A method, device and storage medium for assisting vehicle parking

Abstract

The present application is applicable to the field of automobile technology, and provides a method, device and storage medium for assisting vehicle parking, the method comprising: collecting a reversing image through a camera when the vehicle is reversing, and displaying the reversing image on a display screen of the vehicle, when there is a parking space boundary line of the parking space in the reversing image, displaying a parking assist line inside the parking space boundary line, when the vehicle is parked between the parking assist line and the parking space boundary line, the vehicle is within the charging plugging range of the charging pile on the parking space; the present application displays the parking assist line on the display screen to indicate that the vehicle can be parked according to the parking assist line, so that the vehicle can be quickly parked within the charging plugging range of the charging pile.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular, relates to a method, device and storage medium for assisting vehicle parking. Background Art

[0002] As electric vehicles cause less environmental pollution than traditional vehicles, they are becoming more and more popular among users. The charging of electric vehicles is one of the main concerns of users.

[0003] At present, the extension length of the robot arm of the charging pile is limited. When charging the vehicle, the user needs to move the vehicle repeatedly so that the charging port of the vehicle can be within the extension range of the robot arm. Since the user needs to move the vehicle repeatedly to reach the appropriate charging position, the user experience is poor. Summary of the invention

[0004] The embodiments of the present application provide a method, device and storage medium for assisting vehicle parking, which can solve the problem that when a vehicle needs to be charged, the vehicle needs to be moved repeatedly to reach a suitable charging position.

[0005] In a first aspect, an embodiment of the present application provides a method for assisting vehicle parking, comprising:

[0006] When the vehicle is reversing, a reversing image is collected by a camera arranged on the vehicle;

[0007] Displaying the reversing image via a display screen provided on the vehicle;

[0008] When there is a parking space boundary line of a parking space in the reversing image, a parking assist line is displayed inside the parking space boundary line, wherein the parking space is a parking space with a charging pile, and the parking assist line is used to indicate that when the vehicle is parked between the parking assist line and the parking space boundary line, the vehicle is within the charging plug-in range of the charging pile.

[0009] In a second aspect, an embodiment of the present application provides a device for assisting vehicle parking, including:

[0010] An image acquisition module, used to acquire a reversing image through a camera provided on the vehicle when the vehicle is reversing;

[0011] A display module, used for displaying the reversing image through a display screen provided on the vehicle;

[0012] A calculation module is used to calculate the position of the parking auxiliary line when there is a parking space boundary line of the parking space in the reversing image, and display the parking auxiliary line inside the parking space boundary line, wherein the parking space is a parking space with a charging pile, and the parking auxiliary line is used to indicate that when the vehicle is parked between the parking auxiliary line and the parking space boundary line, the vehicle is within the charging plug-in range of the charging pile.

[0013] In a third aspect, an embodiment of the present application provides a terminal device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for assisting vehicle parking described in any one of the first aspects above is implemented.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for assisting vehicle parking described in any one of the above-mentioned first aspects is implemented.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the method for assisting vehicle parking described in any one of the above-mentioned first aspects.

[0016] Compared with the prior art, the beneficial effects of the first aspect embodiment of the present application are as follows: when the vehicle is reversing, a reversing image is captured by a camera and displayed on the display screen of the vehicle; when there is a parking space boundary line of the parking space in the reversing image, a parking assist line is displayed on the inner side of the parking space boundary line; when the vehicle is parked between the parking assist line and the parking space boundary line, the vehicle is within the charging plug-in range of the charging pile in the parking space; the present application displays the parking assist line on the display screen to indicate that the vehicle can be parked according to the parking assist line, so that the vehicle can be quickly parked within the charging plug-in range of the charging pile. Compared with the situation where there is no parking assist line and the user needs to move the vehicle repeatedly to park the vehicle within the charging plug-in range of the charging pile, the present application parks according to the parking assist line, which can make parking faster.

[0017] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 This is a schematic diagram of a vehicle that is out of the charging plug-in range of a charging pile provided by an embodiment of the present application;

[0020] Figure 2 is a schematic diagram of the position relationship between a parking space and a slide rail provided in an embodiment of the present application;

[0021] Figure 3 is a flow chart of a method for assisting vehicle parking provided by an embodiment of the present application;

[0022] Figure 4 It is a schematic diagram of a vehicle within the charging plugging range of a charging pile provided by an embodiment of the present application;

[0023] Figure 5 is a flow chart of a method for generating parking assist lines provided in an embodiment of the present application;

[0024] Figure 6 is a schematic diagram of the structure of a device for assisting vehicle parking provided by an embodiment of the present application;

[0025] Figure 7 It is a structural diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0026] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0027] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0028] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0029] As the number of electric vehicles continues to increase, how to charge conveniently and quickly has become a concern for users. At present, the length of the mechanical arm of the charging pile is limited. When users use the charging pile to charge, they need to park the vehicle within the charging plug range of the charging pile before they can use the charging pile to charge. In this application, the charging pile can be an automatic charging pile (automatic charging robot) or a manual charging pile. Figure 1 As shown, the vehicle is outside the charging plug range and the automatic charging robot cannot charge the vehicle. Since the user does not know the charging plug range of the charging pile, the user needs to move the vehicle repeatedly to make the vehicle parked within the charging plug range.

[0030] Based on the above problems, the method of assisting vehicle parking proposed in the present application displays parking assist lines generated based on the charging plug-in range of the charging pile on the vehicle's display screen to assist the user in parking the vehicle between the parking assist lines and the parking space boundary line according to the parking assist lines, thereby achieving the effect of quickly parking the vehicle within the charging plug-in range of the charging pile.

[0031] In the method for assisting vehicle parking provided by the present application, if the parking space is a parking space with a charging pile, the charging pile is arranged outside the parking space. One parking space can be provided with one or two charging piles. The charging pile can be arranged on the left side, right side or rear side of the parking space.

[0032] A slide rail parallel to the parking space boundary line is provided outside the parking space, and the charging pile slides on the slide rail. For example, the charging pile is set at a preset distance from the right parking space line on the right side of the parking space, and the charging pile can move freely in the length direction of the parking space so that the mechanical arm of the charging pile can be plugged into the charging port of the vehicle; the charging pile is set at a preset distance from the rear parking space line on the rear side of the parking space, and the charging pile can move freely in the width direction of the parking space so that the mechanical arm of the charging pile can be plugged into the charging port of the vehicle.

[0033] As an example, Figure 2 As shown, a slide rail 20 is provided outside the parking space boundary line 10 , and the slide rail 20 is arranged parallel to the parking space boundary line 10 , and the charging pile slides on the slide rail 20 .

[0034] The mechanical arm of the charging pile can move freely up and down and left and right so that the mechanical arm of the charging pile can be plugged into the charging port of the vehicle.

[0035] Figure 3 A schematic flow chart of the method for assisting vehicle parking provided by the present application is shown, referring to Figure 3 , the method is described in detail as follows:

[0036] S101, when a vehicle is reversing, a reversing image is collected by a camera arranged on the vehicle.

[0037] In this embodiment, when the vehicle is in the reverse gear, a camera provided on the vehicle for collecting images of the rear of the vehicle is turned on, and the camera starts collecting reverse images.

[0038] S102, displaying the reversing image via a display screen provided on the vehicle.

[0039] In this embodiment, after the camera captures the reversing image, it sends the reversing image to the display screen, and the display screen displays the reversing image. The reversing image may include obstacles behind the vehicle and parking space lines. The parking space lines include left parking space lines, right parking space lines, and rear parking space lines. With the front direction of the vehicle as the front, the left parking space line is the parking space line on the left side of the vehicle, and the right parking space line is the parking space line on the right side of the vehicle.

[0040] S103, when there is a parking space boundary line of the parking space in the reversing image, a parking assist line is displayed inside the parking space boundary line, wherein the parking space is a parking space with a charging pile, and the parking assist line is used to indicate that when the vehicle is parked between the parking assist line and the parking space boundary line, the vehicle is within the charging plug-in range of the charging pile.

[0041] In this embodiment, when the vehicle is reversing, if the parking space boundary line appears in the reversing image, it means that the vehicle needs to be parked in the parking space. In order to facilitate the charging pile on the parking space to charge the vehicle, the parking auxiliary line is displayed on the display screen. When the user parks the vehicle, the side with the charging port is parked between the parking auxiliary line and the parking space boundary line. Figure 4 As shown, the dotted line is the parking assist line, and the solid line is the parking space boundary line. Park the vehicle between the parking assist line and the parking space boundary line, and the automatic charging robot can automatically charge the vehicle.

[0042] In this embodiment, the parking space boundary line is the boundary line corresponding to the position of the charging port of the vehicle on the vehicle. For example, if the charging port is on the right side of the vehicle, the parking space boundary line is the parking space line located on the right side of the vehicle.

[0043] The direction of the parking assist line is consistent with the direction of the parking space boundary line. The parking assist line can be parallel to the parking space boundary line. If the parking assist line is a line in the length direction of the parking space, the parking assist line can be one or two, such as Figure 4 As shown, the parking assist line may include only the dashed line A on the right side, or the parking assist line may include Figure 4 The dotted line A and the dotted line B in .

[0044] In this embodiment, if the charging pile can only move on one side of the parking space, for example, the charging pile can only move on the right side of the parking space along the length direction of the parking space, the parking space boundary line can also be the parking space line closest to the charging pile. For example, if the charging pile is on the right side of the parking space, the parking space boundary line is the right parking space line. If the charging pile is on the left side of the parking space, the parking space boundary line is the left parking space line.

[0045] In an embodiment of the present application, a reversing image is captured by a camera when the vehicle is reversing, and the reversing image is displayed on a display screen of the vehicle; when there is a parking space boundary line of the parking space in the reversing image, a parking assist line is displayed on the inner side of the parking space boundary line; when the vehicle is parked between the parking assist line and the parking space boundary line, the vehicle is within the charging plug-in range of the charging pile on the parking space; the present application displays parking assist lines on the display screen to indicate that the vehicle can be parked according to the parking assist lines, so that the vehicle can be quickly parked within the charging plug-in range of the charging pile. Compared with the situation where there are no parking assist lines and the user needs to repeatedly move the vehicle to park within the charging plug-in range of the charging pile, the present application parks according to the parking assist lines, which can make parking faster, avoid the problem of automatic charging difficulties caused by the length limitation of the robotic arm, and improve the user's charging experience.

[0046] In a possible implementation, a reversing trajectory line exists in the reversing image.

[0047] In this embodiment, when the vehicle is in reverse gear, a reversing track line appears in the reversing image. The reversing track is a virtual line road with a guiding effect drawn by the on-board intelligent system based on the shape and distance of the obstacle behind the vehicle detected by the radar probe. This virtual road is composed of curves and is displayed on the display (reversing image), covering the real road surface behind the vehicle, helping users plan the reversing route. Within the visible range of the reversing track, users can know the specific distance between the rear of the car and the obstacle through the display screen. As long as the user drives within the safe and effective reversing range drawn by the reversing track line, they can reverse safely and accurately.

[0048] When there are parking space boundary lines, parking auxiliary lines and reversing track lines of the parking space in the reversing image, the method further includes:

[0049] When the reversing trajectory line is located between the parking space boundary line and the parking auxiliary line, first information is sent, wherein the first information is used to prompt the user that the vehicle is within the charging plug-in range of the charging pile.

[0050] In this embodiment, the first information may be a text message or a voice message. The first information is used to remind the user to park the vehicle according to the reversing track line, and the vehicle will be parked within the charging plug range.

[0051] In a possible implementation, when there is a parking space boundary line of the parking space in the reversing image, the method may further include:

[0052] S201, sending the positioning information of the vehicle to the server, the positioning information is used to instruct the server to determine whether the vehicle is currently within a preset range of a parking space with a charging pile based on the positioning information, and return parking assistance data when the vehicle is within the preset range of a parking space with a charging pile.

[0053] S202: Receive the docking assistance data.

[0054] In this embodiment, when there is a parking space boundary line in the reversing image, it is determined that the vehicle needs to park, and the positioning information of the vehicle is sent to the server. The positioning information of the vehicle can be collected by a positioning device on the vehicle. When the vehicle sends the positioning information, the vehicle can also send the location of the charging port of the vehicle on the vehicle to the server, for example, the charging port is provided on the right side of the vehicle.

[0055] In this embodiment, after receiving the positioning information sent by the vehicle, the server searches for the parking space at the location of the vehicle in the preset map through the positioning information of the vehicle, and determines whether the parking space is a parking space with a charging pile. Specifically, the parking space at the location of the vehicle is determined based on the distance between the vehicle and the parking space. If the parking space is a parking space with a charging pile, the server searches for the information of the charging pile associated with the parking space.

[0056] The information of the charging pile may include the maximum telescopic length of the mechanical arm of the charging pile, the distance between the charging pile and the parking space boundary line of the parking space, and the positional relationship between the charging pile and the parking space. The parking assistance data includes the maximum telescopic length of the mechanical arm of the charging pile, and the distance between the charging pile and the parking space boundary line. In this application, the distance between the charging pile and the parking space boundary line corresponding to the position of the charging port of the vehicle on the vehicle is recorded as the third distance.

[0057] Optionally, the information of the charging pile may include the charging plug range, and the parking assistance data includes the charging plug range. The charging plug range is the actual distance between the parking assistance line and the boundary line of the parking space. The parking assistance data may also include the direction of the parking assistance line, or the positional relationship between the charging pile and the parking space. The direction of the parking assistance line may be determined based on the positional relationship between the charging pile and the parking space. For example, if the charging pile is on the right side of the parking space, the direction of the parking assistance line is along the length of the parking space. The direction of the parking assistance line may include along the length or width of the parking space.

[0058] Alternatively, the server calculates the difference between the maximum telescopic length of the charging pile's mechanical arm and the third distance between the charging pile and the parking space boundary line, and uses the difference or a value less than the difference as the charging plugging range, and the docking auxiliary data includes the charging plugging range. A value less than the difference is greater than 0.

[0059] In the embodiment of the present application, obtaining the docking assistance data from the server can reduce the data storage volume of the vehicle and improve the software running speed in the vehicle.

[0060] like Figure 5 As shown, in a possible implementation manner, the implementation process of step S103 may include:

[0061] S1031, when a parking space boundary line of a parking space exists in the reversing image, determining a scaling ratio of the parking space boundary line in the reversing image captured by the camera.

[0062] In this embodiment, since the parking auxiliary line needs to be determined based on the parking space boundary line in the reversing image, the parking auxiliary line can be determined only when the parking space boundary line of the parking space exists in the reversing image.

[0063] Specifically, the camera is a binocular camera, and the binocular camera has a distance measurement function.

[0064] Specifically, the implementation process of step S1031 may include:

[0065] Determine a second distance between the binocular camera and a parking space boundary line in the reversing image; and determine a scaling ratio of the parking space boundary line in the reversing image according to the second distance.

[0066] In this embodiment, the binocular camera can be used to obtain the actual distance between the binocular camera and the parking space boundary line in the reversing image. In this application, the actual distance is recorded as the second distance. Then, the second distance is used to find the scaling ratio corresponding to the second distance in the pre-stored table. The pre-stored table stores scaling ratios corresponding to different distances.

[0067] For example, if the second distance is 5 m, the zoom ratio corresponding to 5 m is 0.3 times.

[0068] S1032: Determine a first distance between the parking assist line and the parking space boundary line on the reversing image based on the scaling ratio and the parking assist data.

[0069] Specifically, when the parking assistance data includes the maximum telescopic length of the mechanical arm of the charging pile and the third distance between the charging pile and the parking space boundary line, the charging plug-in range is calculated according to the maximum telescopic length of the mechanical arm and the third distance; and the first distance between the parking assistance line and the parking space boundary line on the reversing image is determined according to the scaling ratio and the charging plug-in range.

[0070] In this embodiment, the difference between the maximum telescopic length of the robot arm and the third distance is calculated, and the difference between the maximum telescopic length of the robot arm and the third distance, or a value less than the difference, is used as the charging plugging range. The product of the charging plugging range and the scaling ratio is calculated, and the product of the charging plugging range and the scaling ratio is used as the first distance.

[0071] For example, if the maximum telescopic length of the robot arm is 1 meter and the third distance is 0.3 meters, the charging and plugging range is 1-0.3=0.7 meters. If the scaling ratio is 0.5, the first distance is 0.7×0.5=0.35 meters.

[0072] Specifically, the parking assistance data includes a charging plug range; and according to the scaling ratio and the charging plug range, a first distance between the parking assistance line and the parking space boundary line on the reversing image is determined.

[0073] S1033: Add the parking assist line inside the parking space boundary line on the reversing image based on the first distance.

[0074] In this embodiment, a parking assist line is added at a position inside the parking space boundary line at a first distance from the parking space boundary line.

[0075] In the embodiment of the present application, based on the scaling ratio of the parking space boundary line, a first distance of the parking assist line from the parking space boundary line in the reversing image can be determined, and a more accurate parking assist line can be obtained according to the first distance.

[0076] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0077] Corresponding to the method for assisting vehicle parking described in the above embodiment, Figure 6 A structural block diagram of a device for assisting vehicle parking provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0078] Reference Figure 6 The device 300 may include: an image acquisition module 310, a display module 320 and a calculation module 330.

[0079] The image acquisition module 310 is used to acquire a reversing image through a camera provided on the vehicle when the vehicle is reversing;

[0080] A display module 320, configured to display the reversing image via a display screen provided on the vehicle;

[0081] The calculation module 330 is used to calculate the position of the parking assist line when there is a parking space boundary line of the parking space in the reversing image, and display the parking assist line inside the parking space boundary line, wherein the parking space is a parking space with a charging pile, and the parking assist line is used to indicate that when the vehicle is parked between the parking assist line and the parking space boundary line, the vehicle is within the charging plug-in range of the charging pile.

[0082] In a possible implementation, when there is a parking space boundary line of the parking space in the reversing image, the device 300 further includes:

[0083] an information sending module, configured to send the positioning information of the vehicle to a server, wherein the positioning information is used to instruct the server to determine whether the vehicle is currently within a preset range of a parking space with a charging pile based on the positioning information, and to return parking assistance data when the vehicle is within the preset range of a parking space with a charging pile, wherein the parking assistance data includes the charging plug range, or the parking assistance data includes a maximum telescopic length of a mechanical arm of the charging pile, and a third distance between the charging pile and a boundary line of the parking space;

[0084] The data receiving module is used to receive the docking assistance data.

[0085] In a possible implementation, the calculation module 330 may be specifically used to:

[0086] When a parking space boundary line of a parking space exists in the reversing image, determining a scaling ratio of the parking space boundary line in the reversing image captured by the camera;

[0087] Determining a first distance between the parking assist line and the parking space boundary line on the reversing image based on the scaling ratio and the parking assist data;

[0088] Based on the first distance, the parking assist line is added inside the parking space boundary line on the reversing image.

[0089] In a possible implementation, the camera is a binocular camera, and the computing module 330 can be specifically used for:

[0090] Determining a second distance between the binocular camera and a parking space boundary line in the reversing image;

[0091] A scaling ratio of the parking space boundary line in the reversing image is determined according to the second distance.

[0092] In a possible implementation, when the parking assistance data includes the maximum telescopic length of the mechanical arm of the charging pile and the third distance between the charging pile and the parking space boundary line, the calculation module 330 may be specifically used to:

[0093] Calculating the charging and plugging range according to the maximum telescopic length of the robotic arm and the third distance;

[0094] A first distance between the parking assist line and the parking space boundary line on the reversing image is determined according to the scaling ratio and the charging plug range.

[0095] In a possible implementation, a reversing track line exists in the reversing image;

[0096] Also connected to the calculation module 330 are:

[0097] The information sending module is used to send first information when the reversing trajectory line is between the parking space boundary line and the parking auxiliary line, wherein the first information is used to prompt the user that the vehicle is within the charging plug-in range of the charging pile.

[0098] In a possible implementation, the charging pile is an automatic charging pile, and the charging pile slides on a slide rail, and the slide rail is arranged parallel to the parking space boundary line.

[0099] In a possible implementation, the parking space boundary line is a boundary line corresponding to the position of the charging port of the vehicle on the vehicle; and the direction of the parking assist line is consistent with the direction of the parking space boundary line.

[0100] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0101] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0102] The present application also provides a terminal device, see Figure 7 The terminal device 400 may include: at least one processor 410, a memory 420, and a computer program stored in the memory 420 and executable on the at least one processor 410. When the processor 410 executes the computer program, the steps in any of the above-mentioned method embodiments are implemented, for example Figure 3 Steps S101 to S103 in the illustrated embodiment. Alternatively, when the processor 410 executes the computer program, the functions of each module / unit in the above-mentioned device embodiments are implemented, for example Figure 6 The functions of modules 310 to 330 are shown.

[0103] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 420, and executed by the processor 410 to complete the present application. The one or more modules / units may be a series of computer program segments capable of completing specific functions, and the program segments are used to describe the execution process of the computer program in the terminal device 400.

[0104] Those skilled in the art will understand that Figure 7 It is only an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, such as input and output devices, network access devices, buses, etc.

[0105] The processor 410 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0106] The memory 420 may be an internal storage unit of the terminal device, or an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. The memory 420 is used to store the computer program and other programs and data required by the terminal device. The memory 420 may also be used to temporarily store data that has been output or is to be output.

[0107] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0108] The method for assisting vehicle parking provided in the embodiment of the present application can be applied to terminal devices such as computers, tablet computers, laptop computers, netbooks, personal digital assistants (PDAs), etc. The embodiment of the present application does not impose any restrictions on the specific type of terminal devices.

[0109] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0110] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0111] In the embodiments provided in the present application, it should be understood that the disclosed terminal equipment, devices and methods can be implemented in other ways. For example, the terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0112] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0113] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0114] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by one or more processors, the steps of each of the above-mentioned method embodiments can be implemented.

[0115] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by one or more processors, the steps of each of the above-mentioned method embodiments can be implemented.

[0116] Similarly, as a computer program product, when the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0117] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer readable media do not include electric carrier signals and telecommunication signals.

[0118] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for assisting vehicle parking, It is characterized in that include: When the vehicle is reversing, a reversing image is collected by a camera arranged on the vehicle; Displaying the reversing image via a display screen provided on the vehicle; When there is a parking space boundary line of a parking space in the reversing image, a parking assist line is displayed inside the parking space boundary line, wherein the parking space is a parking space with a charging pile, and the parking assist line is used to indicate that when the vehicle is parked between the parking assist line and the parking space boundary line, the vehicle is within the charging plug-in range of the charging pile.

2. The method for assisting vehicle parking as claimed in claim 1, It is characterized in that When there is a parking space boundary line of the parking space in the reversing image, the method further includes: Sending the positioning information of the vehicle to the server, the positioning information is used to instruct the server to determine whether the vehicle is currently within a preset range of a parking space with a charging pile based on the positioning information, and return parking assistance data when the vehicle is within the preset range of the parking space with the charging pile, the parking assistance data including the charging plug range, or the parking assistance data including the maximum telescopic length of the mechanical arm of the charging pile, and a third distance between the charging pile and the boundary line of the parking space; The docking assistance data is received.

3. The method for assisting vehicle parking as claimed in claim 2, It is characterized in that When there is a parking space boundary line of the parking space in the reversing image, a parking auxiliary line is displayed inside the parking space boundary line, including: When a parking space boundary line of a parking space exists in the reversing image, determining a scaling ratio of the parking space boundary line in the reversing image captured by the camera; Determining a first distance between the parking assist line and the parking space boundary line on the reversing image based on the scaling ratio and the parking assist data; Based on the first distance, the parking assist line is added inside the parking space boundary line on the reversing image.

4. The method for assisting vehicle parking as claimed in claim 3, It is characterized in that The camera is a binocular camera, and determining the scaling ratio of the parking space boundary line in the reversing image captured by the camera includes: Determining a second distance between the binocular camera and a parking space boundary line in the reversing image; A scaling ratio of the parking space boundary line in the reversing image is determined according to the second distance.

5. The method for assisting vehicle parking as claimed in claim 3, It is characterized in that When the parking assistance data includes the maximum telescopic length of the mechanical arm of the charging pile and the third distance between the charging pile and the parking space boundary line, the determining the first distance between the parking assistance line and the parking space boundary line on the reversing image based on the scaling ratio and the parking assistance data includes: Calculating the charging and plugging range according to the maximum telescopic length of the robotic arm and the third distance; A first distance between the parking assist line and the parking space boundary line on the reversing image is determined according to the scaling ratio and the charging plug range.

6. The method for assisting vehicle parking according to any one of claims 1 to 5, It is characterized in that There is a reversing track line in the reversing image; After the parking assist line is displayed inside the parking space boundary line, the method further includes: When the reversing trajectory line is located between the parking space boundary line and the parking auxiliary line, first information is sent, wherein the first information is used to prompt the user that the vehicle is within the charging plug-in range of the charging pile.

7. The method for assisting vehicle parking according to any one of claims 1 to 5, It is characterized in that The charging pile is an automatic charging pile, and the charging pile slides on a slide rail, and the slide rail is arranged parallel to the parking space boundary line.

8. The method for assisting vehicle parking according to any one of claims 1 to 5, It is characterized in that The parking space boundary line is a boundary line corresponding to the position of the charging port of the vehicle on the vehicle; the direction of the parking auxiliary line is consistent with the direction of the parking space boundary line.

9. A device for assisting vehicle parking, It is characterized in that include: An image acquisition module, used to acquire a reversing image through a camera provided on the vehicle when the vehicle is reversing; A display module, used for displaying the reversing image through a display screen provided on the vehicle; A calculation module is used to calculate the position of the parking auxiliary line when there is a parking space boundary line of the parking space in the reversing image, and display the parking auxiliary line inside the parking space boundary line, wherein the parking space is a parking space with a charging pile, and the parking auxiliary line is used to indicate that when the vehicle is parked between the parking auxiliary line and the parking space boundary line, the vehicle is within the charging plug-in range of the charging pile.

10. A computer-readable storage medium storing a computer program. It is characterized in that When the computer program is executed by a processor, the method for assisting vehicle parking as claimed in any one of claims 1 to 8 is implemented.

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