Parking space state marking method, device, equipment and medium

Abstract

The application provides a parking space state marking method, device, equipment and medium, wherein the parking space state marking method comprises the following steps: determining a space parking space; according to the idle length-width-height range of the space parking space and the preset parking space range of a target vehicle, marking the space parking space with the idle length-width-height range greater than or equal to the preset parking space range as a to-be-determined parking space, and marking the parking space state of the space parking space with the idle length-width-height range less than the preset parking space range as an invalid parking space; the parking space state comprises a valid parking space or an invalid parking space; and according to the positioning information of the target vehicle and the current driving environment, the parking space state of the to-be-determined parking space is determined. The application effectively increases the accuracy of the space parking space state judgment, thereby improving the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the parking technical field, and in particular to a parking space state marking method and device, electronic equipment and computer readable storage medium. BACKGROUND

[0002] With the development of China's economy, cars have become the basic means of transportation for socializing. With the development of intelligent networked vehicles and the vigorous promotion of intelligent vehicles by the state, intelligent parking has become a necessary feature of many high-end vehicles and even a standard feature of many vehicles. However, current intelligent parking has many misidentification situations for parking spaces, especially high spatial parking space misidentification situations, but there is no reasonable solution to the problem of spatial parking space misidentification. SUMMARY

[0003] In view of the above-mentioned shortcomings of the prior art, the present application provides a parking space state marking method, device, equipment and medium to solve the above-mentioned technical problems.

[0004] The parking space state marking method provided by the present application comprises:

[0005] determining a spatial parking space;

[0006] According to the idle length-width-height range of the spatial parking space and the preset parking space range of the target vehicle, the spatial parking space with an idle length-width-height range greater than or equal to the preset parking space range is marked as a to-be-determined parking space, and the parking space state of the spatial parking space with an idle length-width-height range smaller than the preset parking space range is marked as an invalid parking space; the parking space state includes a valid parking space or an invalid parking space;

[0007] According to the positioning information of the target vehicle and the current driving environment, the parking space state of the to-be-determined parking space is determined.

[0008] Optionally, determining a spatial parking space comprises:

[0009] obtaining trigger information and positioning information of target vehicle parking;

[0010] According to the trigger information, positioning information, preset sensing range and first preset space range, an idle space greater than or equal to the first preset space range in the preset sensing range is selected as a parking space selection space;

[0011] The parking space selection space is identified, and the type of the parking space selection space is determined according to the identification result, wherein the type includes a painted line parking space or a spatial parking space.

[0012] Optionally, identifying the parking space selection space and determining the type of the parking space selection space according to the identification result comprises:

[0013] If the identification result is that there is no parking space line in the parking space selection space, the parking space selection space is determined as a space parking space.

[0014] If the identification result is that there is a parking space line in the parking space selection space, the parking space selection space is determined as a painted parking space, and the parking space state of the painted parking space is marked as a valid parking space.

[0015] Optionally, the parking space state of the to-be-determined parking space is determined according to the positioning information of the target vehicle and the current driving environment, including:

[0016] According to the positioning information, the position place information of the target vehicle is determined; the position place information at least includes inside or outside of a parking lot;

[0017] If the position place information is inside the parking lot, according to the intersection feature element in the current driving environment, it is determined whether the target vehicle is in the intersection lane of the parking lot, if the target vehicle is in the intersection lane of the parking lot, the parking space state of the to-be-determined parking space is marked as an invalid parking space; if the target vehicle is not in the intersection lane of the parking lot, the parking space state of the to-be-determined parking space is determined according to the type of the parking lot;

[0018] If the position place information is outside the parking lot, the parking space state of the to-be-determined parking space is determined according to the position relationship between the target vehicle and the road in the current driving environment.

[0019] Optionally, the parking space state of the to-be-determined parking space is determined according to the type of the parking lot, including:

[0020] If the type of the parking lot is an underground parking lot, and the type of the obstacle beside the to-be-determined parking space is identified, if the type of the obstacle is a vehicle, the to-be-determined parking space is marked as a valid parking space; if the type of the obstacle is not a vehicle, the to-be-determined parking space is marked as an invalid parking space;

[0021] If the type of the parking lot is a ground parking lot, the parking space state of the to-be-determined parking space is marked as a valid parking space.

[0022] Optionally, if the position place information is outside the parking lot, the parking space state of the to-be-determined parking space is determined according to the position relationship between the target vehicle and the road in the current driving environment, including:

[0023] If the position relationship is that the target vehicle is on the road, the parking space state of the to-be-determined parking space is determined according to the obstacle on the road;

[0024] If the position relationship is that the target vehicle is not on the road, the to-be-determined parking space is marked as a valid parking space.

[0025] Optionally, if the position relationship is that the target vehicle is on the road, the parking space state of the to-be-determined parking space is determined according to the obstacle on the road, and the method comprises the following steps of:

[0026] If the obstacle on the road is a car and is a dynamic obstacle passing through the to-be-determined parking space, the parking space state of the to-be-determined parking space is marked as an invalid state.

[0027] If the obstacle on the road is a car and is a static obstacle, the parking space state of the to-be-determined parking space is marked as a valid state.

[0028] The parking space state marking device provided by the application comprises:

[0029] The space parking space determination module is configured to determine a space parking space.

[0030] The to-be-determined parking space determination module is configured to mark a space parking space with an idle length-width-height range greater than or equal to a preset parking space range as a to-be-determined parking space, and mark the parking space state of a space parking space with an idle length-width-height range less than the preset parking space range as an invalid parking space, wherein the parking space state comprises a valid parking space or an invalid parking space.

[0031] The to-be-determined parking space state marking module is configured to determine the parking space state of the to-be-determined parking space according to the positioning information of the target vehicle and the current driving environment.

[0032] The electronic device provided by the application comprises:

[0033] One or more processors;

[0034] The storage device is configured to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the parking space state marking method.

[0035] The computer readable storage medium provided by the application has a computer program stored thereon, and when the computer program is executed by a processor of a computer, the computer executes the parking space state marking method.

[0036] The application has the beneficial effects that, in the application, in addition to considering the painted parking space, the state of the space parking space is considered, so that the space parking space is marked according to the size of the target vehicle and the current driving environment, the space parking space available for parking of the target vehicle is marked as a valid parking space, and the target vehicle can select the parking space for parking. The application effectively increases the accuracy of the space parking space state judgment, and improves the user experience.

[0037] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application, as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and serve to explain the principles of the application. It is readily apparent to one skilled in the art that the following figures are merely illustrative of some embodiments of the application and that other figures can be obtained from these figures without incurring inventive faculty. In the drawings:

[0039] Figure 1 is a flow chart of a parking space status marking method according to an exemplary embodiment of the application;

[0040] Figure 2 is a flow chart of a parking space status marking method according to an exemplary embodiment of the application;

[0041] Figure 3 is a block diagram of a parking space status marking apparatus according to an exemplary embodiment of the application. DETAILED DESCRIPTION

[0042] Other advantages and novel features of the present application will become apparent from the following detailed description of the application when considered in conjunction with the drawings. The application can be put into practice / embodied in different ways and its

[0043] It is to be understood that the figures and detailed descriptions of the embodiments provided herein are by way of illustration only and nothing contained herein is intended to be dedicated to the public unless the application is indeed so

[0044] In the following description, numerous specific details are discussed in order to provide a thorough understanding of the embodiments of the application. However, those of ordinary skill in the art will realize that the Implementation In other implementations, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the application.

[0045] As Figure 1As shown, in an exemplary embodiment, the parking space state marking method comprises at least steps S110 to S130, which are described in detail as follows:

[0046] Step S110, determining a space parking space.

[0047] It is worth noting that the space parking space is a space position that is not marked as a parking space (already marked as a painted parking space) but can accommodate the target vehicle parking.

[0048] Step S120, according to the idle length, width and height range of the space parking space and the preset parking space range of the target vehicle, marking the space parking space with an idle length, width and height range greater than or equal to the preset parking space range as a to-be-determined parking space, and marking the parking space state of the space parking space with an idle length, width and height range less than the preset parking space range as an invalid parking space; the parking space state comprises a valid parking space or an invalid parking space.

[0049] It should be noted that the length, width and height of vehicles of different brands and models are not consistent, so the minimum parking space required is not consistent, and therefore the preset parking space can be set according to different vehicles. If the space parking space is greater than or equal to the preset parking space, it means that the target vehicle can be accommodated in the space parking space, and the idle space is marked as a to-be-determined parking space. If the space parking space is less than the preset parking space, it means that the target vehicle cannot be parked in the space parking space, and the parking space is marked as an invalid parking space. The valid parking space refers to a parking space that can accommodate the target vehicle, and the invalid parking space refers to a parking space that cannot accommodate the target vehicle.

[0050] Step S130, determining the parking space state of the to-be-determined parking space according to the positioning information of the target vehicle and the current driving environment.

[0051] In this embodiment, in addition to considering the painted parking space, the state of the space parking space is considered to mark the space parking space according to the size and specifications of the target vehicle and the current driving environment, so as to mark the space parking space that can accommodate the target vehicle as a valid parking space for the target vehicle to select a parking space for parking. This scheme increases the accuracy of the space parking space state judgment, thereby improving the user experience.

[0052] As shown in the Figure 2 As shown in an exemplary embodiment of the present application, in step S110, the process of determining the space parking space comprises at least steps S210 to S230.

[0053] Step S210, obtaining the triggering information and positioning information of the target vehicle parking.

[0054] In this embodiment, the positioning information is obtained by GPS positioning. The triggering information can be button triggering or voice triggering.

[0055] In step S220, according to the trigger information, the positioning information, the preset sensing range and the first preset space range, an idle space greater than or equal to the first preset space range in the preset sensing range is selected as a parking space.

[0056] For example, the current driving environment is determined by an ultrasonic sensor and a high-definition camera on the target vehicle. For example, the high-definition camera collects the lane, the lane line, etc. to determine the position of the target vehicle, and the ultrasonic sensor acquires static obstacles and dynamic obstacles.

[0057] For example, the ultrasonic sensor detects obstacles and then determines the idle area in the detection range.

[0058] It is worth noting that the first preset space range is a parking space that meets most vehicles, and the first preset space range can be set according to requirements.

[0059] For example, the preset parking space range is less than the first preset space range.

[0060] For example, the preset parking space range = car width / car length+0.6m.

[0061] In step S230, the parking space is identified, and the type of the parking space is determined according to the identification result, and the type includes a painted parking space or a space parking space.

[0062] In this embodiment, after detecting the idle space, the idle space image is collected by the high-definition camera, and then it is determined whether the idle space is a painted parking space according to the image recognition. If there is no parking line, it is marked as a space parking space.

[0063] In an example embodiment of the present application, in step S230, the parking space is identified, and the type of the parking space is determined according to the identification result, and the type includes a painted parking space or a space parking space.

[0064] In step S310, if the identification result is that there is no parking line in the parking space, the parking space is determined as a space parking space.

[0065] In this embodiment, there is no parking frame line, but there is no position that is limited to not be able to park, so it can be a space parking space.

[0066] In step S320, if the identification result is that there is a parking line in the parking space, the parking space is determined as a painted parking space, and the parking state of the painted parking space is marked as a valid parking space.

[0067] In the embodiment, the parking space with the parking space frame is a painted parking space, and the painted parking space is always a valid parking space.

[0068] In an example embodiment of the present application, in step S130, the parking space state of the to-be-determined parking space is determined according to the positioning information of the target vehicle and the current driving environment, including:

[0069] In step S410, the location information of the target vehicle is determined according to the positioning information, and the location information at least includes inside or outside the parking lot.

[0070] It is worth noting that if the vehicle is parked inside the parking lot, it only needs to consider whether it blocks other vehicles from entering or leaving the parking lot. If the vehicle is parked outside the parking lot, it needs to consider the road conditions. Since the contents to be considered are different in the two cases, it is necessary to determine whether the target vehicle is inside or outside the parking lot.

[0071] In step S420, if the location information is inside the parking lot, the target vehicle is determined to be in the intersection lane of the parking lot according to the intersection feature elements in the current driving environment, and if the target vehicle is in the intersection lane of the parking lot, the parking space state of the to-be-determined parking space is marked as invalid. If the target vehicle is not in the intersection lane of the parking lot, the parking space state of the to-be-determined parking space is determined according to the type of the parking lot.

[0072] It is worth noting that due to the intersection position, there is a continuity of lane lines, and the lane width also has a certain standard. By image recognition, it is determined that there are zebra crossings, traffic lights and other features that meet the intersection position. It is judged whether the target vehicle is at the intersection. If it is in the intersection lane, it will affect the passage of other vehicles and pedestrians if it is determined to be a parking place. Therefore, if it is in the intersection road, the parking space state of the to-be-determined parking space is marked as invalid.

[0073] In step S430, if the location information is outside the parking lot, the parking space state of the to-be-determined parking space is determined according to the position relationship between the target vehicle and the road in the current driving environment.

[0074] It is worth noting that if the target vehicle is not on the road, the parking of the target vehicle will not affect the driving of other vehicles, and the parking space state of the to-be-determined parking space is marked as valid. If the target vehicle is on the road, it needs to consider whether it can be parked on the road and whether it will affect the driving of other vehicles.

[0075] In an example embodiment of the present application, in step S420, the parking space state of the to-be-determined parking space is determined according to the type of the parking lot, including:

[0076] Step S510, if the type of the parking lot is an underground parking lot, and the type of the obstacle beside the to-be-determined parking space is identified, if the type of the obstacle is a vehicle, the to-be-determined parking space is marked as a valid parking space; if the type of the obstacle is not a vehicle, the to-be-determined parking space is marked as an invalid parking space.

[0077] In the embodiment, if the position of the target vehicle is an underground parking lot, in addition to the painted parking space, some idle space which can be parked temporarily can also be considered. However, since it is unknown whether the idle space can be parked, whether other vehicles are parked on the adjacent position (non-painted parking space area) is viewed, if other vehicles are parked, the idle space is identified as being able to be parked, and is marked as a valid parking space. If no other vehicles are parked, the idle parking space is marked as an invalid parking space.

[0078] Step S520, if the type of the parking lot is a ground parking lot, the parking space state of the to-be-determined parking space is marked as a valid parking space.

[0079] It is worth noting that in the ground parking lot, as long as it is not on the intersection lane, parking in other places will not affect the driving of the vehicle, and thus is marked as a valid parking space.

[0080] In an example embodiment of the present application, in step S430, if the position information is outside the parking lot, the parking space state of the to-be-determined parking space is determined according to the position relationship between the target vehicle and the road in the current driving environment, including:

[0081] Step S610, if the position relationship is that the target vehicle is on the road, the parking space state of the to-be-determined parking space is determined according to the obstacle on the road.

[0082] It is worth noting that if the target vehicle is on the road, the middle of the road is identified as the to-be-determined parking space, and parking in the middle of the road will certainly affect the driving of other vehicles, and thus whether parking can be performed needs to be determined according to the obstacle beside.

[0083] Step S620, if the position relationship is that the target vehicle is not on the road, the to-be-determined parking space is marked as a valid parking space.

[0084] It is worth noting that since the vehicle is not on the road, the driving of other vehicles will not be affected, and thus the corresponding to-be-determined parking space is marked as a valid parking space.

[0085] In an example embodiment of the present application, in step S610, if the position relationship is that the target vehicle is on the road, the parking space state of the to-be-determined parking space is determined according to the obstacle on the road, including:

[0086] If the obstacle on the road is a vehicle and is a dynamic obstacle passing through the to-be-determined parking space, the parking space state of the to-be-determined parking space is marked as an invalid state.

[0087] In the embodiment, if a vehicle passes through the to-be-determined parking space, it indicates that no one parks at the to-be-determined parking space, and the to-be-determined parking space is marked as an invalid state.

[0088] If the obstacle on the road is a vehicle and is a static obstacle, the parking space state of the to-be-determined parking space is marked as a valid state.

[0089] For example, in the scenario of roadside parking, if the front and / or rear of the to-be-determined parking space is a static vehicle, the to-be-determined parking space is marked as a valid state.

[0090] It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of the processes should be determined according to the functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0091] As shown in the Figure 3 The exemplary parking space state marking device includes:

[0092] The space parking space determination module 310 is configured to determine a space parking space.

[0093] The to-be-determined parking space determination module 320 is configured to mark a space parking space with an idle length-width-height range greater than or equal to a preset parking space range as a to-be-determined parking space, and mark a space parking space with an idle length-width-height range less than the preset parking space range as an invalid parking space, according to the idle length-width-height range of the space parking space and the preset parking space range of the target vehicle, wherein the parking space state includes a valid parking space or an invalid parking space.

[0094] The to-be-determined parking space state marking module 330 is configured to determine the parking space state of the to-be-determined parking space according to the positioning information of the target vehicle and the current driving environment.

[0095] It should be understood that the parking space state marking device provided in the above embodiments and the parking space state marking method provided in the above embodiments belong to the same concept, and the specific manner in which each module and unit performs operations has been described in detail in the method embodiments, which will not be described here. The parking space state marking device provided in the above embodiments can be divided into different functional modules to complete all or part of the above-described functions according to the needs in actual application, and the internal structure of the device is divided into different functional modules to complete all or part of the above-described functions, and this is not limited herein.

[0096] The embodiments of the present application further provide an electronic device, comprising: one or more processors; a storage device configured to store one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the parking space status marking method provided in each of the above embodiments.

[0097] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may, for example, be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples of the computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable signal medium can include a data signal propagating in a baseband or as a carrier wave in a propagated data signal, which carries the computer-readable computer program. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit the program for use by or in connection with an instruction execution system, apparatus or device. The computer program contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, or the like, or any suitable combination thereof.

[0098] The flow and block diagrams in the drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flow and block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may be executed in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0099] The units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The names of the units described in the embodiments of the present application do not constitute a limitation on the units per se in some cases.

[0100] Another aspect of the present application provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor of a computer, so that the computer executes the parking space state marking method described above. The computer readable storage medium can be included in the electronic device described in the embodiments, or can exist separately and not be assembled into the electronic device.

[0101] Another aspect of the present application provides a computer program product or a computer program, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the parking space state marking method provided in the embodiments.

[0102] The above embodiments only illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas of the present application should be covered by the claims of the present application.

Claims

1. A method for marking the status of a parking space, characterized in that, The method includes: Identify parking spaces; Based on the available length, width, and height range of the parking space and the preset parking space range of the target vehicle, parking spaces with an available length, width, and height range greater than or equal to the preset parking space range are marked as parking spaces to be determined, and parking spaces with an available length, width, and height range less than the preset parking space range are marked as invalid parking spaces; the parking space status includes valid parking spaces or invalid parking spaces. Based on the location information of the target vehicle and the current driving environment, determine the parking status of the parking space to be determined; The process of determining the parking space status of the undetermined parking space based on the target vehicle's location information and the current driving environment includes: Based on the location information, the location information of the target vehicle is determined; the location information includes at least whether it is inside or outside the parking lot. If the location information is within a parking lot, then based on the intersection feature elements in the current driving environment, it is determined whether the target vehicle is in the intersection lane of the parking lot. If the target vehicle is in the intersection lane of the parking lot, then the parking space status of the parking space to be determined is marked as invalid. If the target vehicle is not in the intersection lane of the parking lot, then the parking space status of the parking space to be determined is determined according to the type of the parking lot. If the location information is outside the parking lot, the parking status of the parking space to be determined is determined based on the positional relationship between the target vehicle and the road in the current driving environment. Spare spaces are locations that are not designated as parking spaces but can accommodate the target vehicle. Designated parking spaces are marked parking spaces.

2. The parking space status marking method according to claim 1, characterized in that, Determining the parking space includes: Obtain the trigger information and location information of the target vehicle parking; Based on the triggering information, positioning information, preset sensing range, and first preset spatial range, within the preset sensing range, idle spaces greater than or equal to the first preset spatial range are selected as parking space selection spaces. The parking space selection space is identified, and the type of parking space selection space is determined based on the identification result. The type includes marked parking spaces or open spaces.

3. The parking space status marking method according to claim 2, characterized in that, The parking space selection space is identified, and the type of parking space selection space is determined based on the identification results, including: If the identification result is that there is no parking space marking in the parking space selection space, then the parking space selection space is determined as a space parking space; If the recognition result indicates that there are parking space lines within the parking space selection space, then the parking space selection space is identified as a marked parking space, and the parking space status of the marked parking space is marked as a valid parking space.

4. The parking space status marking method according to claim 1, characterized in that, Determining the parking space status of the parking space to be determined based on the type of parking lot includes: If the parking lot is an underground parking lot, and the type of obstacle next to the parking space to be determined is identified, if the obstacle type is a vehicle, then the parking space to be determined is marked as a valid parking space; if the obstacle type is not a vehicle, then the parking space to be determined is marked as an invalid parking space. If the parking lot is a surface parking lot, then the parking space status of the parking space to be determined is marked as a valid parking space.

5. The parking space status marking method according to claim 1, characterized in that, If the location information is outside a parking lot, then the parking status of the parking space to be determined is determined based on the positional relationship between the target vehicle and the road in the current driving environment, including: If the positional relationship is such that the target vehicle is on the road, then the parking status of the parking space to be determined is determined based on the obstacles on the road; If the location relationship indicates that the target vehicle is not located on the road, then the parking space to be determined is marked as a valid parking space.

6. The parking space status marking method according to claim 5, characterized in that, If the positional relationship is such that the target vehicle is on the road, then the parking status of the parking space to be determined is determined based on the obstacles on the road, including: If the obstacle on the road is a vehicle, and it is a dynamic obstacle that passes through the parking space to be determined, then the parking space status of the parking space to be determined is marked as invalid. If the obstacle on the road is a vehicle and is a static obstacle, then the parking space status of the parking space to be determined is marked as valid.

7. A parking space status marking device, characterized in that, The device includes: The parking space determination module is used to determine parking spaces. The undetermined parking space determination module is used to mark parking spaces whose vacant length, width and height range is greater than or equal to the preset parking space range as undetermined parking spaces, and to mark parking spaces whose vacant length, width and height range is less than the preset parking space range as invalid parking spaces, based on the vacant length, width and height range of the parking spaces and the preset parking space range of the target vehicle; the parking space status includes valid parking spaces or invalid parking spaces. The parking space status marking module is used to determine the parking space status of the parking space to be determined based on the location information of the target vehicle and the current driving environment. The process of determining the parking space status of the undetermined parking space based on the target vehicle's location information and the current driving environment includes: Based on the location information, the location information of the target vehicle is determined; the location information includes at least whether it is inside or outside the parking lot. If the location information is within a parking lot, then based on the intersection feature elements in the current driving environment, it is determined whether the target vehicle is in the intersection lane of the parking lot. If the target vehicle is in the intersection lane of the parking lot, then the parking space status of the parking space to be determined is marked as invalid. If the target vehicle is not in the intersection lane of the parking lot, then the parking space status of the parking space to be determined is determined according to the type of the parking lot. If the location information is outside the parking lot, the parking status of the parking space to be determined is determined based on the positional relationship between the target vehicle and the road in the current driving environment. Spare spaces are locations that are not designated as parking spaces but can accommodate the target vehicle. Designated parking spaces are marked parking spaces.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the parking space status marking method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the parking space status marking method according to any one of claims 1 to 6.

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