module configured to report target parking data.

[0141] In one embodiment, the target parking scenario is an abnormal parking scenario, and the target parking data is the parking data of the vehicle in the abnormal parking scenario.

[0142] In one embodiment, the parking scenario data includes the collected parking space identification information of the vehicle; the data recording module is further configured to perform the following: when a parking space is identified based on the parking space identification information and it is determined that the parking space is unavailable, determine that the vehicle is in an abnormal parking scenario.

[0143] In one embodiment, the parking scenario data further includes obstacle perception information of the parking space; the data recording module is further configured to perform: when a parking space is identified based on the parking space identification information and it is determined that the parking space is available, determine whether there is an obstacle in the parking space based on the obstacle perception information of the parking space; when it is determined that there is an obstacle in the parking space based on the obstacle perception information of the parking space, determine that the vehicle is in an abnormal parking scenario.

[0144] In one embodiment, the parking scenario data further includes the number of gear shifts of the vehicle during the parking process; the data recording module is further configured to perform: when it is determined that there are no obstacles in the parking space based on the obstacle perception information of the parking space, determine whether the number of gear shifts of the vehicle during the parking process reaches a set first threshold; when the number of gear shifts of the vehicle during the parking process reaches the set first threshold, determine that the vehicle is in an abnormal parking scenario.

[0145] In one embodiment, the parking scenario data includes the number of gear shifts of the vehicle during the parking process; the data recording module is further configured to: determine that the vehicle is in an abnormal parking scenario when the number of gear shifts of the vehicle during the parking process reaches a set second threshold number.

[0146] In one embodiment, the above-mentioned device further includes a caching module configured to perform: when the vehicle is detected to be in automatic parking mode, collecting parking data of the vehicle during the automatic parking process according to a first set time period; and caching the parking data when the first set time period is reached.

[0147] In one embodiment, the caching module is further configured to perform the following: before detecting that the vehicle is in automatic parking mode, when it is identified that there is a parking space within a preset range of the vehicle and the vehicle is in the target state, to collect the operating status data of the vehicle during operation according to a second set time period; when the second set time period is reached, to cache the operating status data as parking data.

[0148] In one embodiment, the caching module is further configured to: determine that the vehicle is in a target state when the vehicle's operating speed is less than a speed threshold; or determine that the vehicle is in a target state when the vehicle's gear is in a target gear.

[0149] In one embodiment, the parking data has a corresponding timestamp; the data acquisition module is further configured to perform: when it is determined that the vehicle is in a target parking scenario based on the parking scenario data, determine the current time information; determine the timestamp that matches the current time information from the cache; and use the parking data corresponding to the matching timestamp as the target parking data and record the target parking data.

[0150] The modules in the aforementioned automatic parking data acquisition device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0151] In one embodiment, a computer device is provided, which may be a vehicle-mounted terminal, and its internal structure diagram may be as follows: Figure 11 As shown, the computer device includes a processor, memory, input / output interface (I / O), communication interface, display unit, and input device connected via a system bus. The processor, memory, and I / O interface are connected via the system bus, and the communication interface, display unit, and input device are connected to the system bus via the I / O interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements an automatic parking data acquisition method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0152] Those skilled in the art will understand that Figure 11The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0153] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0154] When the vehicle is detected to be in automatic parking mode, the parking scene data of the vehicle is acquired;

[0155] When it is determined that the vehicle is in the target parking scenario based on the parking scenario data, the target parking data of the vehicle during the automatic parking process is recorded.

[0156] In one embodiment, the processor, when executing the computer program, also performs the following step: reporting the target parking data.

[0157] In one embodiment, when the processor executes the computer program, it further implements the following steps: determining the target parking scenario as an abnormal parking scenario, and determining the target parking data as parking data of the vehicle in the abnormal parking scenario.

[0158] In one embodiment, the parking scenario data includes the collected parking space identification information of the vehicle; when the processor executes the computer program, it further implements the following steps: when a parking space is identified based on the parking space identification information and it is determined that the parking space is unavailable, the vehicle is determined to be in an abnormal parking scenario.

[0159] In one embodiment, the parking scenario data further includes obstacle perception information of the parking space; when the processor executes the computer program, it also implements the following steps: when a parking space is identified based on the parking space identification information and it is determined that the parking space is available, it is determined whether there is an obstacle in the parking space based on the obstacle perception information of the parking space; when it is determined that there is an obstacle in the parking space based on the obstacle perception information of the parking space, it is determined that the vehicle is in an abnormal parking scenario.

[0160] In one embodiment, the parking scenario data further includes the number of gear shifts of the vehicle during the parking process; when the processor executes the computer program, it also implements the following steps: when it is determined that there are no obstacles in the parking space based on the obstacle perception information of the parking space, it determines whether the number of gear shifts of the vehicle during the parking process reaches a set first threshold number; when the number of gear shifts of the vehicle during the parking process reaches the set first threshold number, it determines that the vehicle is in an abnormal parking scenario.

[0161] In one embodiment, the parking scenario data includes the number of gear shifts of the vehicle during the parking process; when the processor executes the computer program, it further implements the following steps: when the number of gear shifts of the vehicle during the parking process reaches a set second threshold number, it is determined that the vehicle is in an abnormal parking scenario.

[0162] In one embodiment, when the processor executes the computer program, it further performs the following steps: collecting parking data of the vehicle during the automatic parking process according to a first set time period; and caching the parking data when the first set time period is reached.

[0163] In one embodiment, when the processor executes the computer program, it further implements the following steps: when it is detected that there is a parking space within a preset range of the vehicle and the vehicle is in the target state, it collects the operating status data of the vehicle during operation according to a second preset time period; when the second preset time period is reached, it caches the operating status data as parking data.

[0164] In one embodiment, when the processor executes the computer program, it further implements the following steps: determining that the vehicle is in a target state when the vehicle's operating speed is less than a speed threshold; or determining that the vehicle is in a target state when the vehicle's gear is in a target gear.

[0165] In one embodiment, the parking data has a corresponding timestamp; when the processor executes the computer program, it further implements the following steps: when it is determined that the vehicle is in a target parking scenario based on the parking scenario data, it determines the current time information; it determines the timestamp that matches the current time information from the cache; it uses the parking data corresponding to the matching timestamp as the target parking data and records the target parking data.

[0166] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0167] When the vehicle is detected to be in automatic parking mode, the parking scene data of the vehicle is acquired;

[0168] When it is determined that the vehicle is in the target parking scenario based on the parking scenario data, the target parking data of the vehicle during the automatic parking process is recorded.

[0169] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: reporting the target parking data.

[0170] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the target parking scenario as an abnormal parking scenario, and determining the target parking data as parking data of the vehicle in the abnormal parking scenario.

[0171] In one embodiment, the parking scenario data includes the collected parking space identification information of the vehicle; when the computer program is executed by the processor, it further implements the following steps: when a parking space is identified based on the parking space identification information and it is determined that the parking space is unavailable, the vehicle is determined to be in an abnormal parking scenario.

[0172] In one embodiment, the parking scenario data further includes obstacle perception information of the parking space; when the computer program is executed by the processor, it also implements the following steps: when a parking space is identified based on the parking space identification information and it is determined that the parking space is available, it is determined whether there is an obstacle in the parking space based on the obstacle perception information of the parking space; when it is determined that there is an obstacle in the parking space based on the obstacle perception information of the parking space, it is determined that the vehicle is in an abnormal parking scenario.

[0173] In one embodiment, the parking scenario data further includes the number of gear shifts of the vehicle during the parking process; when the computer program is executed by the processor, it also implements the following steps: when it is determined that there are no obstacles in the parking space based on the obstacle perception information of the parking space, it determines whether the number of gear shifts of the vehicle during the parking process reaches a set first threshold number; when the number of gear shifts of the vehicle during the parking process reaches the set first threshold number, it determines that the vehicle is in an abnormal parking scenario.

[0174] In one embodiment, the parking scenario data includes the number of gear shifts of the vehicle during the parking process; when the computer program is executed by the processor, it further implements the following steps: when the number of gear shifts of the vehicle during the parking process reaches a set second threshold number, it is determined that the vehicle is in an abnormal parking scenario.

[0175] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: collecting parking data of the vehicle during the automatic parking process according to a first set time period; and caching the parking data when the first set time period is reached.

[0176] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: when a parking space is detected within a preset range of the vehicle and the vehicle is in a target state, the operating status data of the vehicle during operation is collected according to a second preset time period; when the second preset time period is reached, the operating status data is cached as parking data.

[0177] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: determining that the vehicle is in a target state when the vehicle's operating speed is less than a speed threshold; or determining that the vehicle is in a target state when the vehicle's gear is in a target gear.

[0178] In one embodiment, the parking data has a corresponding timestamp; when the computer program is executed by the processor, it further implements the following steps: when it is determined that the vehicle is in a target parking scenario based on the parking scenario data, it determines the current time information; it determines the timestamp that matches the current time information from the cache; it uses the parking data corresponding to the matching timestamp as the target parking data and records the target parking data.

[0179] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0180] When the vehicle is detected to be in automatic parking mode, the parking scene data of the vehicle is acquired;

[0181] When it is determined that the vehicle is in the target parking scenario based on the parking scenario data, the target parking data of the vehicle during the automatic parking process is recorded.

[0182] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: reporting the target parking data.

[0183] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the target parking scenario as an abnormal parking scenario, and determining the target parking data as parking data of the vehicle in the abnormal parking scenario.

[0184] In one embodiment, the parking scenario data includes the collected parking space identification information of the vehicle; when the computer program is executed by the processor, it further implements the following steps: when a parking space is identified based on the parking space identification information and it is determined that the parking space is unavailable, the vehicle is determined to be in an abnormal parking scenario.

[0185] In one embodiment, the parking scenario data further includes obstacle perception information of the parking space; when the computer program is executed by the processor, it also implements the following steps: when a parking space is identified based on the parking space identification information and it is determined that the parking space is available, it is determined whether there is an obstacle in the parking space based on the obstacle perception information of the parking space; when it is determined that there is an obstacle in the parking space based on the obstacle perception information of the parking space, it is determined that the vehicle is in an abnormal parking scenario.

[0186] In one embodiment, the parking scenario data further includes the number of gear shifts of the vehicle during the parking process; when the computer program is executed by the processor, it also implements the following steps: when it is determined that there are no obstacles in the parking space based on the obstacle perception information of the parking space, it determines whether the number of gear shifts of the vehicle during the parking process reaches a set first threshold number; when the number of gear shifts of the vehicle during the parking process reaches the set first threshold number, it determines that the vehicle is in an abnormal parking scenario.

[0187] In one embodiment, the parking scenario data includes the number of gear shifts of the vehicle during the parking process; when the computer program is executed by the processor, it further implements the following steps: when the number of gear shifts of the vehicle during the parking process reaches a set second threshold number, it is determined that the vehicle is in an abnormal parking scenario.

[0188] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: collecting parking data of the vehicle during the automatic parking process according to a first set time period; and caching the parking data when the first set time period is reached.

[0189] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: when a parking space is detected within a preset range of the vehicle and the vehicle is in a target state, the operating status data of the vehicle during operation is collected according to a second preset time period; when the second preset time period is reached, the operating status data is cached as parking data.

[0190] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: determining that the vehicle is in a target state when the vehicle's operating speed is less than a speed threshold; or determining that the vehicle is in a target state when the vehicle's gear is in a target gear.

[0191] In one embodiment, the parking data has a corresponding timestamp; when the computer program is executed by the processor, it further implements the following steps: when it is determined that the vehicle is in a target parking scenario based on the parking scenario data, it determines the current time information; it determines the timestamp that matches the current time information from the cache; it uses the parking data corresponding to the matching timestamp as the target parking data and records the target parking data.

[0192] In one embodiment, an automated parking system is provided, including, for example, Figure 10 The apparatus shown may include a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0193] When the vehicle is detected to be in automatic parking mode, the parking scene data of the vehicle is acquired;

[0194] When the vehicle is determined to be in a target parking scenario based on the parking scenario data, the target parking data of the vehicle during the automatic parking process is recorded.

[0195] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the aforementioned devices, computer equipment, storage media, computer program products, systems, etc., described in the method embodiments may also include corresponding implementation methods, which will not be elaborated upon here. However, it is understood that, in addition to the embodiments listed above, the embodiments included in this disclosure may also employ a processor to execute a computer program stored in the memory, or the device may also include a first module, a second module, a third module, etc., to describe the functions implemented by the corresponding method embodiments.

[0196] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0197] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0198] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for acquiring automatic parking data, characterized in that, The method includes: When the vehicle is detected to be in automatic parking mode, the parking scene data of the vehicle is acquired; When the vehicle is determined to be in a target parking scenario based on the parking scenario data, the target parking data of the vehicle during the automatic parking process is recorded; the target parking scenario includes abnormal parking scenarios, and the target parking data includes the parking data of the vehicle in the abnormal parking scenario; When the vehicle is detected to be in automatic parking mode, the method further includes: collecting parking data of the vehicle during the automatic parking process according to a first set time period; caching the parking data when the first set time period is reached; the parking data has a corresponding timestamp; The process of recording the target parking data of the vehicle during automatic parking includes: when it is determined that the vehicle is in a target parking scenario based on the parking scenario data, determining the current time information; determining a timestamp that matches the current time information from the cache; and using the parking data corresponding to the matching timestamp as the target parking data and recording the target parking data.

2. The method according to claim 1, characterized in that, The method further includes: Report the target parking data.

3. The method according to claim 1, characterized in that, The parking scene data includes the collected parking space identification information of the vehicle; determining that the vehicle is in the target parking scene based on the parking scene data includes: When a parking space is identified based on the parking space identification information and it is determined that the parking space is unavailable, the vehicle is determined to be in an abnormal parking scenario.

4. The method according to claim 3, characterized in that, The parking scenario data also includes obstacle perception information collected for the parking space; The step of determining that the vehicle is in the target parking scenario based on the parking scenario data includes: When a parking space is identified based on the parking space identification information and it is determined that the parking space is available, the presence of an obstacle in the parking space is determined based on the obstacle perception information of the parking space. When it is determined that there is an obstacle in the parking space based on the obstacle perception information of the parking space, the vehicle is determined to be in an abnormal parking scenario.

5. The method according to claim 4, characterized in that, The parking scenario data also includes the number of gear shifts the vehicle makes during the parking process; The step of determining that the vehicle is in the target parking scenario based on the parking scenario data includes: When it is determined that there is no obstacle in the parking space based on the obstacle perception information of the parking space, it is determined whether the number of gear shifts of the vehicle during the parking process has reached the set first number threshold. When the number of gear shifts during parking reaches a set first threshold, the vehicle is determined to be in an abnormal parking scenario.

6. The method according to claim 1, characterized in that, The parking scenario data includes the number of gear shifts the vehicle makes during the parking process; The step of determining that the vehicle is in the target parking scenario based on the parking scenario data includes: When the number of gear shifts during parking reaches a set second threshold, the vehicle is determined to be in an abnormal parking scenario.

7. The method according to claim 1, characterized in that, Before detecting that the vehicle is in automatic parking mode, the method further includes: When a parking space is detected within a preset range of the vehicle and the vehicle is in the target state, the operating status data of the vehicle during operation is collected according to the second preset time period. When the second set time period is reached, the running status data is cached as parking data.

8. The method according to claim 7, characterized in that, The method further includes: When the vehicle's operating speed is less than a speed threshold, the vehicle is determined to be in the target state; or, when the vehicle's gear is in the target gear, the vehicle is determined to be in the target state.

9. An automatic parking data acquisition device, characterized in that, The device includes: The parking monitoring module is configured to acquire parking scene data of the vehicle when it is detected that the vehicle is in automatic parking mode. The data recording module is configured to record the target parking data of the vehicle during the automatic parking process when it is determined that the vehicle is in a target parking scenario based on the parking scenario data; the target parking scenario includes abnormal parking scenarios, and the target parking data includes the parking data of the vehicle in the abnormal parking scenario; The device further includes a caching module configured to perform the following: when the vehicle is detected to be in automatic parking mode, collect parking data of the vehicle during the automatic parking process according to a first set time period; when the first set time period is reached, cache the parking data; the parking data has a corresponding timestamp. The data recording module is further configured to perform the following: when it is determined that the vehicle is in a target parking scenario based on the parking scenario data, determine the current time information; determine the timestamp that matches the current time information from the cache; and use the parking data corresponding to the matching timestamp as the target parking data and record the target parking data.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

13. An automatic parking system, characterized in that, The apparatus includes the device of claim 9, or includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method of any one of claims 1 to 8.

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