Automatic parking method and device, electronic equipment and storage medium

Abstract

The embodiment of the application provides an automatic parking method, after successful request for automatic parking, dynamic permission data of a vehicle is generated; the dynamic permission data is encrypted by a preset encryption operator to obtain encrypted dynamic permission data; and the encrypted dynamic permission data is sent to a control terminal, so that the control terminal decrypts the encrypted dynamic permission data by a preset decryption operator, and controls the vehicle to automatically park according to the decrypted dynamic permission data. After successful request for automatic parking, the request terminal sends the dynamic permission data of the vehicle to the control terminal, and the control terminal controls the vehicle to park through the dynamic permission data, so that the process of finding a parking space and parking can be handed over to the control terminal, the user does not need to find a parking space by himself / herself, the parking efficiency is improved, the vehicle user can request automatic parking at any place in the garage, the user can conveniently get off at the personnel exit, and the dynamic permission data is encrypted, so that the vehicle permission transfer process is safer.

Description

Technical Field

[0001] This invention relates to the field of automatic control, and more particularly to an automatic parking method, apparatus, electronic device, and storage medium. Background Technology

[0002] As the number of vehicles increases, so does the pressure on parking. Some large venues need to accommodate more vehicles, so the area of ​​the garages also increases. Due to the increased garage area and the increased number of parking spaces, vehicle users need to spend a lot of time looking for a parking space after entering the garage, and they also need to spend a lot of time looking for the exit after parking. Therefore, the existing parking methods in large garages are not very efficient and result in a poor user experience. Summary of the Invention

[0003] This invention provides an automatic parking method aimed at solving the problems of low parking efficiency and poor user experience in existing large parking garages. After a successful automatic parking request, the requesting end sends the vehicle's dynamic permission data to the control end. The control end uses this dynamic permission data to control the vehicle's parking, delegating the process of finding a parking space to the control end, thus improving parking efficiency. Vehicle users can request automatic parking from anywhere within the garage, allowing for convenient exits near the exits, further enhancing the user experience. The dynamic permission data is encrypted, making the vehicle permission transfer process more secure.

[0004] In a first aspect, embodiments of the present invention provide an automatic parking method, the method comprising:

[0005] After a successful request for automatic parking, dynamic permission data for the vehicle is generated.

[0006] The dynamic permission data is encrypted using a preset encryption operator to obtain encrypted dynamic permission data;

[0007] The encrypted dynamic permission data is sent to the control terminal, so that the control terminal can decrypt the encrypted dynamic permission data using a preset decryption operator, and control the vehicle to automatically park based on the decrypted dynamic permission data.

[0008] Optionally, before encrypting the dynamic permission data using a preset encryption operator to obtain encrypted dynamic permission data, the method further includes:

[0009] Obtain images of the vehicle's exterior and license plate information;

[0010] The encryption operator is generated based on the appearance image and the license plate information.

[0011] Optionally, generating the encryption operator based on the appearance image and the license plate information includes:

[0012] The license plate information is normalized to obtain floating-point type license plate information;

[0013] Determine the floating-point number of the license plate information of the floating-point type, and convert the license plate information of the floating-point type into a transformation matrix of the corresponding depth according to the floating-point number;

[0014] The encryption operator is obtained by transforming the appearance image using the transformation matrix.

[0015] Optionally, the step of transforming the appearance image using the transformation matrix to obtain the encryption operator includes:

[0016] The appearance image is obtained by performing a sliding convolution operation on the appearance image using the transformation matrix;

[0017] The encryption operator is obtained by performing a linear transformation based on the convolution result.

[0018] Secondly, embodiments of the present invention provide a vehicle control method for a control terminal, the vehicle control method comprising:

[0019] The automatic parking request from the requesting end is verified, and after the verification is successful, the encrypted dynamic permission data sent by the requesting end is obtained. The dynamic permission data is encrypted using a preset encryption operator.

[0020] The encrypted dynamic permission data is decrypted using a preset decryption operator to obtain the decrypted dynamic permission data.

[0021] The vehicle is automatically parked based on the decrypted dynamic permission data.

[0022] Optionally, before decrypting the encrypted dynamic permission data using a preset decryption operator to obtain the decrypted dynamic permission data, the method further includes:

[0023] Obtain the vehicle's appearance information and license plate information;

[0024] The decryption operator is calculated based on the appearance information and the license plate information.

[0025] Optionally, calculating the decryption operator based on the appearance information and the license plate information includes:

[0026] The encryption operator is generated based on the appearance image and the license plate information;

[0027] The decryption operator is calculated based on the encryption operator.

[0028] Thirdly, embodiments of the present invention provide a requesting terminal device, the requesting terminal device comprising:

[0029] The first generation module is used to generate dynamic permission data for the vehicle after the request for automatic parking is successful.

[0030] An encryption module is used to encrypt the dynamic permission data using a preset encryption operator to obtain encrypted dynamic permission data;

[0031] The sending module is used to send the encrypted dynamic permission data to the control terminal, so that the control terminal can decrypt the encrypted dynamic permission data through a preset decryption operator and control the vehicle to automatically park according to the decrypted dynamic permission data.

[0032] Fourthly, embodiments of the present invention provide a control terminal device, the control terminal device comprising:

[0033] The second acquisition module is used to verify the automatic parking request from the requesting end, and after the verification is passed, acquire the encrypted dynamic permission data sent by the requesting end. The dynamic permission data is encrypted by a preset encryption operator.

[0034] The decryption module is used to decrypt the encrypted dynamic permission data using a preset decryption operator to obtain the decrypted dynamic permission data.

[0035] The control module is used to control the vehicle to automatically park based on the decrypted dynamic permission data.

[0036] Fifthly, embodiments of the present invention provide an automatic parking system, including a requesting device and a control device provided in the embodiments of the present invention, wherein the requesting device and the control device are communicatively connected.

[0037] In this embodiment of the invention, after a successful request for automatic parking, dynamic permission data for the vehicle is generated. This dynamic permission data is then encrypted using a preset encryption operator to obtain encrypted dynamic permission data. The encrypted dynamic permission data is sent to the control terminal, which decrypts it using a preset decryption operator and controls the vehicle to automatically park based on the decrypted dynamic permission data. By having the requesting end send the vehicle's dynamic permission data to the control terminal after a successful request for automatic parking, and the control terminal using this dynamic permission data to control the vehicle's parking, the process of finding a parking space and parking can be delegated to the control terminal, eliminating the need for manual parking and improving parking efficiency. Vehicle users can request automatic parking from anywhere within the garage, allowing for convenient alighting at the nearest exit, enhancing the user experience. The encrypted dynamic permission data also makes the vehicle permission transfer process more secure. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0039] Figure 1 This is an architecture diagram of an automatic parking system provided in an embodiment of the present invention;

[0040] Figure 2 This is a flowchart of an automatic parking method provided in an embodiment of the present invention;

[0041] Figure 3 This is a flowchart of a vehicle control method provided in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the structure of a request terminal device provided in an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of the structure of a control terminal device provided in an embodiment of the present invention. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Please see Figure 1 , Figure 1 This is an architecture diagram of an automatic parking system provided in an embodiment of the present invention, such as... Figure 1 As shown, the automatic parking system includes a requesting device and a control device, and the requesting device and the control device are connected in communication.

[0046] The requesting device can be an in-vehicle terminal or a user terminal. After the vehicle enters the garage, the user can initiate a connection with the control device from any location in the garage through the in-vehicle terminal or user terminal, and generate an automatic parking request through the in-vehicle terminal or user terminal, and send the automatic parking request to the control device.

[0047] The control device can be a service terminal, which can be a cloud server or a local server. After receiving an automatic parking request from the vehicle-mounted terminal or user terminal, the service terminal verifies the permissions of the vehicle-mounted terminal or user terminal. If the vehicle-mounted terminal or user terminal meets the automatic parking permissions, the service terminal sends a message indicating a successful automatic parking request. Upon successful automatic parking, the vehicle-mounted terminal or user terminal packages the vehicle remote control-related permission data into dynamic permission data, encrypts it using a preset encryption operator, and sends the encrypted dynamic permission data to the service terminal. The service terminal receives the encrypted dynamic permission data from the vehicle-mounted terminal or user terminal, decrypts it using a preset decryption operator, and then uses the decrypted dynamic permission data to remotely control the vehicle and initiate automatic parking.

[0048] The aforementioned dynamic permission data can be understood as permission data that only takes effect once. After the dynamic permission data takes effect, the same dynamic permission data will not be generated. Therefore, one request corresponds to one automatic parking. If the dynamic permission data for automatic parking times out, a new request needs to be made.

[0049] The automatic parking system provided in this invention can send the vehicle's dynamic permission data to the control terminal after a successful automatic parking request. The control terminal uses the dynamic permission data to control the vehicle to park. The process of finding a parking space and parking can be delegated to the control terminal, eliminating the need for the user to search for a parking space and improving parking efficiency. Vehicle users can request automatic parking from anywhere in the garage, making it convenient for users to get off the vehicle near the exit, thus improving the user experience. The dynamic permission data is encrypted, making the vehicle permission transfer process more secure.

[0050] Please see Figure 2 , Figure 2 This is a flowchart of an automatic parking method provided in an embodiment of the present invention, such as... Figure 2As shown, this automatic parking method is used on the requesting end and includes the following steps:

[0051] 201. After a successful request for automatic parking, generate dynamic permission data for the vehicle.

[0052] In this embodiment of the invention, the vehicle is a Level 2 or higher vehicle, possessing certain remote driving or autonomous driving capabilities. After driving the vehicle into the garage, the user can request automatic parking from any location. For example, the user can request automatic parking near the elevator, allowing them to quickly leave the garage after the request is successful.

[0053] The requesting end sends an automatic parking request to the controlling end. The controlling end verifies the permissions of the automatic parking request to determine if the requesting end has the necessary authorization. This automatic parking request includes user information and vehicle information. The user information is used to determine if the user agrees to the automatic parking agreement; if the user does not agree, the request fails. The vehicle information is used to determine if the vehicle is controllable; if the vehicle does not have remote driving or automatic driving capabilities, the request fails. If the user agrees to the automatic parking agreement and the vehicle has remote driving or automatic driving capabilities, the request succeeds, and the controlling end sends a message indicating successful automatic parking to the requesting end, transferring vehicle control authority data through the requesting end.

[0054] After successfully requesting automatic parking, the requesting end can obtain remote or automatic control data of the vehicle and generate one-time dynamic permission data. This one-time dynamic permission data can be QR code data or string data. The dynamic permission data has an effective time, which can be set by the user. For example, the effective time can be set to 10 minutes; after 10 minutes, the dynamic permission data expires. During the effective period of the dynamic permission data, the controlling end can obtain control of the vehicle through the dynamic permission data, thereby controlling the vehicle to drive to the designated parking space for parking.

[0055] 202. Encrypt the dynamic permission data using a preset encryption operator to obtain the encrypted dynamic permission data.

[0056] In this embodiment of the invention, the aforementioned encryption operator can encrypt dynamic permission data, thereby ensuring the security of the dynamic permission data. It should be noted that if the dynamic permission data is directly sent to the control terminal, it may be intercepted, potentially leading to vehicle hijacking. Therefore, by encrypting the dynamic permission data using the encryption operator, the encrypted dynamic permission data requires a corresponding decryption method to retrieve the actual dynamic permission data, thus increasing the security of the dynamic permission data.

[0057] The encryption and decryption operators mentioned above are encryption and decryption algorithms agreed upon by the requesting end and the controlling end. The encryption operator is stored on the requesting end, and the decryption operator is stored on the controlling end. Specifically, during registration, the requesting end agrees on the corresponding encryption and decryption algorithm with the controlling end. After agreeing on the encryption and decryption algorithm, the requesting end saves the encryption operator, and the controlling end saves the decryption operator. It should be noted that different requesting ends and controlling ends may use different encryption and decryption algorithms. For example, requesting end A agrees on encryption and decryption algorithm 'a' with the controlling end, while requesting end B agrees on encryption and decryption algorithm 'b' with the controlling end. Encryption and decryption algorithm 'a' and encryption and decryption algorithm 'b' are two different encryption and decryption algorithms.

[0058] 203. Send the encrypted dynamic permission data to the control terminal so that the control terminal can decrypt the encrypted dynamic permission data using a preset decryption operator and control the vehicle to automatically stop based on the decrypted dynamic permission data.

[0059] In this embodiment of the invention, after the requesting end encrypts the dynamic permission data, it sends the encrypted dynamic permission data to the control end through the communication protocol between the requesting end and the control end.

[0060] The control unit can obtain the decryption operator corresponding to the vehicle to decrypt the encrypted dynamic permission data, obtaining the decrypted dynamic permission data. Control permissions for the vehicle can then be obtained through this decryption data. The control unit maintains a mapping table between vehicles and decryption operators, which can be used to retrieve the decryption operator corresponding to the vehicle.

[0061] After obtaining control of the vehicle, the control unit can either acquire the vehicle's current location or perform route planning based on the vehicle's current location and available parking spaces in the garage to obtain the vehicle's parking route. Then, using the control authority, the control unit can guide the vehicle to proceed to the parking space according to the parking route, thereby completing automatic parking.

[0062] In this embodiment of the invention, after a successful request for automatic parking, dynamic permission data for the vehicle is generated. This dynamic permission data is then encrypted using a preset encryption operator to obtain encrypted dynamic permission data. The encrypted dynamic permission data is sent to the control terminal, which decrypts it using a preset decryption operator and controls the vehicle to automatically park based on the decrypted dynamic permission data. By having the requesting end send the vehicle's dynamic permission data to the control terminal after a successful request for automatic parking, and the control terminal using this dynamic permission data to control the vehicle's parking, the process of finding a parking space and parking can be delegated to the control terminal, eliminating the need for manual parking and improving parking efficiency. Vehicle users can request automatic parking from anywhere within the garage, allowing for convenient alighting at the nearest exit, enhancing the user experience. The encrypted dynamic permission data also makes the vehicle permission transfer process more secure.

[0063] Optionally, before encrypting the dynamic permission data using a preset encryption operator to obtain the encrypted dynamic permission data, you can also obtain the vehicle's exterior image and license plate information; and generate the encryption operator based on the exterior image and license plate information.

[0064] In this embodiment of the invention, during the initial registration at the requesting end, the user uploads an image of the vehicle's exterior and license plate information to the requesting end. The requesting end then sends the image of the vehicle's exterior and license plate information to the control end. The requesting end generates and stores a corresponding encryption operator based on the image of the vehicle's exterior and license plate information, and the control end generates and stores a corresponding decryption operator based on the image of the vehicle's exterior and license plate information.

[0065] It should be noted that by generating corresponding encryption and decryption operators based on the vehicle's exterior image and license plate information, these operators are personalized to the vehicle, resulting in higher encryption security and thus improving the security of dynamic access data. Because the encryption and decryption operators are highly personalized to the vehicle, the probability of the encrypted dynamic access data being cracked is reduced in the absence of a decryption operator.

[0066] Optionally, in the step of generating an encryption operator based on the appearance image and license plate information, the license plate information can be normalized to obtain floating-point type license plate information; the floating-point number of the floating-point type license plate information can be determined, and the floating-point type license plate information can be converted into a transformation matrix of corresponding depth based on the floating-point number; the appearance image can be transformed using the transformation matrix to obtain the encryption operator.

[0067] In this embodiment of the invention, the license plate information can be a string of license plate numbers. The license plate numbers can be normalized. Specifically, the normalization includes number normalization, letter normalization, and character normalization. Number normalization converts each number appearing in the license plate to a value between 0 and 1. Letter normalization converts each letter appearing in the license plate to a value between 0 and 1. Character normalization converts each character appearing in the license plate to a value between 0 and 1. For example, the numbers 0 to 9 in the license plate are converted to values ​​between 0 and 1, the 26 letters are converted to values ​​between 0 and 1, and the 34 Chinese characters are converted to values ​​between 0 and 1, thereby obtaining floating-point type license plate information. The largest floating-point number is found in the floating-point type license plate information, and the depth of the transformation matrix is ​​determined based on the largest floating-point number. For example, if the floating-point number 0.0294 in the license plate information is 5, then the depth of the transformation matrix can be determined to be 5. The floating-point type license plate information is converted into a transformation matrix of the corresponding depth based on the floating-point number, resulting in a transformation matrix with a depth of 5.

[0068] The vehicle's exterior image is transformed using a transformation matrix, converting it into a matrix with depth values. This depth matrix is ​​then used as an encryption operator. Since this encryption operator is in matrix form, it can be used to perform matrix calculations on dynamic access control data to obtain encrypted dynamic access control data.

[0069] Optionally, in the step of transforming the appearance image using a transformation matrix to obtain the encryption operator, a sliding convolution operation can be performed on the appearance image using the transformation matrix to obtain the convolution result of the appearance image; a linear transformation can then be performed based on the convolution result to obtain the encryption operator.

[0070] In an embodiment of the present invention, the transformation matrix can be used as a convolution window to perform a sliding convolution operation on the appearance image to obtain the convolution result of the appearance image. The formula for the convolution operation is y = wx + b, where w is the value of the transformation matrix, b is the depth value of the transformation matrix, x is the pixel value of the appearance image, and y is the convolution result. The convolution result is also in matrix form. The convolution result can be linearly transformed to reduce the matrix dimension of the convolution result, thereby obtaining the encryption operator.

[0071] A transformation matrix is ​​obtained using license plate information, ensuring a high correlation between the transformation matrix and the license plate information. This transformation matrix is ​​then used to convolve the vehicle's exterior image. The convolution result is then linearly transformed to obtain an encryption operator. Since the acquisition process of the encryption operator is highly correlated with the vehicle's exterior image and license plate information, the corresponding decryption operator cannot be derived without knowledge of the vehicle's appearance, license plate information, and the specific generation process of the encryption operator. Therefore, the encryption operator obtained through this method is more secure. Using the encryption operator obtained through this method to encrypt dynamic access control data can further improve the security of dynamic access control data.

[0072] It should be noted that the automatic parking method provided in this embodiment of the invention can be applied to devices such as smart cameras, smartphones, computers, and servers that are capable of performing automatic parking.

[0073] Optional, please see Figure 3 , Figure 3 This is a flowchart of a vehicle control method provided in an embodiment of the present invention, such as... Figure 3 As shown, the vehicle control method is used on the control terminal and includes the following steps:

[0074] 301. Verify the automatic parking request from the requesting party, and obtain the encrypted dynamic permission data sent by the requesting party after the verification is successful.

[0075] In this embodiment of the invention, after a user drives their vehicle into the garage, they can request automatic parking from any location. The requesting end sends the automatic parking request to the control end, which verifies the request's authorization to automatically park. The automatic parking request includes user information and vehicle information. The user information is used to determine if the user agrees to the automatic parking agreement; if not, the request fails. The vehicle information is used to determine if the vehicle is controllable; if the vehicle does not have remote driving or automatic driving capabilities, the request fails. If the user agrees to the automatic parking agreement and the vehicle has remote driving or automatic driving capabilities, the request succeeds, and the control end sends a message indicating successful automatic parking to the requesting end, transferring vehicle control authorization data through the requesting end.

[0076] After successfully requesting automatic parking, the requesting end can obtain remote control or automatic control data of the vehicle and generate one-time dynamic permission data. This one-time dynamic permission data can be QR code data or string data. The dynamic permission data has an effective time, which can be set by the user.

[0077] The aforementioned dynamic permission data is encrypted using a preset encryption operator. This encryption operator encrypts the dynamic permission data, thereby ensuring its security. By encrypting the dynamic permission data using the encryption operator, the encrypted data requires a corresponding decryption method to retrieve the actual dynamic permission data, thus increasing its security.

[0078] 302. Decrypt the encrypted dynamic permission data using a preset decryption operator to obtain the decrypted dynamic permission data.

[0079] In this embodiment of the invention, the encryption and decryption operators are encryption and decryption algorithms agreed upon by the requesting end and the controlling end. The encryption operator is stored on the requesting end, and the decryption operator is stored on the controlling end. Specifically, during registration, the requesting end agrees on the corresponding encryption and decryption algorithm with the controlling end. After agreeing on the encryption and decryption algorithm, the requesting end saves the encryption operator, and the controlling end saves the decryption operator. It should be noted that different requesting ends and controlling ends may have different encryption and decryption algorithms. For example, requesting end A and the controlling end agree on encryption and decryption algorithm 'a', while requesting end B and the controlling end agree on encryption and decryption algorithm 'b'. Encryption and decryption algorithm 'a' and encryption and decryption algorithm 'b' are two different encryption and decryption algorithms.

[0080] The control unit can maintain a mapping table between vehicles and decryption operators. This table allows the control unit to retrieve the decryption operator corresponding to a vehicle. The control unit can then use the decryption operator to decrypt the encrypted dynamic permission data, obtaining the decrypted dynamic permission data. This decrypted dynamic permission data is then used to obtain control permissions for the vehicle.

[0081] 303. Control the vehicle to automatically park based on the decrypted dynamic permission data.

[0082] In this embodiment of the invention, after obtaining control authority over the vehicle, the control terminal either obtains the vehicle's current location, performs route planning based on the vehicle's current location and available parking spaces in the garage, obtains the vehicle's parking route, and uses the control authority to control the vehicle to move to the parking space according to the parking route, thereby completing automatic parking.

[0083] In this embodiment of the invention, the automatic parking request from the requesting end is verified, and upon successful verification, encrypted dynamic permission data sent by the requesting end is obtained. This dynamic permission data is encrypted using a preset encryption operator; it is then decrypted using a preset decryption operator to obtain decrypted dynamic permission data; and the vehicle is controlled to automatically park based on the decrypted dynamic permission data. By sending the vehicle's dynamic permission data to the control end after a successful automatic parking request, the control end can control the vehicle to park using this data. This process of finding a parking space and parking can be delegated to the control end, eliminating the need for manual space searching and improving parking efficiency. Vehicle users can request automatic parking from anywhere within the garage, allowing for convenient drop-off at the nearest exit, enhancing the user experience. The encrypted dynamic permission data also makes the vehicle permission transfer process more secure.

[0084] Optionally, before the step of decrypting the encrypted dynamic permission data using a preset decryption operator to obtain the decrypted dynamic permission data, the vehicle's appearance information and license plate information can be obtained; and the decryption operator can be calculated based on the appearance information and the license plate information.

[0085] In this embodiment of the invention, the encryption operator is generated based on the vehicle's exterior image and license plate information. Therefore, the corresponding decryption operator can be calculated by reversing the process of generating the encryption operator based on the vehicle's exterior image and license plate information.

[0086] Specifically, during the initial registration on the requesting end, the user can upload an image of the vehicle's exterior and license plate information to the requesting end. The requesting end then sends the image of the vehicle's exterior and license plate information to the control end. The requesting end generates and stores the corresponding encryption operator based on the image of the vehicle's exterior and license plate information, while the control end generates and stores the corresponding decryption operator based on the image of the vehicle's exterior and license plate information.

[0087] It should be noted that by generating corresponding encryption and decryption operators based on the vehicle's exterior image and license plate information, these operators are personalized to the vehicle, resulting in higher encryption security and thus improving the security of dynamic access data. Because the encryption and decryption operators are highly personalized to the vehicle, the probability of the encrypted dynamic access data being cracked is reduced in the absence of a decryption operator.

[0088] Optionally, in the step of calculating the decryption operator based on the appearance information and license plate information, an encryption operator can be generated based on the appearance image and license plate information; and the decryption operator can be calculated based on the encryption operator.

[0089] In this embodiment of the invention, license plate information can be normalized to obtain floating-point type license plate information; the floating-point number of the floating-point type license plate information is determined, and the floating-point type license plate information is converted into a transformation matrix of corresponding depth according to the floating-point number; the appearance image is transformed through the transformation matrix to obtain an encryption operator.

[0090] Furthermore, the aforementioned license plate information can be a string of license plate numbers, which can be normalized. This normalization includes numeric normalization, alphabetic normalization, and textual normalization. Numerical normalization converts each digit in the license plate to a value between 0 and 1; alphabetic normalization converts each letter to a value between 0 and 1; and textual normalization converts each character to a value between 0 and 1. For example, converting the digits 0 to 9, the 26 letters, and the 34 Chinese characters to values ​​between 0 and 1 yields floating-point license plate information. The largest floating-point number is then found within this information, and the depth of the transformation matrix is ​​determined based on this number. For instance, if the floating-point number 0.0294 in the license plate information is 5, the depth of the transformation matrix is ​​determined to be 5. The floating-point license plate information is then converted to a transformation matrix of the corresponding depth, resulting in a transformation matrix of depth 5. The vehicle's exterior image is transformed using a transformation matrix, resulting in a matrix with depth values. This depth-valued matrix is ​​then used as an encryption operator.

[0091] Furthermore, a sliding convolution operation can be performed on the appearance image using a transformation matrix to obtain the convolution result of the appearance image. A linear transformation is then performed on the convolution result to obtain the encryption operator. The transformation matrix can be used as a convolution window to perform a sliding convolution operation on the appearance image, obtaining the convolution result. The formula for the convolution operation is y = wx + b, where w is the value of the transformation matrix, b is the depth value of the transformation matrix, x is the pixel value of the appearance image, and y is the convolution result. This convolution result is also in matrix form. A linear transformation can be performed on the convolution result to reduce its matrix dimension, thereby obtaining the encryption operator.

[0092] A transformation matrix is ​​obtained using license plate information, ensuring a high correlation between the transformation matrix and the license plate information. This transformation matrix is ​​then used to convolve the vehicle's exterior image. The convolution result is then linearly transformed to obtain an encryption operator. Since the acquisition process of the encryption operator is highly correlated with the vehicle's exterior image and license plate information, the corresponding decryption operator cannot be derived without knowledge of the vehicle's appearance, license plate information, and the specific generation process of the encryption operator. Therefore, the encryption operator obtained through this method is more secure. Using the encryption operator obtained through this method to encrypt dynamic access control data can further improve the security of dynamic access control data.

[0093] After obtaining the encryption operator, multiple test data can be set, and the encryption operator can be used to encrypt the test data to obtain encrypted test data. Based on the mapping relationship between the encrypted test data and the test data before encryption, the decryption operator can be calculated. Specifically, the encryption process of dynamic permission data can be Y = F(X), where F() is the encryption operator, X is the dynamic permission data, and Y is the encrypted data. The decryption process can be X = G(Y), where G() is the decryption operator. For example, if the encryption process Y = F(X) = A*X, then the decryption process is X = G(Y) = G(A*X) = Y / A. Therefore, given the data before encryption, the data after encryption, and the encryption operator, after obtaining the encryption operator, the decryption operator can be derived from the encryption process.

[0094] The control unit includes a mapping table between vehicles and decryption operators. Furthermore, it also includes a mapping table between encryption operators and decryption operators. When a vehicle enters the garage, the control unit captures an image of the vehicle and uses image recognition to identify its exterior and license plate information. Based on the license plate information and the vehicle's exterior image, a corresponding encryption operator is generated. This encryption operator is then used to look up the corresponding decryption operator in the mapping table. Thus, without knowing the encryption operator's generation process, it is impossible to find the corresponding decryption operator in the mapping table, further enhancing the security of dynamic access control data.

[0095] Optional, please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a request terminal device provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the requesting device includes:

[0096] The first generation module 401 is used to generate dynamic permission data for the vehicle after the request for automatic parking is successful.

[0097] The encryption module 402 is used to encrypt the dynamic permission data using a preset encryption operator to obtain encrypted dynamic permission data;

[0098] The sending module 403 is used to send the encrypted dynamic permission data to the control terminal, so that the control terminal can decrypt the encrypted dynamic permission data through a preset decryption operator and control the vehicle to automatically park according to the decrypted dynamic permission data.

[0099] Optionally, the device further includes:

[0100] The first acquisition module is used to acquire images of the vehicle's exterior and license plate information;

[0101] The second generation module is used to generate the encryption operator based on the appearance image and the license plate information.

[0102] Optionally, the second generation module includes:

[0103] The normalization submodule is used to normalize the license plate information to obtain floating-point type license plate information;

[0104] The determination submodule is used to determine the floating-point number of the license plate information of the floating-point type, and convert the license plate information of the floating-point type into a transformation matrix of the corresponding depth according to the floating-point number;

[0105] The transformation submodule is used to transform the appearance image using the transformation matrix to obtain the encryption operator.

[0106] Optionally, the conversion submodule includes:

[0107] The first processing unit is used to perform a sliding convolution operation on the appearance image through the transformation matrix to obtain the convolution result of the appearance image;

[0108] The second processing unit is used to perform a linear transformation based on the convolution result to obtain the encryption operator.

[0109] It should be noted that the automatic parking device provided in this embodiment of the invention can be applied to devices such as smart cameras, smartphones, computers, and servers that can perform automatic parking methods.

[0110] The automatic parking device provided in this embodiment of the invention can realize all the processes implemented by the automatic parking method in the above-described method embodiments, and can achieve the same beneficial effects. To avoid repetition, it will not be described again here.

[0111] Optional, please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a control terminal device provided in an embodiment of the present invention, as shown below. Figure 5 As shown, the control terminal device includes:

[0112] The second acquisition module 501 is used to verify the automatic parking request from the requesting end, and after the verification is passed, acquire the encrypted dynamic permission data sent by the requesting end. The dynamic permission data is encrypted by a preset encryption operator.

[0113] The decryption module 502 is used to decrypt the encrypted dynamic permission data using a preset decryption operator to obtain the decrypted dynamic permission data.

[0114] The control module 503 is used to control the vehicle to automatically park based on the decrypted dynamic permission data.

[0115] Optionally, the device further includes:

[0116] The third acquisition module is used to acquire the vehicle's appearance information and license plate information;

[0117] The calculation module is used to calculate the decryption operator based on the appearance information and the license plate information.

[0118] Optionally, the computing module includes:

[0119] A generation submodule is used to generate the encryption operator based on the appearance image and the license plate information;

[0120] The calculation submodule is used to calculate the decryption operator based on the encryption operator.

[0121] The control device provided in this embodiment of the invention can implement all the processes of the automatic parking method in the above-described method embodiments, and can achieve the same beneficial effects. To avoid repetition, further details are omitted here.

[0122] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the various processes of the automatic parking method provided in this invention and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0123] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (RON), or random access memory (RAN), etc.

[0124] The above description discloses only preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. An automatic parking method, characterized in that, For the requesting end, the following steps are included: After a successful request for automatic parking, dynamic permission data for the vehicle is generated. The dynamic permission data is encrypted using a preset encryption operator to obtain encrypted dynamic permission data; The encrypted dynamic permission data is sent to the control terminal, so that the control terminal can decrypt the encrypted dynamic permission data using a preset decryption operator, and control the vehicle to automatically park according to the decrypted dynamic permission data. The acquisition of the encryption operator includes: Obtain images of the vehicle's exterior and license plate information; The encryption operator is generated based on the appearance image and the license plate information, including: normalizing the license plate information to obtain floating-point type license plate information; determining the floating-point number of the floating-point type license plate information; converting the floating-point type license plate information into a transformation matrix of corresponding depth based on the floating-point number; performing a sliding convolution operation on the appearance image through the transformation matrix to obtain the convolution result of the appearance image; and performing a linear transformation based on the convolution result to obtain the encryption operator.

2. A vehicle control method, characterized in that, For use in the control terminal, the vehicle control method includes: The automatic parking request from the requesting end is verified, and after the verification is successful, the encrypted dynamic permission data sent by the requesting end is obtained. The dynamic permission data is encrypted using a preset encryption operator. The encrypted dynamic permission data is decrypted using a preset decryption operator to obtain the decrypted dynamic permission data. The vehicle is automatically parked based on the decrypted dynamic permission data. The acquisition of the decryption operator includes: Obtain images of the vehicle's exterior and license plate information; The encryption operator is generated based on the appearance image and the license plate information, including: normalizing the license plate information to obtain floating-point type license plate information; determining the floating-point number of the floating-point type license plate information; converting the floating-point type license plate information into a transformation matrix of corresponding depth based on the floating-point number; performing a sliding convolution operation on the appearance image through the transformation matrix to obtain the convolution result of the appearance image; performing a linear transformation based on the convolution result to obtain the encryption operator; and calculating the decryption operator based on the encryption operator.

3. A requesting device, characterized in that, The requesting device includes: The first generation module is used to generate dynamic permission data for the vehicle after the request for automatic parking is successful. An encryption module is used to encrypt the dynamic permission data using a preset encryption operator to obtain encrypted dynamic permission data; The sending module is used to send the encrypted dynamic permission data to the control terminal, so that the control terminal can decrypt the encrypted dynamic permission data through a preset decryption operator and control the vehicle to automatically park according to the decrypted dynamic permission data. The acquisition of the encryption operator includes: Obtain images of the vehicle's exterior and license plate information; The encryption operator is generated based on the appearance image and the license plate information, including: normalizing the license plate information to obtain floating-point type license plate information; determining the floating-point number of the floating-point type license plate information; converting the floating-point type license plate information into a transformation matrix of corresponding depth based on the floating-point number; performing a sliding convolution operation on the appearance image through the transformation matrix to obtain the convolution result of the appearance image; and performing a linear transformation based on the convolution result to obtain the encryption operator.

4. A control terminal device, characterized in that, The control terminal device includes: The second acquisition module is used to verify the automatic parking request from the requesting end, and after the verification is passed, acquire the encrypted dynamic permission data sent by the requesting end. The dynamic permission data is encrypted by a preset encryption operator. The decryption module is used to decrypt the encrypted dynamic permission data using a preset decryption operator to obtain the decrypted dynamic permission data. The control module is used to control the vehicle to automatically park based on the decrypted dynamic permission data; The acquisition of the decryption operator includes: Obtain images of the vehicle's exterior and license plate information; The encryption operator is generated based on the appearance image and the license plate information, including: normalizing the license plate information to obtain floating-point type license plate information; determining the floating-point number of the floating-point type license plate information; converting the floating-point type license plate information into a transformation matrix of corresponding depth based on the floating-point number; performing a sliding convolution operation on the appearance image through the transformation matrix to obtain the convolution result of the appearance image; performing a linear transformation based on the convolution result to obtain the encryption operator; and calculating the decryption operator based on the encryption operator.

5. An automatic parking system, characterized in that, It includes the requesting device as described in claim 3 and the control device as described in claim 4, wherein the requesting device and the control device are communicatively connected.

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