A memory parking implementation method and device and a parking method and device

Abstract

The embodiment of the application discloses a memory parking implementation method and device and a parking method and device. The memory parking implementation method comprises the following steps: counting the number of times of entering the same target area within a time length according to a landmark object; when the number of times reaches a preset first number threshold, calling and classifying a route map corresponding to a driving route of a vehicle each time the vehicle parks in the target area; and classifying the obtained route map, and taking the classified route map meeting a preset condition as a recommended driving map when parking in the target area subsequently. Through the embodiment scheme, it can be determined whether a region needs memory parking, and a memory parking route is automatically recommended, so that the operation amount of a user is reduced, the convenience of memory parking is improved, and the user experience is improved.

Description

Technical Field

[0001] This application relates to parking technology, and more particularly to a memory parking implementation method and apparatus, as well as a parking method and apparatus. Background Technology

[0002] With the development of intelligent driving technology, automatic parking systems are gradually being adopted in automobiles. However, as the usage rate of automatic parking increases, memory parking, a more convenient parking method, has encountered application bottlenecks and has not achieved widespread adoption. One major reason is that users usually don't actively think to select memory parking during the parking process. Furthermore, memory parking may require users to choose from multiple routes, increasing the number of steps and making it cumbersome for users, thus leading them to abandon memory parking. Therefore, for example, how to automatically create memory parking spaces for frequently entered and exited parking areas, and how to apply automatic memory parking in subsequent parking situations, are problems that we need to solve. Summary of the Invention

[0003] This application provides a method and apparatus for implementing memory parking, as well as a parking method and apparatus that can automatically recommend memory parking routes, reduce user operations, improve the convenience of memory parking, and enhance the user experience.

[0004] This application provides a method for implementing memory-based parking, the method including:

[0005] The number of times someone enters the same target area within a set time period is counted based on landmark objects.

[0006] When the number of times reaches a preset first threshold, the saved route maps corresponding to the driving routes of the vehicle each time it parks in the target area are retrieved and categorized; the categorized route maps that meet the preset conditions are used as recommended driving maps for subsequent parking in the target area.

[0007] In an exemplary embodiment of this application, the step of counting the number of times the same target area is entered within a set time period based on the landmark object may include:

[0008] Determine whether the vehicle has arrived at the entrance of the target area based on the location information;

[0009] When an entrance to the target area is determined, the vehicle is controlled to enter the target area through the entrance, and the number of times the vehicle enters the target area is counted.

[0010] In an exemplary embodiment of this application, the step of counting the number of times the same target area is entered within a set time period based on the landmark object may further include:

[0011] determining whether the vehicle reaches an entrance of the target area according to the positioning information;

[0012] when it is determined that the vehicle reaches the entrance of the target area, acquiring a scene image in front of the vehicle, confirming that the vehicle passes the landmark object when the landmark object is extracted from the scene image, and / or acquiring state change information of the vehicle, and confirming that the vehicle passes the landmark object when the state change information meets a preset requirement; and / or positioning the vehicle according to a preset positioning mode during driving of the vehicle, and confirming that the vehicle passes the landmark object when a positioned vehicle position meets a preset vehicle position;

[0013] adding one to a statistic number of times of entering the target area.

[0014] In an example embodiment of the present application, the route map corresponding to the driving route of the vehicle each time the vehicle parks in the target area is retrieved and classified, which can include:

[0015] classifying a plurality of route maps that pass through one or more same locations in all the retrieved route maps as a same route map.

[0016] In an example embodiment of the present application, the route map that is classified and meets a preset condition is used as a recommended driving route map for subsequent parking in the target area, which can include:

[0017] counting a number of times of using each route map after classification;

[0018] detecting whether the number of times of using each route map within a preset time length is greater than or equal to a preset second number threshold;

[0019] using any one or more route maps whose number of times of using is greater than or equal to the second number threshold as the recommended driving route map.

[0020] In an example embodiment of the present application, the method can further include:

[0021] when the number of times of using any one route map is less than the second number threshold, not recommending a route map for the current parking process, and saving a driving route of the current parking process to create a route map corresponding to the driving route.

[0022] In an example embodiment of the present application, the creating of the route map corresponding to the driving route can include:

[0023] when the vehicle passes the landmark object at the entrance of the target area, starting to collect a scene image between the current position and a parking space;

[0024] A route map of the driving route is established according to the scene images.

[0025] In the example embodiments of the present application, the starting to collect the scene images between the current position and the parking space can include:

[0026] The vehicle is positioned in real time by a preset positioning method, and a plurality of coordinates on the driving route of the vehicle are acquired;

[0027] Feature identification images at the plurality of coordinates are collected by a preset image collection method as the scene images.

[0028] In the example embodiments of the present application, the target area can include an underground parking lot, and the landmark object includes a downhill section into the underground parking lot.

[0029] The confirming that the current vehicle passes the landmark object when the state change information meets a preset requirement can include:

[0030] When the inclination angle of the vehicle body is detected to be greater than or equal to a preset angle threshold and is maintained for at least a first preset time length, it is determined that the vehicle is passing the downhill section into the underground parking lot.

[0031] The example embodiments of the present application also provide a memory parking implementation device, which can include a camera, a positioning device, a vehicle state detection device, a first processor, and a first computer readable storage medium, wherein the first computer readable storage medium stores a first instruction, and when the first instruction is executed by the first processor, the memory parking implementation method is implemented.

[0032] In the example embodiments of the present application, the positioning device can include a real-time kinematic (RTK) module.

[0033] The vehicle state detection device can include an inertial measurement unit (IMU) module.

[0034] The example embodiments of the present application also provide a parking method, which can include:

[0035] According to the positioning information, it is determined whether the vehicle reaches an entrance of the target area.

[0036] When it is determined that the entrance of the target area is reached, it is detected whether the vehicle passes a landmark object that is pre-calibrated.

[0037] When the vehicle passes the landmark object, a memory parking function is started.

[0038] A route map acquired according to the memory parking implementation method is displayed on a preset parking human-computer interface as a recommended driving map.

[0039] Memory parking according to the selected route map.

[0040] In the example embodiment of the present application, the method can further include: saving the driving route and the corresponding route map of the parking process to record the satisfied parking route of the driver after the end of the parking process.

[0041] The embodiment of the present application also provides a parking device, which can include: a second processor and a second computer readable storage medium, wherein the second computer readable storage medium stores a second instruction, and when the second instruction is executed by the second processor, the parking method is realized.

[0042] Compared with the related art, the embodiment of the present application can include: counting the number of times of entering the same target area; when the number of times reaches a preset number threshold, counting the number of times of entering the same target area within a preset time period according to the landmark object; when the number of times reaches a preset first number threshold, calling and classifying the saved route map corresponding to the driving route of the vehicle each time in the target area; and classifying the obtained route map, and taking the classified route map meeting the preset condition as a recommended driving map for subsequent parking in the target area. Through the embodiment scheme, it can be determined whether a region needs to be memory parked, and a memory parking route is automatically recommended, thereby reducing the user operation amount, improving the convenience of memory parking, and improving the user experience. Other features and advantages of the present application will be described in the following description, and some of them will become apparent from the description, or will be understood by implementing the present application. Other advantages of the present application can be achieved and obtained by the schemes described in the specification and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings are used to provide an understanding of the technical schemes of the present application, and constitute a part of the specification, and together with the embodiments of the present application, are used to explain the technical schemes of the present application, and do not constitute a limitation on the technical schemes of the present application.

[0044] Figure 1 The memory parking implementation method flowchart of the embodiment of the present application;

[0045] Figure 2 The memory parking implementation method schematic diagram of the embodiment of the present application;

[0046] Figure 3 The memory parking implementation device block diagram of the embodiment of the present application;

[0047] Figure 4 The parking method flowchart of the embodiment of the present application;

[0048] Figure 5A block diagram of a parking device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0049] The present application describes a number of embodiments, but the description is exemplary rather than limiting and it will be apparent to those of ordinary skill in the art that numerous more embodiments and implementations are possible within the scope of the embodiments described in the present application. Although a number of possible combinations of features have been set forth in the accompanying figures and discussed above, many other combinations will be possible. Unless specifically intended for limitation of an embodiment, any feature or element of any embodiment can be used in combination with any other feature or element of any other embodiment, or can replace any other feature or element of any other embodiment.

[0050] The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements disclosed in the present application can also be combined with any conventional features or elements to form a unique application defined by the claims. Any feature or element of any embodiment can also be combined with features or elements from other application to form another unique application defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in the present application can be implemented alone or in any appropriate combination. Accordingly, the embodiments are not to be restricted, except as by the appended claims and their equivalents. Furthermore, various modifications and changes can be made within the scope of the appended claims.

[0051] Furthermore, in describing representative embodiments, the specification can have presented the method and / or process as a particular sequence of steps. However, to the extent that the method or process depends on more than one step, the method or process should not be limited to the particular sequence of steps described. Other sequences of steps can be possible, and are within the scope of the embodiments. Therefore, the particular order in which the steps are presented in the specification is not an implied limitation on the embodiments. Additionally, the specification has presented steps in a particular order of presentation in the claims to provide a specific support for the claims. But the sequence of steps presented in the claims is not necessarily intended to portray a required order of execution, unless specifically recited by the claims. One of ordinary skill in the art would be readily able to alter the order and / or combination of certain steps without departing from the spirit and scope of the embodiments.

[0052] The embodiments of the present application provide a memory parking implementation method, as shown in Figure 1 , Figure 2 The method can include steps S101-S103:

[0053] S101, according to the landmark object statistics, set the number of times of entering the same target area within a time length;

[0054] S102, when the number of times reaches a preset first number threshold, call and classify the route map corresponding to the driving route of the vehicle each time the vehicle parks in the target area;

[0055] S103, taking the route map after classification and meeting the preset condition as a recommended driving map for subsequent parking in the target area.

[0056] In the exemplary embodiments of the present application, the target area can refer to an area where the vehicle frequently enters and parks, for example, can include but is not limited to a residential community parking lot, an office area parking lot, an entertainment and leisure site parking lot, etc., and the above parking lots can include but are not limited to an above-ground parking lot and an underground parking lot.

[0057] In the exemplary embodiments of the present application, the set time length and the first number threshold can be defined by different application scenarios, for example, can be 5-10 times a week or 30-35 times a month. According to the number threshold, it can be determined whether the target area is a commonly used parking area.

[0058] In the exemplary embodiments of the present application, in order to improve the convenience of statistics, the number of times of entering the target area can be directly counted according to the number of times of reaching the entrance of the target area positioned by the positioning device on the vehicle. For example: determining whether the vehicle reaches the entrance of the target area according to the positioning information; when it is determined that the entrance of the target area is reached, the number of times of entering the target area is counted once after the vehicle enters the target area through the entrance.

[0059] In the exemplary embodiments of the present application, in order to improve the accuracy of judgment, the number of times of entering the target area can be counted when the vehicle enters the target area and passes through a certain landmark object in the target area.

[0060] In the exemplary embodiments of the present application, the number of times of entering the same target area within the set time length according to the landmark object can include:

[0061] determining whether the vehicle reaches the entrance of the target area according to the positioning information;

[0062] when it is determined that the entrance of the target area is reached, acquiring a scene image in front of the vehicle after the vehicle enters the target area through the entrance, and extracting the landmark object from the scene image, and / or acquiring state change information of the vehicle, and confirming that the current vehicle passes through the landmark object when the state change information meets the preset requirement; and / or positioning the vehicle position according to the set positioning method during the vehicle driving, and confirming that the current vehicle passes through the landmark object when the positioned vehicle position meets the preset vehicle position;

[0063] When the vehicle confirms passing the landmark object each time, the number of times of entering the target area is counted once.

[0064] In the example embodiments of the present application, any positioning technology currently available can be employed to position the vehicle, including but not limited to satellite positioning, base station positioning, radar positioning, millimeter wave positioning, etc.

[0065] In the example embodiments of the present application, for example, the selected positioning device can include a real-time dynamic (RTK) module, and the parking lot entrance can be positioned by the RTK module when the vehicle reaches the vicinity of the parking lot.

[0066] In the example embodiments of the present application, a camera on board the vehicle can be employed to obtain the scene image in front of the vehicle, for example, which can include but is not limited to a camera arranged at the front end of the vehicle, a vehicle event data recorder, etc.

[0067] In the example embodiments of the present application, any vehicle state detection technology currently available can be employed to detect the vehicle state, for example, which can include but is not limited to sensors arranged on one or more components of the vehicle, such as acceleration sensors, speed sensors, angle sensors, gyroscopes, etc., and an integrated vehicle state detection device can also be directly employed.

[0068] In the example embodiments of the present application, the vehicle state detection device can include an inertial measurement unit (IMU) module, and the IMU module can be employed to determine whether the vehicle enters a downhill section.

[0069] In the example embodiments of the present application, when the target area includes an underground parking lot, the landmark object can include a downhill section for entering the underground parking lot.

[0070] The confirmation of the current vehicle passing the landmark object when the state change information meets the preset requirement can include:

[0071] When the inclination angle of the vehicle body is detected to be greater than or equal to a preset angle threshold and is maintained for at least a first preset time length, it is determined that the vehicle is passing the downhill section for entering the underground parking lot.

[0072] In the example embodiments of the present application, the angle threshold can be defined according to the specific inclination angle of the downhill section of the underground parking lot, and here the specific numerical value is not limited.

[0073] In the example embodiments of the present application, when the target area includes an aboveground parking lot, the landmark object can include a gate facility for entering the aboveground parking lot.

[0074] The extraction of the landmark object from the scene image can include:

[0075] When the vehicle reaches the entrance of the ground parking lot, a camera at the front end of the vehicle captures a scene image, and a feature image is extracted from the scene image, and the feature image is compared with the gate facility image of the ground parking lot, and when the comparison result is that the feature image matches the gate facility image of the ground parking lot, it is determined that the vehicle is passing through the gate facility of the ground parking lot.

[0076] In the example embodiment of the present application, considering that there is no area directly taking the public area as a parking lot, therefore, the community gate, the park gate and the like can be directly taken as the landmark object.

[0077] In the example embodiment of the present application, the calling and classifying of the saved route map corresponding to the driving route of the vehicle each time in the target area includes:

[0078] The multiple route maps passing through one or more same locations in all the called route maps are classified into the same kind of route map.

[0079] The route map after the classification and meeting the preset condition is taken as the recommended driving map for subsequent parking in the target area, which can include:

[0080] The use frequency of each kind of route map after the classification is counted.

[0081] It is detected whether the use frequency of each kind of route map in a preset time length is greater than or equal to a preset second frequency threshold.

[0082] Any one or more kinds of route maps with the use frequency greater than or equal to the second frequency threshold are taken as the recommended driving map.

[0083] In the example embodiment of the present application, the preset time length and the second frequency threshold can be defined by itself according to different application scenarios, for example, it can be 5-10 times a week or 30-35 times a month. According to the second frequency threshold, it can be determined which route map corresponds to the route frequently traveled by the user.

[0084] In the example embodiments of the present application, the frequently traveled route map can be one or more, and when the vehicle enters the target area again next time and passes the set landmark object, the classified common route map can be automatically recommended to the memory parking system, if the common route map is one, the memory parking system can be directly recommended with the one common route map as the only recommended route map, and the memory parking system can perform memory parking according to the route map; if the common route map is multiple, the memory parking system can be directly recommended with the multiple common route maps as the recommended route maps, or the memory parking system can be recommended with the top several common route maps in the ranking of usage frequency as the recommended route maps, and the recommended route maps can be displayed on the parking interaction interface for the user to select, and the memory parking system can perform memory parking according to the selected route map.

[0085] In the example embodiments of the present application, the vehicle body control module can be controlled according to the route map during the memory parking process, so as to realize the memory parking of the vehicle according to the route map.

[0086] In the example embodiments of the present application, before the memory parking, the association system signal can be acquired, for example, the connection with the parking space management system of the parking lot is established, so as to acquire the information (for example, coordinate information) of the target parking space, so as to create the route map between the parking lot entrance and the target parking space.

[0087] In the example embodiments of the present application, the method can further include:

[0088] When the usage frequency of any one of the route maps is less than the second number threshold, the route map recommendation is not performed for the current parking process, and the driving route of the current parking process is saved, and the route map corresponding to the driving route is created.

[0089] In the example embodiments of the present application, if the usage frequency of each of the route maps is less than the second number threshold, it indicates that the user has not formed a preferred route at present, so the route maps can not be recommended to the user, and the driving route currently selected by the user can be recorded, and the route map corresponding to the driving route is created, so as to further accumulate the route maps traveled by the user.

[0090] In the example embodiments of the present application, the creation of the route map corresponding to the driving route can include:

[0091] When the vehicle passes the landmark object at the entrance of the target area for the first time, the scene image between the current position and the parking space is collected;

[0092] According to the scene image, a route map of the driving route is established.

[0093] In the exemplary embodiments of the present application, after the vehicle reaches the vicinity of the parking lot, the entrance of the parking lot can be located by the RTK module, and after the vehicle goes down the slope, the road feature mark and the spatial three-dimensional feature of the parking lot can be judged by the IMU high-precision inertial navigation combined with the vehicle camera to create a route map, and the route driven by the user can be saved.

[0094] In the exemplary embodiments of the present application, when the vehicle first passes through the downhill section of the underground parking lot, the scene image between the current position and the parking space can be collected according to the preset collection period.

[0095] In the exemplary embodiments of the present application, the start of collecting the scene image between the current position and the parking space can include:

[0096] The vehicle is positioned in real time by a preset positioning method to obtain a plurality of coordinates on the driving route of the vehicle;

[0097] The feature mark image at the plurality of coordinates is collected by a preset image collection method as the scene image.

[0098] In the exemplary embodiments of the present application, the vehicle can be positioned by the RTK module, the coordinates in the driving process of the vehicle are obtained, and the periodically collected feature mark image and the corresponding coordinates are stored correspondingly.

[0099] In the exemplary embodiments of the present application, the feature mark image can include but is not limited to direction icons, turns, billboards, special buildings, area labels, etc. in the driving process.

[0100] In the exemplary embodiments of the present application, according to the scene image, a route map of the driving route can include: drawing a trajectory route of the vehicle driving process according to the located coordinates, and marking one or more feature mark images on the trajectory route, thereby forming the route map.

[0101] In the exemplary embodiments of the present application, according to the scene image, a route map of the driving route can also include: establishing a virtual scene model of the route according to the located coordinates and the feature mark image, the virtual scene model is used to simulate and restore the real scene of the route currently walked by the vehicle, and the route walked by the vehicle can be marked in the virtual scene model as the route map.

[0102] The present application also provides a memory parking implementation device 1, which comprises a vehicle 2, a camera 3, an RTK module 4, an IMU module 5, a storage device 6 and a processor 7. Figure 3As shown, the device can include: a camera 11, a positioning device 12, a vehicle state detection device 13, a radar sensor 14, a first processor 15, and a first computer readable storage medium 16, wherein the first computer readable storage medium 16 stores a first instruction, and when the first instruction is executed by the first processor 15, the memory parking implementation method is realized.

[0103] In the example embodiment of the present application, the positioning device can include: a real-time dynamic RTK module.

[0104] The vehicle state detection device can include: an inertial measurement unit IMU module.

[0105] In the example embodiment of the present application, any of the aforementioned memory parking implementation method embodiments can be applied to the memory parking implementation device 3, and here will not be repeated.

[0106] The example embodiment of the present application also provides a parking method, as shown in the following. Figure 4 As shown, the method can include steps S201-S205:

[0107] S201, determining whether the vehicle reaches the entrance of the target area according to the positioning information;

[0108] S202, when it is determined that the entrance of the target area is reached, detecting whether the vehicle passes through a pre-marked landmark object;

[0109] S203, when the vehicle passes through the landmark object, starting the memory parking function;

[0110] S204, displaying the route map obtained according to the memory parking implementation method as a recommended driving map on a preset parking human-computer interface;

[0111] S205, performing memory parking according to the selected route map.

[0112] In the example embodiment of the present application, the method can further include: after the memory parking process is completed, saving the driving route of the current memory parking process again, and obtaining the route map corresponding to the driving route, to record the parking route that the driver is satisfied with.

[0113] The example embodiment of the present application also provides a parking device 2, as shown in the following. Figure 5 As shown, the device can include: a second processor 21 and a second computer readable storage medium 22, wherein the second computer readable storage medium 22 stores a second instruction, and when the second instruction is executed by the second processor 21, the parking method is realized.

[0114] In the exemplary embodiments of the present application, any of the aforementioned parking method embodiments can be applied to the parking apparatus 2, and thus will not be described again here.

[0115] Those of ordinary skill in the art will appreciate that all or certain steps in the methods disclosed above, and the functional modules / units in the systems and apparatuses, can be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units referred to in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Certain components or all components can be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on computer-readable media, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those of ordinary skill in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and that can be accessed by a computer. Furthermore, it will be appreciated by those of ordinary skill in the art that communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

Claims

1. A memory parking implementation method, characterized in that, The method comprises: According to the landmark object, the number of times of entering the same target area within a set time period is counted; the target area comprises an underground parking lot; the landmark object comprises an inclined road section for entering the underground parking lot; When the number of times reaches a preset first number threshold, the saved route map corresponding to the driving route of the vehicle each time when parking in the target area is called and classified; The route map that meets the preset condition after classification is used as a recommended driving map for subsequent parking in the target area; The number of times of entering the same target area within a set time period according to the landmark object comprises: According to the positioning information, it is determined whether the vehicle reaches the entrance of the target area; When it is determined that the entrance of the target area is reached, it is determined whether the current vehicle passes through the landmark object; When it is determined that the current vehicle passes through the landmark object, the number of times of entering the target area is increased by one; The determination of whether the current vehicle passes through the landmark object comprises: Obtaining state change information of the vehicle; When the state change information meets the preset requirement, it is determined that the current vehicle passes through the landmark object, comprising: when the inclination angle of the vehicle body is greater than or equal to a preset angle threshold and is maintained for at least a first preset time period, it is determined that the vehicle is passing through the inclined road section for entering the underground parking lot.

2. The memory parking implementation method according to claim 1, characterized in that, The determination of whether the current vehicle passes through the landmark object further comprises: Obtaining a scene image in front of the vehicle, and when the landmark object is extracted from the scene image, it is determined that the current vehicle passes through the landmark object, and / or, according to a set positioning method, the position of the vehicle is positioned during the driving of the vehicle, and when the positioned position of the vehicle meets a preset vehicle position, it is determined that the current vehicle passes through the landmark object.

3. The memory parking implementation method according to claim 1, wherein, The calling and classification of the saved route map corresponding to the driving route of the vehicle each time when parking in the target area comprises: Classifying a plurality of route maps that pass through one or more same locations in all the called route maps into the same route map.

4. The memory parking implementation method according to claim 3, characterized in that, The route map that meets the preset condition after classification is used as a recommended driving map for subsequent parking in the target area, comprising: Counting the number of times of use of each kind of route map after classification; Detecting whether the number of times of use of each kind of route map within a preset time period is greater than or equal to a preset second number threshold; Any one or more kinds of route maps with the number of times of use greater than or equal to the second number threshold are used as the recommended driving map.

5. The memory parking implementation method according to claim 4, characterized in that, The method further comprises: When the number of times of use of any one kind of route map is less than the second number threshold, no route map recommendation is made for the current parking process, and the driving route of the current parking process is saved to create a route map corresponding to the driving route.

6. The memory parking implementation method according to claim 5, characterized in that, The creation of the route map corresponding to the driving route comprises: When the vehicle passes through the landmark object at the entrance of the target area, scene images between the current position and the parking space are started to be collected; According to the scene images, the route map of the driving route is established.

7. The memory parking implementation method according to claim 6, characterized in that, The start of collecting the scene images between the current position and the parking space comprises: The vehicle is positioned in real time by a preset positioning method to obtain a plurality of coordinates on a driving route of the vehicle; A feature identification image at the plurality of coordinates is collected by a preset image collection method as the scene image.

8. A memory parking implementing apparatus characterized by comprising: The device comprises a camera, a positioning device, a vehicle state detection device, a first processor and a first computer readable storage medium, and the first computer readable storage medium stores a first instruction which, when executed by the first processor, implements the memory parking implementation method of any one of claims 1-7.

9. A parking method characterized by, The method comprises: determining whether the vehicle reaches an entrance of the target area according to the positioning information; detecting whether the vehicle passes a pre-labeled landmark object when it is determined that the vehicle reaches the entrance of the target area; starting the memory parking function when the vehicle passes the landmark object; displaying the route map obtained by the memory parking implementation method of any one of claims 1-7 as a recommended driving map on a preset parking human-computer interface; performing memory parking according to the selected route map.

10. The parking method according to claim 9, characterized by, The method further comprises saving the driving route and the corresponding route map of the parking process to record the satisfactory parking route of the driver after the parking process is completed.

11. A parking device, characterized in that The device comprises a second processor and a second computer readable storage medium, and the second computer readable storage medium stores a second instruction which, when executed by the second processor, implements the parking method of claim 9 or 10.

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