Parking space determination method and device, vehicle and storage medium

Abstract

The application discloses a parking space determination method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring front road image information collected by a front camera on a vehicle; performing feature recognition on the front road image information to determine whether a recorded target parking space exists on the front road of the driving direction of the vehicle; if the target parking space exists, the target parking space is determined as the parking space of the vehicle and parking space recommendation is performed. By additionally arranging the front camera to shoot image information, whether there is a matched target parking space is determined in advance when the vehicle is still far away from the parking space, and the matched target parking space is recommended to the driver of the vehicle. Compared with the prior art, the parking space determination needs to be performed when the vehicle is close to the parking space, and the determined parking space does not match the parking space required by the driver of the vehicle, the long-distance determination of the parking space is realized, the matching degree of the parking space and the driver of the vehicle is ensured, and the parking experience of the driver of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a parking space determination method and device, a vehicle and a storage medium. BACKGROUND

[0002] With the progress of society, the development of cities and the continuous improvement of technology, automatic parking technology has gradually been integrated into more vehicle models. The premise of this technology is parking space information, which is generally dependent on visual recognition. After recognizing the parking line through a camera, information is given, and parking is performed according to a control algorithm.

[0003] In the prior art, left and right and rear cameras are generally used to recognize parking line, mark and other information to determine the parking space. However, for left and right and rear cameras, they need to be relatively close to the parking space to display the parking space. In addition, when there are multiple parking spaces, the recommended parking space by the system is not necessarily the favorite parking space of the vehicle driver, and the demand cannot be met according to the preferences of the vehicle driver. SUMMARY

[0004] The present application provides a parking space determination method, device, vehicle and storage medium to solve the problem that the parking space needs to be close to be determined and the recommended parking space is not the target parking space.

[0005] According to an aspect of the present application, a parking space determination method is provided, comprising:

[0006] acquiring front road image information collected by a front camera on the vehicle;

[0007] performing feature recognition on the front road image information to determine whether there is a recorded target parking space on the front road in the driving direction of the vehicle;

[0008] if there is, determining the target parking space as the parking space of the vehicle and recommending the parking space.

[0009] According to another aspect of the present application, a parking space determination device is provided, comprising:

[0010] a collection module configured to acquire front road image information collected by a front camera on the vehicle;

[0011] a determination unit configured to perform feature recognition on the front road image information to determine whether there is a recorded target parking space on the front road in the driving direction of the vehicle;

[0012] a recommendation unit configured to determine the target parking space as the parking space of the vehicle and recommend the parking space if there is.

[0013] According to another aspect of the present application, a vehicle is provided, comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected with the at least one processor; wherein,

[0016] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the parking space determination method according to any one of the embodiments of the present application.

[0017] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the parking space determination method according to any one of the embodiments of the present application when executed by the processor.

[0018] The embodiments of the present application disclose a parking space determination method, device, electronic equipment and storage medium. The method comprises the following steps: acquiring front road image information collected by a front camera on a vehicle; performing feature recognition on the front road image information to determine whether a recorded target parking space exists on a front road in a driving direction of the vehicle; if the target parking space exists, determining the target parking space as a parking space of the vehicle and performing parking space recommendation. The first unique advantage is that by additionally arranging the front camera to capture image information, whether the target parking space exists can be determined in advance when the vehicle is still far away from the parking space, and the parking space is recommended to the driver of the vehicle, so that the problem that the driver needs to approach the parking space to select the target parking space for parking and the problem that the system-recommended parking space is not the target parking space when multiple parking spaces can be selected are avoided.

[0019] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0021] Figure 1 is a flowchart of a parking space determination method provided by the first embodiment of the present application;

[0022] Figure 2 is an effect display diagram of a parking space determination method according to the prior art based on left and right cameras;

[0023] Figure 3ais feature information captured by the front camera according to the first embodiment of the present application;

[0024] Figure 3b is feature information captured by the front camera according to the first embodiment of the present application;

[0025] Figure 4 is an effect display diagram of parking space determination according to the parking space determination method provided by the first embodiment of the present application;

[0026] Figure 5 is a structural schematic diagram of a parking space determination device according to the second embodiment of the present application;

[0027] Figure 6 is a structural schematic diagram of a vehicle implementing the parking space determination method of the present application. DETAILED DESCRIPTION

[0028] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] It can be understood that before using the technical solutions disclosed in the embodiments of the present disclosure, the type, use range, use scene and the like of the personal information involved in the present disclosure should be informed to the user and the authorization of the user should be obtained according to relevant laws and regulations.

[0031] For example, in response to receiving an active request of a user, a prompt information is sent to the user to explicitly prompt the user that the operation requested to be performed will require obtaining and using personal information of the user. Thus, the user can autonomously select whether to provide personal information to the software or hardware such as an electronic device, an application program, a server or a storage medium performing the operation of the technical solution of the present disclosure according to the prompt information.

[0032] As an optional but non-limiting implementation manner, in response to receiving an active request of a user, the manner of sending a prompt information to the user may, for example, be a pop-up window manner, in which the prompt information can be presented in a text manner. In addition, the pop-up window can also carry a selection control for the user to select “agree” or “disagree” to provide personal information to the electronic device.

[0033] It can be understood that the above notification and obtaining user authorization process is only illustrative and does not limit the implementation manner of the present disclosure. Other manners meeting relevant laws and regulations can also be applied to the implementation manner of the present disclosure.

[0034] It can be understood that the data (including but not limited to the data itself, the obtaining or use of the data) involved in the technical solution should comply with the requirements of relevant laws and regulations and relevant provisions.

[0035] Embodiment one

[0036] Figure 1 A flowchart of a parking space determination method is provided for the embodiment one of the present application. The embodiment can be applicable to the case of an open parking lot or an underground parking lot. The method can be performed by a parking space determination device, which can be realized in the form of hardware and / or software. The parking space determination device can be configured in a vehicle.

[0037] It should be noted that in the parking scenario of parking a vehicle, when determining a parking space by the current parking manner, the parking space is mainly determined by capturing a rear view image by a left rearview mirror camera and / or a right rearview camera in the vehicle. This determination manner requires the vehicle to drive to the vicinity of the parking space. If the driving speed of the vehicle is too fast, the vehicle may have driven beyond the parking space when the parking space is determined. Moreover, when there are multiple parking spaces available for selection, the determined parking space may not match the parking demand of the driver of the vehicle. In order to better understand the problems of the existing determination manner, Figure 2is an effect display diagram of parking space determination according to left and right cameras in the prior art, at this time, the vehicle is close to the parking space distance photographed by the left camera and / or the right camera, and the numbers 1, 2 and 3 are all parking spaces that can be parked, wherein, the number 2 is the target parking space, and the number 1 is the system recommended parking space. It can be seen that the system recommended parking space is not the target parking space and cannot meet the parking needs of the vehicle driver.

[0038] As shown in the Figure 1 The parking space determination method provided by the embodiment specifically comprises the following steps:

[0039] S110, acquiring front road image information collected by a front camera on the vehicle.

[0040] In the embodiment, the front camera can be understood as a camera located in the front of the vehicle among a plurality of cameras arranged on the vehicle, and the vehicle has an automatic driving function and can automatically park the vehicle to a target parking space. The front road image information can be understood as information collected from the image in front of the vehicle photographed by the front camera.

[0041] Specifically, when the vehicle enters an open parking lot or an underground parking lot, the front camera can be turned on to photograph the front of the vehicle, the image information of the camera can be stored every certain time (which can be 1 second), the image data can be stored for a period of time (which can be 1 minute), the images exceeding the period of time can be deleted, and the stored images can be kept updated in real time. The information can be collected from the photographed images, and the parking space can be searched in advance when the vehicle is still not close to the parking space, and the related information of the parking space can be acquired.

[0042] S120, performing feature recognition on the front road image information to determine whether there is a recorded target parking space in the front road of the vehicle driving direction.

[0043] In the embodiment, the feature recognition can be understood as recognition according to signs, marks and the like that can be used as features in the image, for example, marks, numbers, parking lines and reflective strips. The target parking space can be understood as a parking space that meets the preferences of the vehicle driver.

[0044] Specifically, the marks, numbers, parking lines, reflective strips and the like parking space information can be extracted from the image information photographed by the front camera on the vehicle, Figures 3a-3b is an image screen photographed by the front camera of the vehicle at different times and information that can be collected from the image, wherein Figure 3a is an image screen photographed by the front camera at T1, and the information that can be collected includes parking lines, reflective strips, numbers, etc. Figure 3bThe image picture taken by the front camera at T2 is shown in the figure. Since the target parking space is close to the vehicle at this time, part of the information is out of the shooting range of the front camera. At this time, the front camera cannot collect all the information of the target parking space. As can be seen from the figure, the specific number and reflective strip information are not collected. By using the feature that the front camera can shoot far away, the image information can be recorded when the vehicle is far away from the target parking space. The characteristic information such as the sign and number that needs to be recognized is collected by the camera. According to the obtained information and the characteristic information of the target parking space marked by the vehicle driver in advance, it is determined whether the parking space is the target parking space according to the characteristic comparison.

[0045] In S130, if the target parking space exists, the target parking space is determined as the parking space of the vehicle and the parking space is recommended.

[0046] In this embodiment, the parking space recommendation can be understood as recommending the current parking space to the vehicle driver as the parking space that meets the demand of the vehicle driver.

[0047] Specifically, if the characteristic information of the current parking space matches the characteristic information of the target parking space set in advance by the vehicle driver in this step, it means that the current parking space is the target parking space. Figure 4 This is an effect display diagram of determining the parking space by the front camera in this embodiment. At this time, there are many parking spaces that can be parked, and the distance between the vehicle and the target parking space is far. The vehicle has enough time to select the target parking space and perform a series of operations such as braking. By using the feature that the front camera can collect information far away, it is searched whether there is a parking space that can be parked, and the parking space is selected. The target parking space that meets the demand of the vehicle driver is determined in advance, and the target parking space is determined as the parking space of the current vehicle. The parking space is recommended according to the preference of the vehicle driver.

[0048] The embodiment one provides a parking space determination method. The method comprises the following steps: acquiring front road image information collected by a front camera on a vehicle; performing characteristic recognition on the front road image information to determine whether there is a recorded target parking space in the front road of the vehicle driving direction; if the target parking space exists, the target parking space is determined as the parking space of the vehicle and the parking space is recommended. By adding the front camera to shoot the image information, whether there is a matching target parking space is determined in advance when the vehicle is far away from the parking space. The matching target parking space is recommended to the vehicle driver. Compared with the prior art that needs to be close to the parking space to determine the parking space and the determined parking space does not match the parking space required by the vehicle driver, the distance of the parking space is determined, the matching degree of the parking space and the vehicle driver is ensured, and the parking experience of the vehicle driver is improved.

[0049] On the basis of the above-mentioned embodiment, the determination step of the target parking space can be further specified as:

[0050] The historical image information collected by the camera on the vehicle within a set time period is used to identify a parking space, wherein the set time period is a preset time period from the current time; when a parking space is identified, the parking space is presented on a parking space setting interface of a display screen on the vehicle; if setting information is received to set the parking space as a target parking space, the parking space is recorded as the target parking space; otherwise, the parking space identification is continued.

[0051] In the embodiment, the historical image information can be understood as image information recorded by the front camera within a preset time period from the current time period, wherein the preset time period can be set to 1 second. The parking space setting interface can be understood as an interface for presenting to a driver of the vehicle for selecting a parking space.

[0052] Specifically, in this step, image information collected by the front camera within a period of time from the current time is saved and identified. If the image information contains feature information of a parking space, the target parking space is presented through a presentation interface, and option information related to the parking space can be displayed on the presentation interface. The displayable option information includes whether to be set as a target parking space and saved. If information fed back by the driver of the vehicle indicates that the parking space is set as a target parking space, the parking space is set as the target parking space, and feature information of the target parking space is saved, so that the next time the target parking space information is used, the saved target parking space information is compared with information collected by the front camera. If no feedback information is received from the driver of the vehicle, image information collected by the front camera is continuously identified until a target parking space is matched, and a parking space selected by the driver of the vehicle is realized.

[0053] On the basis of the above embodiment, after the parking space is recorded as the target parking space, the method further includes:

[0054] Target front road image information containing the target parking space is extracted from the historical image information; and target parking space feature information associated with the target parking space is extracted from the target front road image information and saved.

[0055] In the embodiment, the target front road image information can be understood as image information collected by the front camera when the vehicle is at the current position. The target parking space feature information can be understood as information such as signs and features of the target parking space contained in the image information recorded by the front camera.

[0056] Specifically, when the parking space is marked as the target parking space, information such as signs and features of the target parking space is obtained from image information recorded within a preset time period from the current time and saved, wherein the preset time period can be set to 10 seconds.

[0057] On the basis of the above embodiment, the updating step of the target parking space can be further specified as:

[0058] When the determined parking space is not the target parking space, an update inquiry message of the target parking space is formed and displayed on the vehicle display screen; after receiving the parking space determination update information, the determined parking space is updated as the new target parking space, and the parking space feature information is extracted from the front road image information containing the parking space as the new target parking space feature information.

[0059] Specifically, when the vehicle is not the target parking space in this step, the update information is displayed on the vehicle display screen to inquire whether the vehicle driver reselects the target parking space, and the parking space is updated as the new target parking space. After receiving the update instruction of the vehicle driver, the parking space is set as the target parking space, and the feature information of the target parking space is selected from the front road image information as the new target parking space feature information, so that the vehicle driver can quickly find the target parking space for parking in a time emergency.

[0060] As a first preferred embodiment of the first embodiment, on the basis of the above embodiment, the device further comprises:

[0061] If not, the rear view image information collected by the left camera and the right camera on the vehicle is acquired; and the parking space of the vehicle is determined and the parking space is recommended according to the rear view image information.

[0062] Specifically, when the vehicle driver does not find the target parking space through the front camera in this step, the left and right cameras are turned on to determine the parking space near the vehicle, and the rear view image information of the parking space is collected, and the appropriate parking space is selected as the target parking space for parking, so that the parking space is reselected after the target parking space is not found.

[0063] As a second preferred embodiment of the first embodiment, on the basis of the above embodiment, after the parking space is recommended, the device further comprises:

[0064] After receiving the automatic parking instruction, the vehicle is parked in the parking space according to the coordinate position information of the parking space.

[0065] Specifically, after the target parking space is determined in this step, the automatic parking instruction is sent to the vehicle controller, and the vehicle is parked in the target parking space according to the coordinate position information contained in the collected target parking space feature information.

[0066] Embodiment two

[0067] Figure 5 A structure diagram of a parking space determination device provided by the third embodiment of the application is shown in FIG. 3. Figure 5 As shown in the figure, the device comprises an acquisition module 21, a determination module 22 and a recommendation module 23.

[0068] The acquisition module 21 is configured to acquire front road image information collected by a front camera on the vehicle.

[0069] The determination module 22 is configured to perform feature recognition on the front road image information to determine whether a recorded target parking space exists on the front road in the driving direction of the vehicle.

[0070] The recommendation module 23 is configured to, if the recorded target parking space exists, determine the target parking space as a parking space of the vehicle and perform parking space recommendation.

[0071] The second embodiment provides a parking space determination device. The device comprises: an acquisition module 21 configured to acquire front road image information collected by a front camera on the vehicle; a determination module 22 configured to perform feature recognition on the front road image information to determine whether a recorded target parking space exists on the front road in the driving direction of the vehicle; and a recommendation module 23 configured to, if the recorded target parking space exists, determine the target parking space as a parking space of the vehicle and perform parking space recommendation. By adding the front camera to capture image information, the matching target parking space can be determined in advance when the vehicle is still far away from the parking space, and the matching target parking space is recommended to the driver of the vehicle. Compared with the prior art in which the parking space determination is performed only when the vehicle is close to the parking space and the determined parking space does not match the parking space required by the driver of the vehicle, the device realizes remote determination of the parking space, ensures the matching degree between the parking space and the driver of the vehicle, and improves the parking experience of the driver of the vehicle.

[0072] Further, the parking space determination device further comprises:

[0073] A rear view information acquisition module configured to, if the recorded target parking space does not exist, acquire rear view image information collected by a left camera and a right camera on the vehicle;

[0074] A parking space determination module configured to determine a parking space of the vehicle according to the rear view image information and perform parking space recommendation.

[0075] Optionally, the determination of the target parking space comprises:

[0076] The historical image information is collected by the camera on the vehicle within a preset time period from the current time;

[0077] When a parking space is recognized, the parking space is presented on a parking space setting interface of a display screen on the vehicle:

[0078] If setting information for setting the parking space as a target parking space is received, the parking space is recorded as the target parking space; otherwise, the parking space recognition is returned to continue.

[0079] Optionally, after the parking space is recorded as the target parking space, the device further comprises:

[0080] Target front road image information containing the target parking space is extracted from the historical image information.

[0081] Extract and save the target parking space feature information associated with the target parking space from the target road image information.

[0082] Furthermore, the parking space determination device also includes: an inquiry module and an update module;

[0083] The query module is used to generate an update query message for the target parking space and display it on the vehicle display screen when the determined parking space is not the target parking space.

[0084] After receiving the parking space confirmation update information, the update module updates the confirmed parking space to the new target parking space and extracts the parking space feature information from the road image information containing the parking space in front, as the new target parking space feature information.

[0085] Optionally, module 22 is specifically used for:

[0086] The preceding image information is identified using a given image recognition algorithm to obtain preceding feature information from the preceding image information;

[0087] The preceding road feature information is compared with the pre-recorded target parking space feature information;

[0088] Based on the comparison results, determine whether there is a recorded target parking space on the road ahead of the vehicle's travel direction.

[0089] Furthermore, after recommending parking spaces, it also includes: a parking module;

[0090] The parking module is used to control the vehicle to park in the parking space according to the coordinate position information of the parking space after receiving the automatic parking command.

[0091] The parking space determination device provided in this embodiment of the invention can execute the parking space determination method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0092] Example 3

[0093] Figure 6 This is a structural schematic diagram of a vehicle provided in Embodiment 3 of the present invention, as shown below. Figure 6 As shown, the vehicle includes a controller 31, a memory 32, an input device 33, and an output device 34. The number of controllers 31 and memory 32 can be one or more. Figure 6 Taking a controller 31 and a memory 32 as an example; the controller 31 and memory 32 in the vehicle can be connected via a bus or other means. Figure 6The controller is further connected with a collecting module 21, a determining module 22 and a recommending module 23. The collecting module 21 is configured to acquire front road image information collected by a front camera on the vehicle. The determining module 22 is configured to perform feature recognition on the front road image information to determine whether a recorded target parking space exists on a front road in a driving direction of the vehicle. The recommending module 23 is configured to determine the target parking space as a parking space of the vehicle and perform parking space recommendation if the recorded target parking space exists.

[0094] The controller 31 is configured to collect driving environment information of the obstacle vehicle.

[0095] The memory 32 is a computer readable storage medium, which can be configured to store software programs, computer executable programs and modules, such as program instructions / modules of the parking space determination method in the embodiment of the present application (for example, the collecting module 21, the determining module 22 and the recommending module 23 in the parking space determination device). The controller 31 can execute various function applications and data processing of the vehicle by running the software programs, instructions and modules stored in the memory 32, that is, the above-mentioned parking space determination method is realized.

[0096] The memory 32 can mainly include a program storage area and a data storage area. The program storage area can store an operating system and at least one application program required by a function. The data storage area can store data created according to the use of the terminal. In addition, the memory 32 can include a high-speed random access memory and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device or other non-volatile solid-state memory device. In some examples, the memory 32 can further include a memory remotely arranged with respect to the controller 31, and these remote memories can be connected to the vehicle through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0097] The input device 33 can be configured to receive digital or character information and generate key signal input related to user settings and function control of the vehicle. The output device 34 can include a display device such as a display screen.

[0098] Embodiment four

[0099] The embodiment four of the present application further provides a storage medium containing computer executable instructions, which are used for a parking space determination method when executed by a computer controller. The method comprises:

[0100] acquiring front road image information collected by a front camera on the vehicle;

[0101] performing feature recognition on the front road image information to determine whether a recorded target parking space exists on a front road in a driving direction of the vehicle;

[0102] If present, the target parking space is determined as the parking space of the vehicle and a parking space recommendation is made.

[0103] Of course, the storage medium provided by the embodiments of the present application contains computer executable instructions, which are not limited to the method operations described above, but can also perform the related operations in the parking space determination method provided by any embodiment of the present application.

[0104] From the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary universal hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH, a hard disk or an optical disk, etc., including a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in various embodiments of the present application.

[0105] It is worth noting that in the above embodiments of the parking space determination device, each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy mutual distinction, and do not limit the protection scope of the present application.

[0106] In the context of the present application, the computer readable storage medium can be a tangible medium, which can contain or store computer programs for use by or in connection with an instruction execution system, device or apparatus. The computer readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or apparatus, or any suitable combination of the above. Alternatively, the computer readable storage medium can be a machine readable signal medium. More specific examples of machine readable storage media will include one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0107] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0108] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0109] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0110] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in a different order, as long as the desired results of the present disclosure are achieved, and the present disclosure is not limited herein.

[0111] The specific embodiments described above are not intended to be limiting, and persons skilled in the art will appreciate that various modifications, combinations, sub-combinations and alternatives can be made to the specific embodiments without departing from the spirit and principles of the disclosure. Accordingly, the disclosure is not limited to the specific embodiments described above, but only by the scope of the appended claims.

Claims

1. A parking space determination method, characterized by, The method comprises the following steps: acquiring front road image information collected by a front camera on the vehicle; performing feature recognition on the front road image information to determine whether a recorded target parking space exists on the front road in the driving direction of the vehicle; if a target parking space exists, determining the target parking space as the parking space of the vehicle and recommending the parking space; if a target parking space does not exist, acquiring rear view image information collected by a left camera and a right camera on the vehicle; determining the parking space of the vehicle according to the rear view image information and recommending the parking space; wherein the parking space recommendation is to recommend the current parking space to the driver of the vehicle as a parking space meeting the demand of the driver of the vehicle; the determination of the target parking space comprises the following steps: performing parking space recognition through historical image information collected by the camera on the vehicle within a preset time period from the current time; when a parking space is recognized, presenting the parking space on a parking space setting interface of a display screen on the vehicle; wherein the parking space setting interface is an interface for displaying to the driver of the vehicle for parking space selection; if setting information for setting the parking space as a target parking space is received, recording the parking space as the target parking space; otherwise, returning to continue the parking space recognition.

2. The method of claim 1, wherein, after the parking space is recorded as the target parking space, the method further comprises the following steps: extracting target front road image information containing the target parking space from the historical image information; extracting target parking space feature information associated with the target parking space from the target front road image information and saving the target parking space feature information.

3. The method according to any of claims 1-2, characterized in that, the updating of the target parking space comprises the following steps: when the determined parking space is not the target parking space, forming a target parking space updating inquiry message and presenting the target parking space updating inquiry message on the display screen of the vehicle; after receiving parking space determination updating information, updating the determined parking space to a new target parking space, and extracting parking space feature information from front road image information containing the parking space as new target parking space feature information.

4. The method of claim 1, wherein, the feature recognition on the front road image information to determine whether a recorded target parking space exists on the front road in the driving direction of the vehicle comprises the following steps: recognizing the front road image information through a given image recognition algorithm to obtain front road feature information in the front road image information; comparing the front road feature information with pre-recorded target parking space feature information; determining whether a recorded target parking space exists on the front road in the driving direction of the vehicle according to the comparison result.

5. The method of claim 1, wherein, after the parking space recommendation, the method further comprises the following steps: after receiving an automatic parking instruction, controlling the vehicle to park in the parking space according to coordinate position information of the parking space.

6. A parking space determination apparatus characterized by comprising: The method comprises the following steps: a collection module for acquiring front road image information collected by a front camera on the vehicle; a determination module for performing feature recognition on the front road image information to determine whether a recorded target parking space exists on the front road in the driving direction of the vehicle; a recommendation module for determining the target parking space as the parking space of the vehicle and recommending the parking space if a target parking space exists; a rear view information collection module for acquiring rear view image information collected by a left camera and a right camera on the vehicle if a target parking space does not exist; The parking space determination module is configured to determine a parking space of the vehicle according to the rear view image information and to perform parking space recommendation, wherein the parking space recommendation is to recommend the current parking space as a parking space meeting the demand of the driver of the vehicle to the driver of the vehicle. The determination of the target parking space comprises: The historical image information collected by the camera on the vehicle within a set time period is used to perform parking space identification, wherein the set time period is a preset time period from the current time forward. When a parking space is identified, the parking space is presented on a parking space setting interface of a display screen on the vehicle, wherein the parking space setting interface is an interface for displaying the parking space to the driver of the vehicle for parking space selection. If the setting information of setting the parking space as the target parking space is received, the parking space is recorded as the target parking space; otherwise, the parking space identification is continued.

7. A vehicle characterized by comprising: The computer program product comprises a computer program, and the computer program is executed by the processor to implement the parking space determination method according to any one of claims 1-5. The computer readable storage medium stores computer instructions, and the computer instructions are used to enable the processor to implement the parking space determination method according to any one of claims 1-5 when executed. The computer program product comprises a computer program, and the computer program is executed by the processor to implement the parking space determination method according to any one of claims 1-5. ​ 8. A computer-readable storage medium, characterized in that, ​ 9. A computer program product, characterised in that, ​

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