A memory parking method and device, electronic equipment and storage medium

Abstract

The application discloses a memory parking method and device, electronic equipment and a storage medium, and relates to the technical field of intelligent driving. In the application, in response to memory parking of a vehicle, the position range of each original parking space in the parking environment where the vehicle is located is acquired, and the initial coordinate position of the vehicle is acquired. Further, when it is determined that none of the coordinate position sets corresponding to each position range contains the initial coordinate position, the vehicle is driven until there is a target parking space that meets a preset parking condition within a parking space search range set for the vehicle. Finally, the target parking space is selected from at least one original parking space in the parking space search range, and a corresponding vehicle parking-in route is generated based on the current coordinate position of the vehicle and the target parking space. In this way, the technical drawbacks that learning and memory of a parking space can be achieved only after the vehicle is parked in and out of the parking space in the prior art are avoided, and the efficiency of memory parking is improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a memory parking method, device, electronic device and storage medium. Background Technology

[0002] With the rapid development of the field of autonomous driving, memory parking technology is also being used more and more widely. Among them, memory parking is a valet parking function that can drive automatically along a fixed route.

[0003] Specifically, in order to achieve memory parking, the relevant technology allows the vehicle to travel along the desired parking route. During the process of driving into the parking space, various sensors such as radar and cameras deployed around the vehicle collect real-time data on the surrounding environment and generate a parking map for Simultaneous Localization and Mapping (SLAM).

[0004] Furthermore, based on the obtained parking map, vehicles are parked in and out of parking spaces that meet the parking conditions, thereby learning and memorizing the parking spaces.

[0005] Obviously, the memory parking method described above requires a lot of time to learn and remember the parking space, as the vehicle can only be parked in and out of the corresponding parking space. This reduces the efficiency of memory parking.

[0006] Therefore, the efficiency of memory parking is relatively low when using the above method. Summary of the Invention

[0007] This application provides a memory parking method, apparatus, electronic device, and storage medium to improve the efficiency of memory parking.

[0008] In a first aspect, embodiments of this application provide a memory parking method, the method comprising:

[0009] In response to the vehicle's memory parking, obtain the location range of each original parking space in the parking environment where the vehicle is located, as well as obtain the vehicle's initial coordinate position.

[0010] When the set of coordinate positions corresponding to each location range does not include the initial coordinate position, drive the vehicle until there is a target parking space that meets the preset parking conditions within the parking space search range set for the vehicle.

[0011] From at least one original parking space within the parking space search range, select the target parking space and generate the corresponding parking route based on the vehicle's current coordinates and the target parking space.

[0012] Secondly, embodiments of this application also provide a memory parking device, the device comprising:

[0013] The acquisition module is used to respond to the vehicle's memory parking by acquiring the position range of each original parking space in the parking environment where the vehicle is located, as well as the initial coordinate position of the vehicle.

[0014] The search module is used to drive the vehicle until a target parking space that meets the preset parking conditions is found within the parking space search range set for the vehicle, when the set of coordinate positions corresponding to each location range does not include the initial coordinate position.

[0015] The generation module is used to filter out target parking spaces from at least one original parking space within the parking space search range, and generate corresponding vehicle parking routes based on the vehicle's current coordinates and the target parking space.

[0016] In one possible embodiment, when filtering for a target parking space from at least one original parking space within the parking space search range, the search module is specifically used for:

[0017] Receive a parking space selection request sent by the target terminal, and obtain the identification information of the target parking space from the parking space selection request;

[0018] From at least one original parking space, select the target parking space that matches the identification information.

[0019] In one possible embodiment, after filtering out the target parking space from at least one original parking space within the parking space search range, the generation module is further configured to:

[0020] Receive the target terminal's coordinates indicating the location of the vehicle departing from its destination;

[0021] Based on the target parking space and the target coordinates of the vehicle leaving the destination, a corresponding vehicle exit route is generated.

[0022] In one possible embodiment, after generating a corresponding vehicle parking route based on the vehicle's current coordinates and the target parking space, the search module is further configured to:

[0023] If a parking instruction is received from the target terminal, the vehicle will be parked in the target parking space based on the vehicle parking route.

[0024] If the parking instruction from the target terminal is not successfully received, the vehicle will not be parked in the target parking space.

[0025] In one possible embodiment, the generation module is further configured to:

[0026] If there exists a set of coordinate positions that includes the initial coordinate position in the set of coordinate positions corresponding to each location range, then drive the vehicle away from the original parking space corresponding to the set of coordinate positions that includes the initial coordinate position.

[0027] When the vehicle's travel distance is determined to reach a preset travel distance threshold, the vehicle is braked to bring it to a standstill. Once the vehicle is determined to be at a standstill, the target terminal sends the target coordinates of the vehicle's departure from its destination.

[0028] Based on the original parking space and the target coordinates of the vehicle leaving the destination, a corresponding vehicle exit route is generated.

[0029] Thirdly, an electronic device is proposed, comprising a processor and a memory, wherein the memory stores program code that, when executed by the processor, causes the processor to perform the steps of the memory parking method described in the first aspect.

[0030] Fourthly, a computer-readable storage medium is proposed, comprising program code that, when executed on an electronic device, causes the electronic device to perform the steps of the memory parking method described in the first aspect.

[0031] Fifthly, a computer program product is provided, which, when invoked by a computer, causes the computer to execute the memory parking method steps as described in the first aspect.

[0032] The beneficial effects of this application are as follows:

[0033] In the memory parking method provided in this application embodiment, in response to the vehicle's memory parking, the location range of each original parking space in the parking environment where the vehicle is located is obtained, as well as the initial coordinate position of the vehicle; further, when it is determined that the coordinate position set corresponding to each location range does not include the initial coordinate position, the vehicle is driven until there is a target parking space that meets the preset parking conditions within the parking space search range set for the vehicle; finally, the target parking space is selected from at least one original parking space within the parking space search range, and a corresponding vehicle parking route is generated based on the vehicle's current coordinate position and the target parking space.

[0034] This method determines the set of coordinate positions corresponding to each location range. When none of these sets include the initial coordinate position, the vehicle is driven until a target parking space that meets the preset parking conditions is found within the parking space search range set for the vehicle. Then, the target parking space is selected from at least one original parking space within the parking space search range. Based on the vehicle's current coordinate position and the target parking space, a corresponding parking route is generated. This avoids the technical drawback of existing technologies, which require the vehicle to be parked in and out of the corresponding parking space before it can learn and remember the parking space. Therefore, it improves the efficiency of memory parking.

[0035] Furthermore, other features and advantages of this application will be set forth in the following description and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0037] Figure 1 An exemplary schematic diagram illustrates an optional application scenario applicable to an embodiment of this application;

[0038] Figure 2 An exemplary schematic diagram of a memory parking system provided in an embodiment of this application is shown;

[0039] Figure 3 An exemplary flowchart of a memory parking method provided in an embodiment of this application is shown;

[0040] Figure 4 An exemplary illustration shows a specific application scenario diagram of location information acquisition provided by an embodiment of this application;

[0041] Figure 5 An exemplary illustration shows a specific application scenario of controlling vehicle stopping based on a target parking space, provided by an embodiment of this application.

[0042] Figure 6 An exemplary illustration shows a specific application scenario diagram of generating vehicle parking routes provided by an embodiment of this application;

[0043] Figure 7An exemplary illustration shows a specific application scenario diagram of generating vehicle parking routes provided by an embodiment of this application;

[0044] Figure 8 An exemplary schematic diagram illustrates a method for generating vehicle parking exit routes provided in an embodiment of this application;

[0045] Figure 9 An exemplary illustration shows a flowchart of a memory parking method based on parking space search provided in an embodiment of this application;

[0046] Figure 10 An exemplary schematic diagram of a memory parking device provided in an embodiment of this application is shown;

[0047] Figure 11 An exemplary schematic diagram of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this application. Obviously, the described embodiments are only some embodiments of the technical solutions of this application, and not all embodiments. Based on the embodiments recorded in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the technical solutions of this application.

[0049] It should be noted that in the description of this application, "multiple" is understood as "at least two". "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. A connected to B can represent: A and B directly connected, or A and B connected through C. Furthermore, in the description of this application, terms such as "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or order.

[0050] First, the design concept of the embodiments of this application will be briefly introduced below:

[0051] Currently, memory parking, as the most advanced parking function, is widely used in valet parking. However, in existing technologies, different parking space learning strategies can only learn and remember the parking space after the vehicle has been parked in and out of the corresponding parking space. This will result in a lot of time being spent, thus reducing the efficiency of memory parking.

[0052] For example, in an indoor parking lot, to learn how to park each parking space, vehicles need to be parked in and out of each space one by one. Therefore, learning a large number of parking spaces in an indoor parking lot requires a lot of time, reducing the efficiency of memorizing parking spaces.

[0053] In view of this, in order to improve the efficiency of memory parking, this application proposes a memory parking method, which specifically includes: in response to the vehicle's memory parking, obtaining the position range of each original parking space in the parking environment where the vehicle is located, and obtaining the initial coordinate position of the vehicle; further, when it is determined that the coordinate position set corresponding to each position range does not include the initial coordinate position, driving the vehicle until there is a target parking space that meets the preset parking conditions within the parking space search range set for the vehicle; finally, selecting the target parking space from at least one original parking space within the parking space search range, and generating a corresponding vehicle parking route based on the vehicle's current coordinate position and the target parking space.

[0054] In particular, the preferred embodiments of this application will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application. Furthermore, the embodiments of this application and the features in the embodiments can be combined with each other without conflict.

[0055] See Figure 1 The diagram shown is an optional application scenario provided by an embodiment of this application. The application scenario includes a target terminal 101, a server 102, and a vehicle 103. The target terminal 101 and the server 102, and the vehicle 103 and the server 102 can interact with each other through a communication network. The communication network can use wireless communication and wired communication methods.

[0056] For example, server 102 can access the network via cellular mobile communication technology to communicate with target terminal 101 and vehicle 103, wherein the cellular mobile communication technology includes 5th generation mobile network (5G) technology.

[0057] Optionally, server 102 can access the network via short-range wireless communication to communicate with target terminal 101 and vehicle 103, wherein the short-range wireless communication method includes Wireless Fidelity (Wi-Fi) technology.

[0058] It is understood that in actual situations, the number of intelligent driving vehicles and servers included in the above application scenarios can be any specified number. This application does not impose any restrictions on this. For ease of understanding, this application embodiment only uses the target terminal 101, server 102 and vehicle 103 as examples for description. The following is a brief introduction to each of the above devices and their respective functions.

[0059] The target terminal 101 is a device that can provide users with voice and / or data connectivity, including: handheld terminal devices with wireless connectivity, vehicle-mounted terminal devices, etc.

[0060] For example, the target terminal 101 includes, but is not limited to: mobile phones, tablets, laptops, handheld computers, mobile internet devices, wearable devices, virtual reality devices, augmented reality devices, wireless terminal devices in industrial control, wireless terminal devices in autonomous driving, wireless terminal devices in smart grids, wireless terminal devices in transportation safety, wireless terminal devices in smart cities, or wireless terminal devices in smart homes, etc.

[0061] Furthermore, the target terminal 101 may have a related client installed. This client can be software (e.g., an application, browser, short video software, etc.), or a webpage, mini-program, etc. In this embodiment, the target terminal 101 can send a parking space selection request, the target coordinates of the departure destination, and a parking instruction to the server 102.

[0062] Server 102 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0063] It is worth mentioning that, in this embodiment of the application, the server 102 is used to respond to the vehicle's memory parking by obtaining the location range of each original parking space in the parking environment where the vehicle is located, and obtaining the initial coordinate position of the vehicle; further, when it is determined that the coordinate position set corresponding to each location range does not include the initial coordinate position, the vehicle is driven until there is a target parking space that meets the preset parking conditions within the parking space search range set for the vehicle; finally, the target parking space is selected from at least one original parking space within the parking space search range, and a corresponding vehicle parking route is generated based on the vehicle's current coordinate position and the target parking space.

[0064] Vehicle 103 is any drivable vehicle with intelligent driving mode; optional, see [link / reference]. Figure 2 As shown, the vehicle 103 may be equipped with a memory parking system 20, which may specifically include: a perception sensor 201, a parking controller 202, a high-precision positioning module 203, a related system signal module 204, and a body control module 205.

[0065] The memory parking method provided by the exemplary embodiments of this application will be described below in conjunction with the above system architecture and with reference to the accompanying drawings. It should be noted that the above system architecture is only shown for the purpose of understanding the spirit and principles of this application, and the embodiments of this application are not limited in any way.

[0066] See Figure 3 The diagram shown is a flowchart of a memory parking method provided in this application embodiment. Taking the server as the executing entity as an example, the specific implementation process of this method is as follows:

[0067] S301: In response to the vehicle's memory parking, obtain the position range of each original parking space in the parking environment where the vehicle is located, and obtain the vehicle's initial coordinate position.

[0068] Specifically, when executing step S301, when the vehicle is at the starting position of memory parking, the memory parking system of the vehicle can control the vehicle to enter the memory parking state. For example, when the vehicle is at the entrance of the parking lot, the memory parking system can instruct the vehicle to enter the memory parking state.

[0069] For example, the user can also manually instruct the vehicle to enter the memory parking space, for instance, through an in-vehicle display screen, a terminal client, or an in-vehicle remote control.

[0070] Optionally, when the vehicle cruises to a designated parking location, if the parking location does not meet the preset parking conditions, the vehicle's current location can be used as the starting location for the memory parking system, so that the memory parking system instructs the vehicle to enter the memory parking space at that starting location.

[0071] Furthermore, in response to the vehicle's memory parking, the server obtains the positional status information of each target in the parking environment where the vehicle is located. Specifically, the aforementioned targets can be any obstacle in the parking environment, such as people, vehicles, animals, etc., or the original parking spaces. In this embodiment, for each target in the environment, the positional status information of each target can be obtained through the perception sensors mounted on the vehicle and / or the environmental sensors configured in the parking environment.

[0072] See Figure 4As shown, the server can accurately obtain the location status information of each original parking space in the parking environment where the vehicle is located, such as the location range of each original parking space; in addition, it can also obtain the vehicle's starting position (i.e., initial coordinate position) through the high-precision positioning module equipped on the vehicle.

[0073] S302: When the set of coordinate positions corresponding to each location range does not include the initial coordinate position, drive the vehicle until there is a target parking space that meets the preset parking conditions within the parking space search range set for the vehicle.

[0074] Specifically, when executing step S302, after the server obtains the location range of each original parking space and the initial coordinate position of the vehicle, it can determine whether the vehicle is in each original parking space. If it is determined that none of the coordinate positions contain the initial coordinate position, the vehicle can be driven forward to search for the surrounding original parking spaces in real time until it is determined that there is a target parking space that meets the preset parking conditions within the parking space search range set by the vehicle.

[0075] For example, see Figure 5 As shown, when the server determines that none of the sets of coordinate positions include the initial coordinate position, it drives the vehicle forward. Based on the vehicle's parking space search range (e.g., with the vehicle as the center and a search radius of 20m) and combined with preset parking conditions, it searches for target parking spaces. Then, when it determines that there is a target parking space within the parking space search range that meets the preset parking conditions, it controls the vehicle to stop.

[0076] Optionally, if a target parking space that meets the preset parking conditions is detected within the parking space search range corresponding to the vehicle's initial coordinate position, then it is not necessary to drive the vehicle forward when all sets of coordinate positions do not include the initial coordinate position.

[0077] S303: Select a target parking space from at least one original parking space within the parking space search range, and generate a corresponding parking route based on the vehicle's current coordinates and the target parking space.

[0078] Specifically, when performing step S303, the server can, based on the parking space selection request received from the target terminal, wherein the parking space selection request contains the identification information of the target parking space, filter out the target parking space that matches the identification information from at least one original parking space within the obtained parking space search range.

[0079] For example, when the server finds a target parking space that meets the preset parking conditions within the parking space search range set by the vehicle, it obtains at least one original parking space. Taking 5 original parking spaces as an example, the original parking spaces and their corresponding identification information are shown in Table 1:

[0080] Table 1

[0081] Original parking space Ori.Park1 Ori.Park2 Ori.Park3 Ori.Park4 Ori.Park5 Identification information A.23 C.14 B.32 A.24 B.29

[0082] Based on the table above, the server determines the target parking space's identifier information as "B.32" from the parking space selection request sent by the target terminal. Then, based on the correspondence between the original parking space and the identifier information, the target parking space can be determined as Ori.Park3. Optionally, the original parking space confirmed as the target parking space can also be recorded as Tar.Park.

[0083] Optionally, the server can also select target parking spaces that meet preset parking conditions from at least one original parking space within the obtained parking space search range, based on the driver's selection based on the correspondence between the original parking spaces and the signage information.

[0084] Further, see Figure 6 As shown, after the server selects the target parking space from at least one original parking space, it can generate a corresponding vehicle parking route based on the current coordinates of the vehicle and the target coordinates of the target parking space, combined with the environmental map of the parking environment. It should be noted that one or more vehicle parking routes can be generated. In this embodiment, there is no limit to the number of vehicle parking routes generated based on the current coordinates of the vehicle and the target parking space.

[0085] In one possible implementation, after the server selects the target parking space from at least one original parking space within the parking space search range, it continues to learn the parking exit route from the target parking space to the pick-up point (i.e., the driving destination).

[0086] For example, see Figure 7 As shown, if the target coordinates of the vehicle leaving the destination are received from the target terminal, it indicates that it is necessary to continue learning the parking route from the target parking space to the pick-up point. Then, the corresponding vehicle parking route can be generated based on the target parking space and the target coordinates of the vehicle leaving the destination. Similarly, in this embodiment, there is no limit to the number of vehicle parking routes generated based on the target parking space and the target coordinates of the vehicle leaving the destination.

[0087] In one possible implementation, see [reference] Figure 8 The diagram shown is a flowchart of a method for generating vehicle parking exit routes according to an embodiment of this application. The specific steps of this method are as follows:

[0088] S801: If there exists a set of coordinate positions that includes the initial coordinate position in the set of coordinate positions corresponding to each position range, then drive the vehicle away from the original parking space corresponding to the set of coordinate positions that includes the initial coordinate position.

[0089] Specifically, during step S801, after the server obtains the location range of each original parking space and the initial coordinate position of the vehicle, it determines whether the vehicle is in each original parking space. If there is a set of coordinate positions that includes the initial coordinate position in the set of coordinate positions corresponding to each location range, the server drives the vehicle away from the original parking space corresponding to the set of coordinate positions that includes the initial coordinate position, thereby learning the parking route from the subsequent parking space to the driving destination.

[0090] S802: When the distance traveled by the vehicle is determined to reach the preset travel distance threshold, the vehicle is braked to bring it to a standstill. When the vehicle is determined to be at a standstill, the target coordinates of the vehicle leaving the destination are received from the target terminal.

[0091] Specifically, during step S802, as the server drives the vehicle away from the original parking space corresponding to the set of coordinates containing the initial coordinate position, it records the vehicle's travel distance in real time and judges the relationship between the vehicle's travel distance and a preset movement distance threshold. When it is determined that the vehicle's travel distance has reached the preset movement distance threshold, the server brakes the vehicle to ensure that the vehicle is in a stopped state. Then, when it is determined that the vehicle is in a stationary state, the server receives the target coordinate position of the vehicle leaving the destination sent by the target terminal.

[0092] For example, suppose the preset movement distance threshold is 1m in a straight line between the vehicle's current position and the corresponding original parking space, denoted as D. Y =1m, therefore, if the real-time recorded distance traveled by the vehicle is D I Once the movement distance threshold D is reached Y If the distance is 1m, the vehicle can be braked to bring it to a standstill. Then, once the vehicle is confirmed to be stationary, the target terminal will send the target coordinates indicating that the vehicle has left its destination.

[0093] S803: Generate the corresponding vehicle exit route based on the original parking space and the target coordinates of the vehicle leaving the destination.

[0094] It should be noted that, in this embodiment of the application, there is no limit to the number of vehicle parking routes generated based on the original parking space and the target coordinates of the departure destination.

[0095] It is easy to see that the memory parking method provided in this application not only eliminates the process of parking for users and solves the problem of parking difficulties, but also allows for the creation of parking and exit routes at once, or separate parking and exit routes, giving users more options.

[0096] Furthermore, after generating the corresponding vehicle parking route, if the server receives a parking instruction from the target terminal, it will park the vehicle in the target parking space based on the parking route, that is, execute the corresponding parking space action; if it does not successfully receive a parking instruction from the target terminal, it will not park the vehicle in the target parking space, that is, it will not execute the corresponding parking space action.

[0097] See Figure 9 The diagram shown is a flowchart of a memory parking method based on parking space search provided in an embodiment of this application. The specific steps of this method are as follows:

[0098] S901: Trigger route creation.

[0099] The route creation is triggered by the user using voice or button input to enable the vehicle's memory parking function.

[0100] S902: Is the vehicle in the parking space? If not, proceed to S903; if yes, proceed to S913.

[0101] The purpose of determining whether a vehicle is in a parking space is to distinguish whether the user wants to create a parking entry route or a parking exit route.

[0102] S903: Has a suitable parking space been found? If yes, proceed to S904; otherwise, the vehicle continues to move forward and execute S903 until a suitable parking space is found.

[0103] Specifically, during step S903, the number of parking space detections is initialized to 0, the driving distance is set to 0, and it is determined whether a suitable parking space can be found. Furthermore, based on the deductive algorithm, patterns and recorded information are continuously cleared. If the vehicle is not in a parking space, it indicates that a parking route needs to be created, and the user is prompted to drive to the parking space to complete route memorization. If the vehicle is in a parking space, it indicates that a parking exit route needs to be created, and the user is prompted to drive to the end point of the parking exit route (i.e., the pick-up point).

[0104] S904: Determine if the vehicle is stationary and there is an available parking space? If yes, proceed to S905; otherwise, proceed to S903, until a suitable parking space is found.

[0105] Specifically, when executing step S904, the user is prompted to "please brake and select a memory parking space", and it is determined whether the vehicle is stationary and there is an available parking space. If the vehicle is stopped and there is an available parking space, it should be noted that the available parking space includes the target parking space.

[0106] S905: Confirm target parking space? If yes, proceed to S906; if no, proceed to S904 until the vehicle is confirmed to be stationary and a parking space is available.

[0107] S906: Determine whether to continue learning the route from the parking space to the pick-up point? If yes, proceed to S907; otherwise, proceed to S909 and S911.

[0108] S907: Determine if the vehicle is stationary. If yes, proceed to S908; otherwise, execute S907 until it is determined that the vehicle is stationary.

[0109] Optionally, when executing S907, the vehicle can be braked to bring it to a standstill after driving to the pick-up point X1 seconds later, as prompted.

[0110] S908: Determine if the pick-up point has been confirmed. If yes, proceed to S909; otherwise, continue executing S907 until the pick-up point is confirmed.

[0111] S909: Determine if the route was successfully generated. If yes, proceed to S910a; otherwise, proceed to S910b.

[0112] S910a: Route generation successful.

[0113] S910b: Route generation failed.

[0114] S911: Should the vehicle be parked in the parking space? If yes, proceed to S912a; if no, proceed to S912b.

[0115] S912a: Perform the parking maneuver.

[0116] S912b: Do not perform the parking space entry action.

[0117] S913: Has the vehicle moved X meters? If yes, proceed to S907; if no, proceed to S902.

[0118] Based on the above method steps, a memory parking solution is provided that does not require parking space entry and has human-machine interface (HMI) interaction logic. By introducing an algorithm for searching parking spaces, the recognition rate of parking spaces is improved, the false recognition rate of parking spaces is reduced, and the anti-interference capability of parking space recognition is increased.

[0119] In summary, in the memory parking method provided in this application embodiment, in response to the vehicle's memory parking, the location range of each original parking space in the parking environment where the vehicle is located is obtained, as well as the initial coordinate position of the vehicle; further, when it is determined that the coordinate position set corresponding to each location range does not include the initial coordinate position, the vehicle is driven until there is a target parking space that meets the preset parking conditions within the parking space search range set for the vehicle; finally, the target parking space is selected from at least one original parking space within the parking space search range, and a corresponding vehicle parking route is generated based on the vehicle's current coordinate position and the target parking space.

[0120] This method determines the set of coordinate positions corresponding to each location range. When none of these sets include the initial coordinate position, the vehicle is driven until a target parking space that meets the preset parking conditions is found within the parking space search range set for the vehicle. Then, the target parking space is selected from at least one original parking space within the parking space search range. Based on the vehicle's current coordinate position and the target parking space, a corresponding parking route is generated. This avoids the technical drawback of existing technologies, which require the vehicle to be parked in and out of the corresponding parking space before it can learn and remember the parking space. Therefore, it improves the efficiency of memory parking.

[0121] Furthermore, based on the same technical concept, this application embodiment also provides a memory parking device, which is used to implement the memory parking method flow described above in this application embodiment. See also... Figure 10 As shown, the memory parking device includes: an acquisition module 1001, a search module 1002, and a generation module 1003, wherein:

[0122] The acquisition module 1001 is used to respond to the vehicle's memory parking by acquiring the position range of each original parking space in the parking environment where the vehicle is located, as well as acquiring the vehicle's initial coordinate position.

[0123] The search module 1002 is used to drive the vehicle until a target parking space that meets the preset parking conditions exists within the parking space search range set for the vehicle when the set of coordinate positions corresponding to each location range does not include the initial coordinate position.

[0124] The generation module 1003 is used to filter out target parking spaces from at least one original parking space within the parking space search range, and generate corresponding vehicle parking routes based on the current coordinates of the vehicle and the target parking space.

[0125] In one possible embodiment, when filtering for a target parking space from at least one original parking space within the parking space search range, the search module 1002 is specifically used for:

[0126] Receive a parking space selection request sent by the target terminal, and obtain the identification information of the target parking space from the parking space selection request;

[0127] From at least one original parking space, select the target parking space that matches the identification information.

[0128] In one possible embodiment, after filtering out the target parking space from at least one original parking space within the parking space search range, the generation module 1003 is further configured to:

[0129] Receive the target terminal's coordinates indicating the location of the vehicle departing from its destination;

[0130] Based on the target parking space and the target coordinates of the vehicle leaving the destination, a corresponding vehicle exit route is generated.

[0131] In one possible embodiment, after generating a corresponding vehicle parking route based on the vehicle's current coordinates and the target parking space, the search module 1002 is further configured to:

[0132] If a parking instruction is received from the target terminal, the vehicle will be parked in the target parking space based on the vehicle parking route.

[0133] If the parking instruction from the target terminal is not successfully received, the vehicle will not be parked in the target parking space.

[0134] In one possible embodiment, the generation module 1003 is further configured to:

[0135] If there exists a set of coordinate positions that includes the initial coordinate position in the set of coordinate positions corresponding to each location range, then drive the vehicle away from the original parking space corresponding to the set of coordinate positions that includes the initial coordinate position.

[0136] When the vehicle's travel distance is determined to reach a preset travel distance threshold, the vehicle is braked to bring it to a standstill. Once the vehicle is determined to be at a standstill, the target terminal sends the target coordinates of the vehicle's departure from its destination.

[0137] Based on the original parking space and the target coordinates of the vehicle leaving the destination, a corresponding vehicle exit route is generated.

[0138] Based on the same technical concept, embodiments of this application also provide an electronic device that can implement the memory parking method flow provided in the above embodiments of this application. In one embodiment, the electronic device may be a server, a terminal device, or other electronic devices. Figure 11 As shown, the electronic device may include:

[0139] At least one processor 1101 and a memory 1102 connected to at least one processor 1101. In this embodiment, the specific connection medium between the processor 1101 and the memory 1102 is not limited. Figure 11 The example shown is the connection between processor 1101 and memory 1102 via bus 1100. Bus 1100 is... Figure 11 The connections between other components are shown in thick lines only and are not intended to be limiting. Bus 1100 can be divided into address bus, data bus, control bus, etc., for ease of representation. Figure 11 The term 1101 is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, the processor 1101 may also be referred to as a controller; there is no restriction on the name.

[0140] In this embodiment, memory 1102 stores instructions executable by at least one processor 1101. By executing the instructions stored in memory 1102, at least one processor 1101 can execute a memory-based parking method described above. Processor 1101 can implement... Figure 10 The functions of each module in the device shown.

[0141] The processor 1101 is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory 1102 and calling data stored in memory 1102, the processor can perform various functions and process data, thereby monitoring the device as a whole.

[0142] In one possible design, processor 1101 may include one or more processing units. Processor 1101 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 1101. In some embodiments, processor 1101 and memory 1102 may be implemented on the same chip; in some embodiments, they may also be implemented on separate chips.

[0143] The processor 1101 can be a general-purpose processor, such as a CPU, digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the memory parking method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0144] Memory 1102, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 1102 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 1102 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 1102 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0145] By designing and programming the processor 1101, the code corresponding to the memory parking method described in the foregoing embodiments can be embedded into the chip, thereby enabling the chip to execute the code during operation. Figure 3 The illustrated embodiment presents the steps of a memory parking method. How to design and program the processor 1101 is a technique well-known to those skilled in the art and will not be described further here.

[0146] Based on the same inventive concept, embodiments of this application also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform a memory parking method described above.

[0147] In some possible implementations, various aspects of the memory parking method provided by this application can also be implemented in the form of a program product, which includes program code that, when the program product is run on a device, causes the control device to perform the steps in a memory parking method according to various exemplary embodiments of this application as described above.

[0148] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying 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, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0149] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0150] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0151] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0152] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A memory parking method characterized by, The method comprises: in response to memory parking of a vehicle, acquiring respective position ranges of each original parking space in a parking environment in which the vehicle is located, and acquiring an initial coordinate position of the vehicle; when it is determined that none of the coordinate position sets corresponding to the respective position ranges contains the initial coordinate position, driving the vehicle until there is a target parking space that meets a preset parking condition within a parking space search range set for the vehicle; from at least one original parking space within the parking space search range, screening out the target parking space, and generating a corresponding vehicle parking-in route based on a current coordinate position of the vehicle and the target parking space; wherein the screening out of the target parking space from the at least one original parking space within the parking space search range comprises: receiving a parking space selection request sent by a target terminal, and acquiring identification information of the target parking space from the parking space selection request; from the at least one original parking space, screening out a target parking space that matches the identification information.

2. The method of claim 1, wherein, After the screening out of the target parking space from the at least one original parking space within the parking space search range, the method further comprises: receiving a target coordinate position of a departure destination sent by the target terminal; generating a corresponding vehicle parking-out route based on the target parking space and the target coordinate position of the departure destination.

3. The method of claim 1 or 2, wherein, After the generation of the corresponding vehicle parking-in route based on the current coordinate position of the vehicle and the target parking space, the method further comprises: if a parking instruction of the target terminal is received, parking the vehicle into the target parking space based on the vehicle parking-in route; if the parking instruction of the target terminal is not successfully received, not parking the vehicle into the target parking space.

4. The method of claim 1, wherein, The method further comprises: if there is a coordinate position set containing the initial coordinate position among the coordinate position sets corresponding to the respective position ranges, driving the vehicle to leave the original parking space corresponding to the coordinate position set containing the initial coordinate position; when it is determined that a driving distance of the vehicle reaches a preset moving distance threshold, braking the vehicle to make the vehicle in a stationary state, and receiving a target coordinate position of a departure destination sent by a target terminal when it is determined that the vehicle is in the stationary state; generating a corresponding vehicle parking-out route based on the original parking space and the target coordinate position of the departure destination.

5. A memory parking device, characterized by The method comprises: an acquisition module, configured to, in response to memory parking of a vehicle, acquire respective position ranges of each original parking space in a parking environment in which the vehicle is located, and acquire an initial coordinate position of the vehicle; a search module, configured to, when it is determined that none of the coordinate position sets corresponding to the respective position ranges contains the initial coordinate position, drive the vehicle until there is a target parking space that meets a preset parking condition within a parking space search range set for the vehicle; a generation module, configured to, from at least one original parking space within the parking space search range, screen out the target parking space, and generate a corresponding vehicle parking-in route based on a current coordinate position of the vehicle and the target parking space. In the filtering out of the target parking space from the at least one original parking space within the parking space search range, the search module is specifically configured to: receive a parking space selection request sent by a target terminal, and acquire identification information of the target parking space from the parking space selection request; filter out a target parking space matching the identification information from the at least one original parking space.

6. The apparatus of claim 5, wherein, After the filtering out of the target parking space from the at least one original parking space within the parking space search range, the generation module is further configured to: receive a target coordinate position of a departure destination sent by a target terminal; generate a corresponding vehicle parking-out route based on the target parking space and the target coordinate position of the departure destination.

7. The apparatus of claim 5 or 6, wherein, After the generation of the corresponding vehicle parking-in route based on the current coordinate position of the vehicle and the target parking space, the search module is further configured to: if a parking instruction of the target terminal is received, park the vehicle into the target parking space based on the vehicle parking-in route; if the parking instruction of the target terminal is not successfully received, do not park the vehicle into the target parking space.

8. The apparatus of claim 5, wherein, The generation module is further configured to: if there is a coordinate position set containing the initial coordinate position in the respective coordinate position set corresponding to each position range, drive the vehicle to leave an original parking space corresponding to the coordinate position set containing the initial coordinate position; when it is determined that a driving distance of the vehicle reaches a preset moving distance threshold, brake the vehicle to make the vehicle in a stationary state, and when it is determined that the vehicle is in the stationary state, receive a target coordinate position of a departure destination sent by a target terminal; generate a corresponding vehicle parking-out route based on the original parking space and the target coordinate position of the departure destination.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The computer program is executed by the processor to implement the method in any one of claims 1-4.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method in any one of claims 1-4.

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