A Valet Parking Method, Device, Electronic Device and Storage Medium

Abstract

An embodiment of the present application provides a valet parking method, device, electronic device, and storage medium. Specifically, when the vehicle is located in a designated parking area, obtain a target identifier of a target area associated with the parking area, and based on the target identifier, obtain a target map corresponding to the target area from an external data source. Trigger the vehicle to park using at least one fixed feature, respectively match each initial area feature sensed by the vehicle with each fixed feature in the target map to obtain corresponding initial matching results, and when it is determined that the initial matching result is a matching failure, control the vehicle to continue driving within the target area according to the candidate driving path in the target map. Based on the above vehicle control method during the re-driving process, the embodiment of the present application effectively improves the success rate of valet parking of the vehicle, thereby ensuring the user's valet parking experience.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent driving, and in particular, to a valet parking method, device, electronic device, and storage medium. Background Art

[0002] Valet Parking technology is an intelligent driving assistance technology that uses sensors to detect parking lot space information and road information to achieve automatic scanning and automatic parking of intelligent driving vehicles.

[0003] Specifically, in the related art, a target map of the parking environment where the vehicle is located can be constructed based on the parking environment where the vehicle is located and its fixed features (such as, the type and color of the markings, the features of fixed obstacles, etc.). When the vehicle triggers parking in the target area, the parking function controller in the vehicle can match the perceived area features in the current target area with the fixed features in the above target map, and thus, according to the matching result of the features, trigger the vehicle to park according to the planned corresponding driving path.

[0004] However, in actual situations, the fixed features in the parking environment may change. When the features change, it may cause the matching failure between the perceived area features and the fixed features in the target map, and further cause the vehicle to be unable to plan a complete driving path, affecting the successful parking of the vehicle. Summary of the Invention

[0005] Embodiments of the present application provide a valet parking method, device, electronic device, and storage medium, which are used to solve the problem that when the matching between the area features and the fixed features in the target map fails, it affects the successful parking of the vehicle.

[0006] In a first aspect, embodiments of the present application provide a valet parking method, including:

[0007] In response to the vehicle being located in a designated parking area, obtain a target identifier of a target area associated with the parking area.

[0008] Based on the target identifier, obtain a target map corresponding to the target area from an external data source, where the target map includes at least one fixed feature within the target area.

[0009] Use at least one of the fixed features to trigger the vehicle to park, and during the parking process, perform the following operations:

[0010] Match each of the initial area features sensed by the vehicle with each of the fixed features in the target map to obtain corresponding initial matching results, and when it is determined that the initial matching result is a matching failure, control the vehicle to continue driving within the target area according to the candidate driving path in the target map.

[0011] In a second aspect, an embodiment of the present application provides a valet parking device, including:

[0012] A first acquisition module, configured to acquire a target identifier of a target area associated with the parking area in response to the vehicle being located in the designated parking area.

[0013] A second acquisition module, configured to acquire a target map corresponding to the target area from an external data source based on the target identifier, where the target map includes at least one fixed feature within the target area.

[0014] A parking module, configured to trigger the vehicle to park by using at least one of the fixed features, and during the parking process, perform the following operations:

[0015] Match each of the initial area features sensed by the vehicle with each of the fixed features in the target map to obtain corresponding initial matching results, and when it is determined that the initial matching result is a matching failure, control the vehicle to continue driving within the target area according to the candidate driving path in the target map.

[0016] In an optional embodiment, for acquiring the target identifier of the target area associated with the parking area, the first acquisition module is specifically configured to:

[0017] Receive the target identifier of the target area associated with the parking area from a cloud server.

[0018] And / or, in response to the positioning position of the vehicle in the parking area, acquire the target identifier of the target area associated with the parking area.

[0019] In an optional embodiment, for determining that the initial matching result is a matching failure, the parking module is specifically configured to:

[0020] Determine that there is at least one abnormal area feature in the initial matching result that satisfies a default feature matching condition.

[0021] And,

[0022] When it is determined that at least one of the abnormal area features in the initial matching result satisfies a default parking failure condition, determine that the initial matching result is a matching failure.

[0023] In an alternative embodiment, during the process of controlling the vehicle to continue driving within the target area according to the candidate driving path in the target map, the parking module is specifically configured to:

[0024] When it is determined that the driving distance of the vehicle meets a preset driving distance threshold, each current area feature sensed by the vehicle is respectively matched with each fixed feature in the target map to obtain corresponding current matching results.

[0025] When it is determined that the current matching result is a successful match, the target map is updated based on the at least one abnormal area feature.

[0026] In an alternative embodiment, if the initial matching result is a successful match, after controlling the vehicle to continue driving within the target area according to the candidate driving path in the target map, the parking module is further configured to:

[0027] When it is determined that there is at least one abnormal area feature in the initial matching result that meets the default feature matching condition, and at least one of the abnormal area features in the initial matching result does not meet the default parking failure condition, the target map is updated based on the at least one abnormal area feature.

[0028] In an alternative embodiment, after updating the target map, the parking module is further configured to:

[0029] Obtain the updated target map and upload and save the updated target map to the cloud server, so that when the cloud server detects that other vehicles are located within the target area, the updated target map is sent to the other vehicles.

[0030] In a third aspect, an electronic device is proposed, which includes a processor and a memory. Among them, the memory stores program code, and when the program code is executed by the processor, the processor is caused to execute the steps of the valet parking method described in the first aspect above.

[0031] In a fourth aspect, a storage medium is proposed, which includes program code, and when the program code runs on an electronic device, the program code is used to cause the electronic device to execute the steps of the valet parking method described in the first aspect above.

[0032] The beneficial effects of the embodiments of the present application are as follows:

[0033] The embodiments of the present application provide a valet parking method, apparatus, electronic device, and storage medium. When the vehicle is located in a designated parking area, the target identifier of the target area associated with the parking area is obtained, and based on the target identifier, the target map corresponding to the target area is obtained from an external data source. At least one fixed feature is used to trigger the vehicle to park. The initial area features sensed by the vehicle are respectively matched with the fixed features in the target map to obtain corresponding initial matching results. When it is determined that the initial matching result is a mismatch, the vehicle is controlled to continue driving within the target area according to the candidate driving path in the target map. Based on the above vehicle control method during the re-driving process, the embodiments of the present application effectively improve the success rate of valet parking of the vehicle, and thus ensure the valet parking experience of the user. Description of the Drawings

[0034] Figure 1 FIG. is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0035] Figure 2 FIG. is a schematic diagram of a valet parking system provided by an embodiment of the present application;

[0036] Figure 3 FIG. is a flowchart of a valet parking method provided by an embodiment of the present application;

[0037] Figure 4 FIG. is a schematic diagram of the initial area feature path of the target map provided by an embodiment of the present application;

[0038] Figure 5 FIG. is a schematic diagram of the current area feature path of the target map provided by an embodiment of the present application;

[0039] Figure 6 FIG. is a schematic diagram of the flow of a complete valet parking method provided by an embodiment of the present application;

[0040] Figure 7a FIG. is a schematic diagram of an actual valet parking scenario provided by an embodiment of the present application;

[0041] Figure 7b FIG. is a schematic diagram of an actual valet parking scenario provided by an embodiment of the present application;

[0042] Figure 8 FIG. is a schematic diagram of a valet parking apparatus provided by an embodiment of the present application;

[0043] Figure 9 FIG. is a schematic diagram of an electronic device provided by an embodiment of the present application. Detailed Embodiments

[0044] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present invention.

[0045] The design idea of the embodiments of the present application is as follows:

[0046] In the related art, after the parking function controller in the vehicle senses the target features in the current target area, it matches the target features with the fixed features in the target map, and controls the vehicle to park according to the specified driving path based on the feature matching result.

[0047] However, in actual situations, if the matching result of the target features in the target area and the fixed features in the target map is a mismatch, the vehicle cannot park according to the specified driving path, resulting in a parking failure.

[0048] To solve the problem in the related art that when the matching result of the target features in the target area and the fixed features in the target map is a mismatch, the vehicle cannot park according to the specified driving path, the embodiments of the present application provide a valet parking method, device, electronic device, and storage medium. Specifically, when the vehicle is in the designated parking area, obtain the target identifier of the target area associated with the parking area, and based on the target identifier, obtain the target map corresponding to the target area from an external data source, trigger the vehicle to park using at least one fixed feature, respectively match each initial area feature sensed by the vehicle with each fixed feature in the target map to obtain the corresponding initial matching result, and when it is determined that the initial matching result is a mismatch, control the vehicle to continue driving in the target area according to the candidate driving path in the target map. Based on the above vehicle control method during the re-driving process, the embodiments of the present application effectively improve the success rate of valet parking of the vehicle, thereby ensuring the user's valet parking experience.

[0049] Based on the above technical effects, the preferred embodiments of the present application will be described below in conjunction with the accompanying drawings of the specification. The preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. And without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0050] Refer to Figure 1 As shown, it is a schematic diagram of a possible application scenario provided by the embodiments of the present application. The application scenario includes a target terminal 101, a cloud server 102, and a vehicle 103, where the vehicle 103 can be in valet parking in the intelligent driving mode.

[0051] The embodiments of the present application do not impose any restrictions on the quantity of the above-mentioned devices. For example, Figure 1 as shown, only the target terminal 101, the cloud server 102, and the vehicle 103 are taken as examples for description. The above-mentioned devices and their respective functions will be briefly introduced below.

[0052] The target terminal 101 is a device that can provide voice and / or data connectivity to users, including: handheld terminal devices with wireless connection functions, in-vehicle terminal devices, etc. In the embodiments of the present application, the target terminal 101 can use the installed client related to valet parking to send valet parking instructions to the vehicle 103.

[0053] Exemplarily, the vehicle 103 is any drivable vehicle with an intelligent driving mode. Referring to Figure 2 as shown, a valet parking system 20 can be installed in the vehicle 103. When the valet parking system 20 is started, it can instruct the vehicle 103 to enter valet parking. More specifically, in the embodiments of the present application, the valet parking system 20 can include a perception sensor 201, a parking controller 202, and a high-precision positioning module 203, and the functions of each module are as follows.

[0054] The perception sensor 201 is a physical sensor used to detect and track moving targets in the parking environment where the vehicle 103 is located, including: any one or combination of physical sensors related to environmental perception such as visual sensors, millimeter-wave radars, ultrasonic radars, and lidar. During the valet parking of the vehicle 103, image data containing regional features of the target area of its parking environment can be collected based on the above-mentioned visual sensor with image acquisition and / or video acquisition functions, such as a surround-view camera, a front-view camera, etc.

[0055] The parking controller 202 is an electronic device used for data storage and data analysis functions. The parking controller 202 can store a target map corresponding to the above-mentioned target area of the parking environment, and can analyze the matching result between the regional features of the target area and the fixed features based on the stored target map.

[0056] The high-precision positioning module 203 is an electronic device used for precisely positioning the vehicle 103 and moving targets in its parking environment, including: any one or combination of precise positioning devices such as an inertial navigation positioning unit RTK, an inertial measurement unit IMU, and a global navigation satellite system (GNSS).

[0057] Further, in the embodiments of the present application, the vehicle 103 can interact with the above-mentioned target terminal 101 and the cloud server 102 through a communication network. Among them, the cloud server 102 can be used to store the above-mentioned area features collected by the valet parking system 20 in real time, and when it is determined that the vehicle 103 enters valet parking, send them to the above-mentioned vehicle 103.

[0058] In an alternative embodiment, the cloud server 102 can also store a target map corresponding to the target area of the above-mentioned parking environment; further, when it is detected that other vehicles are located in the target area, the cloud server 102 can also send the target map to other vehicles.

[0059] It can be understood that in actual situations, the above application scenarios are only for illustrative purposes, and the number of target terminals, cloud servers, and vehicles that the above application scenarios can include can also be any specified number, and the present application does not limit this.

[0060] Further, referring to Figure 3 As shown, based on the above application scenario, the embodiments of the present application propose a valet parking method, which can be applied to the above-mentioned vehicle 103 and / or the cloud server 102. Taking the vehicle 103 as an example for illustration, the method specifically includes:

[0061] S301: In response to the vehicle being located in a specified parking area, obtain the target identifier of the target area associated with the parking area.

[0062] Specifically, during the driving process of the vehicle, the current position of the vehicle can be located through the high-precision positioning module installed inside the vehicle. When the positioning system detects that the vehicle has driven into the parking area, determine the vehicle's positioning position, and obtain the target identifier of the target area associated with the parking area, where the above-mentioned parking area can be located near the target area.

[0063] Exemplarily, in an alternative embodiment, the vehicle is positioned in real time through the global navigation satellite system installed in the vehicle. When it is determined that the vehicle has driven into a specified parking area, for example, within 500 m near a parking lot and the vehicle speed is lower than 30 km / h, obtain the target identifier of the target area associated with the parking area according to the vehicle's position at this time.

[0064] Specifically, in an alternative embodiment, to obtain the target identifier of the target area associated with the parking area, any one of the following steps can be executed:

[0065] S3011: Receive the target identifier of the target area associated with the parking area from the cloud server.

[0066] Specifically, after obtaining the position of the vehicle in the parking area, the cloud server sends the target identifier of the target area associated with the parking area to the vehicle.

[0067] Exemplarily, in an alternative embodiment, after determining the position of the vehicle, the cloud server sends the target identifier to the vehicle. For example, the identification features carried by the parking lot, such as the house number of Parking Lot No. 3 on the parking lot gate, the position of the column on the left side of the parking lot gate, etc.

[0068] S3012: In response to the positioning position of the vehicle in the parking area, obtain the target identifier of the target area associated with the parking area.

[0069] Specifically, when the vehicle drives into the parking area and obtains the positioning position of the parking area, the vehicle determines the target identifier of the target area of the parking area.

[0070] Exemplarily, in an alternative embodiment, according to the vehicle parking lot position information, the parking controller can directly obtain the target identifier of the parking lot according to the target identifier of the target area stored in the vehicle. For example, the house number of Parking Lot No. 3 on the parking lot gate, the position of the column on the left side of the parking lot gate.

[0071] S302: Based on the target identifier, obtain the target map corresponding to the target area from an external data source, where the target map includes at least one fixed feature within the target area.

[0072] Specifically, after the vehicle obtains the target identifier corresponding to the positioning position according to the vehicle positioning position, it obtains the target map from the external data source according to the target identifier.

[0073] Exemplarily, in an alternative embodiment, when the vehicle drives to the parking lot gate, the vehicle senses the target identifier, such as the parking lot house number carried by the parking lot gate, etc., through the on-board vision sensor, ultrasonic sensor, etc., and finds the corresponding target map according to the matched target identifier, such as the target map corresponding to the parking lot closest to the vehicle.

[0074] Exemplarily, in another alternative embodiment, the target map associated with the target identifier can also be obtained through the cloud server.

[0075] S303: Trigger the vehicle to park using at least one fixed feature, and during the parking process, perform the following operations: respectively match each initial area feature sensed by the vehicle with each fixed feature in the target map to obtain the corresponding initial matching result, and when it is determined that the initial matching result is a mismatch, control the vehicle to continue driving within the target area according to the candidate driving path in the target map.

[0076] Specifically, in the embodiment of the present application, the vehicle senses fixed features in the target area (such as line type and color, fixed obstacle features, etc.). If the target map contains at least one fixed feature in the target area, the vehicle can automatically activate the parking function, so that the user does not need to manually activate the parking function. For example, as long as the parking lot door number carried by the parking lot gate is determined, the vehicle can be triggered to park.

[0077] Optionally, in an embodiment of the present application, if the target map contains at least one fixed feature within the target area, the user can also manually instruct the above-mentioned vehicle to enter the parking function. For example, through the vehicle display screen, mobile phone, vehicle remote control, etc., the user can know whether it has entered the target area and then instruct the vehicle to park.

[0078] In particular, during the parking process of the vehicle, the vehicle's ultrasonic sensors, visual sensors, radars, etc. perceive the initial area features in real time. The target map obtained according to the target identification also has corresponding fixed features. The initial area features are matched with the fixed features in the target map. If the initial matching result is a matching failure, the vehicle is controlled to continue to travel along the candidate driving path in the target map.

[0079] In a possible implementation, when it is determined that there is at least one abnormal area feature in the initial matching result that meets a preset feature matching condition, and when it is determined that at least one abnormal area feature in the initial matching result meets a preset parking failure condition, the initial matching result is determined to be a matching failure.

[0080] For example, see Figure 4 As shown, assuming that the perceived initial area features are: a parked vehicle 10 cm away from the parked vehicle on the left and a pillar 20 cm away from the right, and the corresponding fixed features recorded in the target map are: empty space on both sides, then based on the above state, it is determined that the perceived initial area features of the target area do not match the corresponding fixed features in the target map, and the above perceived initial area features (i.e., a parked vehicle 10 cm away from the parked vehicle on the left and a pillar 20 cm away from the right) are determined to be abnormal area features. The vehicle calculates that the parking failure condition is met under the joint influence of the abnormal area features, which will affect the driving according to the current driving path (i.e., Figure 4 If the parking is performed along path 1), the initial matching result is determined to be a matching failure.

[0081] Furthermore, the vehicle is controlled to continue traveling in the target area according to the candidate driving paths in the target map.

[0082] In a possible implementation, when it is determined that the driving distance of the vehicle meets a preset driving distance threshold, each current area feature sensed by the vehicle is respectively matched with each fixed feature in the target map to obtain corresponding current matching results; and when it is determined that the current matching result is a successful match, the target map is updated based on at least one abnormal area feature.

[0083] Exemplarily, based on the above method, after determining that the initial matching result is a failed match, the vehicle continues to drive a certain distance along the candidate driving path in the target map. For example, the vehicle continues to drive a certain distance along Figure 4 Path 1 in, and each current area feature sensed by the vehicle is referred to Figure 5 As shown, for example: in the initial area feature, the parked vehicle 10 cm away from the parked vehicle on the left has left, and there is a pillar 30 cm to the right. Then, the current area feature is matched with the fixed feature of the target map, and it is known that the pillar 30 cm to the right is an abnormal area feature. Based on the above abnormal area feature sensed by the vehicle, it is inferred that the abnormal area feature does not meet the preset parking failure condition, that is, the pillar 30 cm to the right does not affect the vehicle's driving along the candidate path, and other features match the fixed features of the target map. It is determined that the current matching result is a successful match, and the vehicle drives along Figure 5 Path 1 in, and the abnormal area feature of having a pillar 30 cm to the right is updated to the target map to complete the update of the target map.

[0084] It should be noted that Figure 1 Path 1 in, Figure 4 Path 1 in and Figure 5 Path 1 in are the same path.

[0085] Optionally, if the initial matching result is a successful match, the vehicle is controlled to continue driving in the target area along the candidate driving path in the target map.

[0086] Exemplarily, when the vehicle drives to the target area and senses the initial area feature of the target area. Assuming that the initial area feature of the target area sensed is: the parking space marking is a continuous rectangular line of dark yellow, and the left and right sides are empty. Based on the above state, it is determined that the initial area feature of the target area sensed matches the corresponding fixed feature in the target map, so the initial matching result is a successful match, and the vehicle can continue to drive along the candidate driving path.

[0087] In a possible implementation, when it is determined that there is at least one abnormal area feature in the initial matching result that meets the preset feature matching condition, and at least one abnormal area feature in the initial matching result does not meet the preset parking failure condition, the target map is updated based on at least one abnormal area feature.

[0088] Exemplarily, when the vehicle travels to the target area, the initial area features of the target area are sensed. For example, it is assumed that the sensed initial area features are: the markings of the parking space are discontinuous rectangular lines in light yellow, and the corresponding fixed features recorded in the target map are: the markings of the parking space are continuous rectangular lines in dark yellow. Based on the above state, it is determined that the initial area features of the sensed target area do not match the corresponding fixed features in the target map, and the sensed initial area features (i.e., the markings of the parking space are discontinuous rectangular lines in light yellow) are determined as abnormal area features. The vehicle calculates that under the combined influence of these abnormal area features, the parking failure condition is not met, that is, it will not affect the parking along the current driving path. Then it is determined that the initial matching result is a successful match, and thus the vehicle continues to drive along the candidate driving path.

[0089] Further, after updating the target map, the updated target map is obtained and uploaded and saved to the cloud server, so that when the cloud server detects that other vehicles are in the target area, the updated target map is sent to the other vehicles.

[0090] For example, in the embodiment of the present application, after updating the abnormal area feature that there is a pillar 30 cm to the right to the target map, the vehicle saves the updated target map and uploads and saves the updated target map to the cloud server; further, when the cloud server detects that other vehicles pass by near the parking lot, the updated target map is sent down to the other vehicles.

[0091] Another example is that in another optional embodiment, when the vehicle has not passed by near a certain parking lot for a long time, but at this time the cloud server receives an updated map of other vehicles driving to the parking lot, the cloud server sends the received updated map to the vehicle, so that when the vehicle drives to near the parking lot, the map for feature matching is the latest map.

[0092] Further, in another optional embodiment, if the cloud server detects that the target map of the vehicle has been updated but not uploaded, it sends down the information for the vehicle to upload the updated target map, so as to realize the real-time update of the target map on the cloud server. Refer to Figure 6As shown in the figure, it is a complete schematic flowchart of the above-mentioned valet parking method. When it is determined that valet parking is needed, the vehicle matches the initially perceived regional features with each fixed feature in the target map to obtain abnormal regional features. If it is deduced that the abnormal regional features affect parking, it is determined that the initial matching result fails. Then, the vehicle is controlled to drive another distance that meets the preset driving distance threshold along the candidate driving path, and continue to perceive the current regional features. The current regional features are matched with each fixed feature in the target map to obtain abnormal regional features. If it is deduced that the abnormal regional features do not affect parking, it is determined that the current matching result is successful. Then, the vehicle is controlled to continue driving, and the updated current regional features are saved. When the vehicle is connected to the cloud network, the updated current features are updated to the cloud.

[0093] Based on the above re-driving, the success rate of the vehicle's valet parking is effectively improved, thereby ensuring the user's valet parking experience.

[0094] For ease of understanding, refer to Figure 7a and Figure 7b As shown in the figure, the embodiment of the present application further provides a schematic diagram of an actual valet parking scenario. The vehicle drives into the parking area. According to the Global Navigation Satellite System, the background locates the nearest parking area C to the vehicle, and automatically activates the valet parking system. According to the target identifier of the parking area C, the target map for the vehicle to drive to parking space 8 is obtained, and it drives along Figure 7a Path 1 in the figure. After driving to the target area, the initially perceived regional features corresponding to the target area are sensed. At this time, the initially perceived regional features are still as Figure 7a shown in the figure. The initially perceived regional features are matched with the fixed features of the target map, and it is known that there are abnormal regional features (that is, there are parked vehicles on the left and a pillar on the right). It is deduced that parking fails under the influence of the abnormal regional features, and it is determined that the matching result of the initially perceived regional features fails. The vehicle continues to drive along Path 1, and the above-mentioned parked vehicle on the left has left. The currently perceived regional features corresponding to the target area are sensed. As Figure 7b shown in the figure. The currently perceived regional features are matched with the fixed features of the target map, and it is known that there are abnormal regional features (that is, there is a pillar on the right). It is deduced that parking is successful under the influence of the abnormal regional features, and it is determined that the matching result of the initially perceived regional features is successful. The vehicle continues to drive along Path 1 and finally parks successfully.

[0095] Furthermore, based on the same technical concept, the embodiment of the present application further provides a valet parking device, and this valet parking device is used to implement the above method flow of the embodiment of the present application. Refer to Figure 8 shown in the figure. This valet parking device includes: a first acquisition module 801, a second acquisition module 802, and a parking module 803, where:

[0096] The first acquisition module 801 is configured to acquire a target identifier of a target area associated with a parking area in response to the vehicle being located in the specified parking area.

[0097] The second acquisition module 802 is configured to acquire a target map corresponding to the target area from an external data source based on the target identifier, where the target map includes fixed features within at least one target area.

[0098] The parking module 803 is configured to trigger the vehicle to park by using at least one fixed feature, and during the parking process, perform the following operations:

[0099] Respectively match each initial area feature sensed by the vehicle with each fixed feature in the target map to obtain corresponding initial matching results, and when it is determined that the initial matching result is a matching failure, control the vehicle to continue to travel within the target area according to the candidate driving path in the target map.

[0100] In an alternative embodiment, to acquire the target identifier of the target area associated with the parking area, the first acquisition module 801 is specifically configured to:

[0101] Receive the target identifier of the target area associated with the parking area from the cloud server.

[0102] And / or, in response to the positioning position of the vehicle in the parking area, acquire the target identifier of the target area associated with the parking area.

[0103] In an alternative embodiment, when it is determined that the initial matching result is a matching failure, the parking module 803 is specifically configured to:

[0104] Determine that there is at least one abnormal area feature in the initial matching result that satisfies the default feature matching condition.

[0105] And,

[0106] When it is determined that at least one abnormal area feature in the initial matching result satisfies the default parking failure condition, determine that the initial matching result is a matching failure.

[0107] In an alternative embodiment, during the process of controlling the vehicle to continue to travel within the target area according to the candidate driving path in the target map, the parking module 803 is specifically configured to:

[0108] When it is determined that the driving distance of the vehicle satisfies a preset driving distance threshold, respectively match each current area feature sensed by the vehicle with each fixed feature in the target map to obtain corresponding current matching results.

[0109] When it is determined that the current matching result is a matching success, update the target map based on at least one abnormal area feature.

[0110] In an alternative embodiment, if the initial matching result is a successful match, after controlling the vehicle to continue driving within the target area according to the candidate driving path in the target map, the parking module 803 is further configured to:

[0111] When it is determined that there is at least one abnormal area feature in the initial matching result that satisfies the default feature matching condition, and at least one abnormal area feature in the initial matching result does not satisfy the default parking failure condition, update the target map based on at least one abnormal area feature.

[0112] In an alternative embodiment, after updating the target map, the parking module 803 is further configured to:

[0113] Obtain the updated target map, and upload and save the updated target map to the cloud server, so that when the cloud server detects that other vehicles are located within the target area, the updated target map is sent to other vehicles.

[0114] Based on the same inventive concept as the above application embodiment, an electronic device is further provided in the embodiment of the present application. This electronic device can be used for valet parking. In one embodiment, the electronic device can be a server, a terminal device, or other electronic devices. In this embodiment, the structure of the electronic device can be as Figure 9 shown, including a memory 901, a communication interface 903, and one or more processors 902.

[0115] The memory 901 can be a volatile memory, such as a random-access memory (RAM); the memory 901 can also be a non-volatile memory, such as a read-only memory, a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), or the memory 901 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 901 can be a combination of the above memories.

[0116] The processor 902 can include one or more central processing units (CPUs) or be a digital processing unit, etc. The processor 902 is configured to implement the above valet parking method when calling the computer program stored in the memory 901.

[0117] The communication interface 903 is used for communicating with terminal devices and other servers.

[0118] In the embodiments of the present application, the specific connection medium between the above-mentioned memory 901, communication interface 903 and processor 902 is not limited. In the embodiments of the present application Figure 9 it is shown that the memory 901 and the processor 902 are connected through a bus 904. The bus 904 is represented by a thick line in Figure 9 which. The connection manners between other components are only for illustrative purposes and are not to be taken as limiting. The bus 904 can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 9 it is only represented by a thick line in which, but it does not mean that there is only one bus or one type of bus.

[0119] Based on the same inventive concept, the embodiments of the present application further provide a storage medium storing computer instructions, which when run on a computer cause the computer to execute a valet parking method described above.

[0120] It should be noted that although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of the two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0121] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution.

[0122] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0123] An embodiment of the present application provides a valet parking method, apparatus, electronic device, and storage medium. Specifically, when the vehicle is located in a designated parking area, a target identifier of a target area associated with the parking area is obtained, and based on the target identifier, a target map corresponding to the target area is obtained from an external data source. At least one fixed feature is used to trigger the vehicle to park. Each initial area feature sensed by the vehicle is respectively matched with each fixed feature in the target map to obtain corresponding initial matching results. When it is determined that the initial matching result is a failure, the vehicle is controlled to continue driving within the target area according to the candidate driving path in the target map. Based on the above vehicle control method during the re-driving process, the embodiment of the present application effectively improves the success rate of valet parking of the vehicle, and thus ensures the valet parking experience of the user.

[0124] This application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a machine for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 a device for the functions specified in one block or multiple blocks.

[0125] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 a device for the functions specified in one block or multiple blocks.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 a device for the functions specified in one block or multiple blocks.

[0127] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these changes and modifications.

Claims

1. A valet parking method, characterized in that, including: In response to the vehicle being located in a designated parking area, obtaining a target identifier of a target area associated with the parking area; Based on the target identifier, obtaining a target map corresponding to the target area from an external data source, where the target map includes at least one fixed feature within the target area; Using at least one of the fixed features to trigger the vehicle to park, and during the parking process, perform the following operations: Respectively matching each initial area feature sensed by the vehicle with each fixed feature in the target map to obtain corresponding initial matching results, and when it is determined that the initial matching result is a matching failure, controlling the vehicle to continue to travel within the target area according to a candidate driving path in the target map, including: When it is determined that the driving distance of the vehicle meets a preset driving distance threshold, respectively matching each current area feature sensed by the vehicle with each fixed feature in the target map to obtain corresponding current matching results; When it is determined that the current matching result is a matching success, updating the target map based on at least one abnormal area feature; When it is determined that there is at least one abnormal area feature in the initial matching result that meets a preset feature matching condition, and at least one of the abnormal area features in the initial matching result does not meet a preset parking failure condition, updating the target map based on at least one of the abnormal area features.

2. The method according to claim 1, wherein The obtaining of the target identifier of the target area associated with the parking area includes: Receiving, from a cloud server, the target identifier of the target area associated with the parking area; and / or In response to the positioning position of the vehicle in the parking area, obtaining the target identifier of the target area associated with the parking area.

3. The method according to claim 1 or 2, characterized in that, The determining that the initial matching result is a matching failure includes: Determining that there is at least one abnormal area feature in the initial matching result that meets a preset feature matching condition; and When it is determined that at least one of the abnormal area features in the initial matching result meets a preset parking failure condition, determining that the initial matching result is a matching failure.

4. The method according to claim 1, characterized in that, After updating the target map, further including: Obtaining the updated target map and uploading and saving the updated target map to a cloud server, so that when the cloud server detects that another vehicle is located in the target area, sending the updated target map to the other vehicle.

5. A valet parking device, characterized in that, including: A first obtaining module, configured to obtain a target identifier of a target area associated with the parking area in response to the vehicle being located in a designated parking area; A second obtaining module, configured to obtain a target map corresponding to the target area from an external data source based on the target identifier, where the target map includes at least one fixed feature within the target area; A parking module, configured to use at least one of the fixed features to trigger the vehicle to park, and during the parking process, perform the following operations: Match each of the initial area features sensed by the vehicle with each of the fixed features in the target map to obtain corresponding initial matching results. When it is determined that the initial matching result is a matching failure, control the vehicle to continue driving within the target area according to the candidate driving path in the target map, including: When it is determined that the driving distance of the vehicle meets a preset driving distance threshold, match each of the current area features sensed by the vehicle with each of the fixed features in the target map to obtain corresponding current matching results; When it is determined that the current matching result is a successful match, update the target map based on at least one abnormal area feature; When it is determined that there is at least one abnormal area feature in the initial matching results that meets the preset feature matching conditions, and at least one of the abnormal area features in the initial matching results does not meet the preset parking failure conditions, update the target map based on at least one of the abnormal area features.

6. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 1-4.

7. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1-4.

8. A computer program product, characterized in that, The computer program product is used to implement the steps of the method according to any one of claims 1-4.

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