Parking prompting method and device, vehicle and storage medium

Abstract

The application discloses a parking prompting method and device, a vehicle and a storage medium. The parking prompting method is applied to a self vehicle and comprises the following steps: in a parking mode, detecting a parking space to be parked into; according to the parking space and a preset first parking space of the vehicle in a door opening state, classifying the parking space to be parked into, and determining a target parking type to which the parking space to be parked into belongs; and outputting target parking prompting information corresponding to the target parking type. The application solves the technical problem of poor convenience in selecting a non-standard parking space for parking in the prior art.

Description

Technical Field

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

[0002] With rapid economic development and increasing car sales year after year, the automotive industry has grown rapidly, and automatic door and automatic parking technologies have gradually matured. Automatic doors, such as electric revolving doors, electric sliding doors, electric swing doors, and electric tailgates, are increasingly being used in the market. However, opening automatic doors often requires more space. Meanwhile, advancements in intelligent vehicle technology are also driving the wider adoption of automatic parking technology. However, with increasing car sales and a growing shortage of parking spaces, users often need to park in non-standard parking spaces with obstacles. When choosing a non-standard parking space, users often find it difficult to accurately determine whether the overall space meets the requirements of automatic parking. This can lead to situations where the vehicle cannot be fully parked or the door cannot be fully opened, requiring the user to choose a different parking space, causing inconvenience. Summary of the Invention

[0003] The main purpose of this application is to provide a parking guidance method, device, vehicle and storage medium, which aims to solve the technical problem of poor convenience when parking in non-standard parking spaces in the prior art.

[0004] To achieve the above objectives, this application provides a parking guidance method applied to a vehicle, the vehicle including blind spot monitoring lights, the blind spot monitoring lights including a vehicle indicator light and multiple obstacle indicator lights, each of the obstacle indicator lights being disposed in multiple directions of the vehicle indicator light, the parking guidance method including the following steps:

[0005] In parking mode, the parking space of the parking space to be parked is detected;

[0006] Based on the parking space and the preset first occupancy space of the vehicle in the open door state, the parking spaces to be parked are classified to determine the target parking space type to which the parking spaces to be parked belong.

[0007] Output the target parking space prompt information corresponding to the target parking space type.

[0008] This application also provides a parking reminder device, which is applied to one's own vehicle and includes:

[0009] The detection module is used to detect the parking space of the parking space to be parked in parking mode;

[0010] The determination module is used to classify the parking spaces to be parked based on the parking space and the preset first occupancy space of the vehicle in the open state of the car door, and to determine the target parking space type to which the parking spaces to be parked belong.

[0011] The output module is used to output the target parking space prompt information corresponding to the target parking space type.

[0012] This application also provides a vehicle, which is a physical device, comprising: a memory, a processor, and a program for the parking suggestion method stored in the memory and executable on the processor, wherein when the program for the parking suggestion method is executed by the processor, it can implement the steps of the parking suggestion method as described above.

[0013] This application also provides a storage medium, which is a computer-readable storage medium, on which a program implementing a parking suggestion method is stored. When the program implementing the parking suggestion method is executed by a processor, it implements the steps of the parking suggestion method as described above.

[0014] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the parking reminder method described above.

[0015] This application provides a parking prompt method, device, vehicle, and storage medium. By detecting the parking space of the parking space to be parked in parking mode, the three-dimensional parking space of the parking space to be parked is detected. Then, by classifying the parking space to be parked according to the parking space and the first occupancy space of the vehicle when the door is open, the target parking space type of the parking space to be parked is determined, and the target parking space prompt information corresponding to the target parking space type is output, thereby realizing the classification of parking space and the feedback of classification results. Compared to drivers relying on experience to estimate whether there is enough space in a parking space to park their vehicle, this application categorizes parking spaces by comparing the available space with the vehicle's first occupancy space when the door is open, and outputs corresponding prompts based on the categorization results. This allows users to quickly and accurately know the availability of the parking space before parking, and then accurately select a suitable parking space based on the target parking space prompts. This reduces the likelihood of finding that the vehicle cannot be fully parked or the door cannot be fully opened after parking, requiring the user to choose a different parking space. It overcomes the technical shortcomings of choosing non-standard parking spaces, where users often cannot accurately determine whether the overall space of the parking space meets the requirements of automatic parking, resulting in situations where the vehicle cannot be fully parked or the door cannot be fully opened, requiring the user to choose a different parking space, thus improving the convenience of choosing non-standard parking spaces. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram illustrating an example of parking in a non-standard parking space in this application.

[0019] Figure 2 This is a flowchart illustrating one embodiment of the parking guidance method of this application;

[0020] Figure 3 This is a schematic diagram of one possible implementation of the parking assistance interface in this application;

[0021] Figure 4 This is a flowchart illustrating another embodiment of the parking guidance method of this application;

[0022] Figure 5 This is a schematic diagram illustrating another possible implementation of the parking assistance interface in this application;

[0023] Figure 6 This is a schematic diagram of the parking reminder device in the embodiments of this application;

[0024] Figure 7 This is a schematic diagram of the device structure of the hardware operating environment involved in the parking prompt method in the embodiments of this application.

[0025] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, 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.

[0027] With rapid economic development and increasing car sales year after year, the automotive industry has grown rapidly, and automatic door technology and automatic parking technology have gradually matured. Advances in intelligent vehicle technology have driven the wider implementation of automatic parking technology. However, currently, automatic parking focuses primarily on automatic parking in standard parking spaces. Since parking in standard spaces mostly involves horizontal displacement, current automatic parking systems mainly focus on the horizontal distance between obstacles and the vehicle when identifying obstacles. However, with the increasing prevalence of automatic doors such as electric revolving doors, electric sliding doors, electric swing doors, and electric tailgates, and the diversification of automatic door opening methods, coupled with the growing scarcity of parking spaces, users often need to park their vehicles in narrow or non-standard parking spaces with obstacles. To adapt to increasingly narrow horizontal spaces and non-standard parking spaces with obstacles, automatic doors may compensate for the lack of horizontal space by occupying more vertical space. Therefore, many new automatic doors often require not only more horizontal space but also more vertical space when opening, such as upward-opening doors and outward-swinging doors. However, existing obstacle detection systems are difficult to adapt to the vertical space occupied by automatic doors when opening and non-standard parking spaces with obstacles. This can lead to situations where users cannot fully park their vehicles or the automatic doors cannot open after selecting non-standard parking spaces, requiring them to choose a different parking space, causing inconvenience. For example, refer to... Figure 1 For outward-swinging double doors, when opening, the front doors slide forward and the rear doors slide backward. After opening, the doors may require more height space than the rear of the vehicle. Currently, similar... Figure 1 It is not uncommon for parking spaces like these, where there are obstacles such as water pipes or walls above the rear side, making it impossible to open the rear door after the vehicle is parked.

[0028] In response, this application provides a parking prompt method, device, vehicle, and storage medium. By detecting the parking space of the parking space to be parked in parking mode, the three-dimensional parking space of the parking space to be parked is detected. Then, by classifying the parking space to be parked according to the parking space and the first occupancy space of the vehicle when the door is open, the target parking space type of the parking space to be parked is determined, and the target parking space prompt information corresponding to the target parking space type is output, thereby realizing the classification of parking space and the feedback of classification results. On the one hand, compared to drivers relying on experience to estimate whether there is enough space in a parking space, this application classifies parking spaces by comparing the available space with the vehicle's first occupancy space when the door is open. This allows users to quickly and accurately know the information of the parking space they want to park in before parking, based on the target parking space prompts. This enables them to accurately select a suitable parking space, reducing the need to reselect a space when they find that the vehicle cannot be fully parked or the door cannot be fully opened. On the other hand, compared to obstacle detection on a horizontal plane, this application adds a height dimension by recognizing the three-dimensional parking space. This accommodates the opening requirements of automatic doors that require height space, overcoming the technical shortcomings of choosing non-standard parking spaces where the vehicle cannot be fully parked or the automatic door cannot be opened, requiring reselection and causing inconvenience for users. This improves the convenience of choosing non-standard parking spaces.

[0029] This application provides a parking suggestion method. In the first embodiment of the parking suggestion method, refer to... Figure 1 The parking reminder method is applied to one's own vehicle and includes the following steps:

[0030] Step S10: In parking mode, detect the parking space of the parking space to be parked;

[0031] In this embodiment, it should be noted that the parking prompt method is applied to a vehicle. In one feasible embodiment, the parking prompt method is applied to a vehicle equipped with automatic doors. The automatic doors refer to doors that can automatically open and close after being triggered by a switch or preset opening and closing conditions, including electric revolving doors, electric sliding doors, electric swing doors, etc., which can provide convenience for users to open and close doors. However, when there is insufficient space for getting in and out of the vehicle, manually opened and closed doors allow passengers to decide the opening and closing degree independently. Passengers can get in and out of the vehicle with the door opening very narrowly by controlling the opening and closing degree of the door. However, the opening and closing degree of automatic doors is preset and usually requires more space than manually opened and closed doors.

[0032] Specifically, when the vehicle meets the preset parking conditions, the vehicle switches to parking mode. In parking mode, the vehicle identifies the parking space to be parked and uses detection devices such as LiDAR, UWB base station, 4D millimeter-wave radar, and high-precision camera to detect the three-dimensional parking space space of the parking space to be parked. There can be one or more parking spaces to be parked. The identification of the parking space to be parked is similar to the existing technology and will not be described in detail here. The preset parking conditions can be triggered by the user operation of switching to parking mode, or it can be the vehicle switching to reverse gear, etc. This embodiment does not limit this.

[0033] Step S20: Based on the parking space and the preset first occupancy space of the vehicle in the open door state, classify the parking spaces to be parked and determine the target parking space type to which the parking spaces to be parked belong.

[0034] In this embodiment, it should be noted that the first occupancy space of the vehicle in the open door state refers to the three-dimensional space required by the vehicle when all doors are fully open. In one feasible approach, if the vehicle has multiple door opening methods and each door opening method requires a different three-dimensional space, then each door opening method corresponds to a first occupancy space.

[0035] Specifically, the parking space is compared with the preset first occupancy space of the vehicle with the doors open. Based on whether the parking space can fully accommodate the first occupancy space, the parking spaces to be parked are classified to determine the target parking space type to which the parking space to be parked belongs. The target parking space type may include invalid parking spaces, restricted parking spaces, and barrier-free parking spaces. An invalid parking space is a parking space that cannot be parked without colliding with an obstacle even if all doors are closed. A restricted parking space is a parking space that can be parked without colliding with an obstacle, but at least one door cannot be opened without colliding with an obstacle after parking. A barrier-free parking space is a parking space that can be parked without colliding with an obstacle, and all doors can be opened without colliding with an obstacle after parking.

[0036] In one feasible approach, if the vehicle has multiple door opening methods, the target parking space type can be further subdivided according to the various door opening methods, so that users can know which door opening method can be used to open the door and get out of the vehicle without collision after parking. For example, if the vehicle includes door opening methods A1 and A2, the target parking space type can include A1 restricted-A2 accessible parking space, A1 accessible-A2 accessible parking space, A1 accessible-A2 restricted parking space, etc. The A1 restricted-A2 accessible parking space refers to a parking space that can be parked without colliding with obstacles. After parking, if the door is opened with door opening method A1, at least one door cannot be opened without colliding with obstacles. If the door is opened with door opening method A2, all doors can be opened without colliding with obstacles. The same principle can be used to explain other target parking space types.

[0037] In one feasible approach, if there are multiple parking spaces to be parked, each parking space to be parked is classified according to its space and the first occupancy space of the vehicle when the door is open, and the target parking space type of each parking space to be parked is determined.

[0038] In one feasible approach, the method of classifying the parking space to be parked based on the parking space space and the preset first occupancy space of the vehicle in the open door state, and determining the target parking space type to which the parking space to be parked belongs, can be as follows: inputting the three-dimensional image corresponding to the parking space space and the three-dimensional image corresponding to the preset first occupancy space of the vehicle in the open door state into a trained classification model, classifying the parking space to be parked, and outputting the target parking space type to which the parking space to be parked belongs through the preset classification model. The classification model is similar to existing classification models and will not be described in detail here.

[0039] Optionally, the target parking space type includes invalid parking space, restricted parking space, and accessible parking space. The step of classifying the parking spaces to be parked according to the parking space and the preset first occupancy space of the vehicle when the door is open, and determining the target parking space type to which the parking space to be parked belongs, includes:

[0040] Step S21: Compare the parking space with the preset space specifications of the first space occupied by the vehicle when the door is open and the second space occupied by the vehicle when the door is closed.

[0041] In this embodiment, specifically, the spatial specifications of the parking space are compared with the spatial specifications of the first occupant space of the vehicle when the door is open, and / or the spatial specifications of the parking space are compared with the spatial specifications of the second occupant space of the vehicle when the door is closed. It is determined whether the parking space can completely accommodate the first occupant space and / or the second occupant space by translating the first occupant space and / or the second occupant space in the horizontal plane. That is, whether each point in the first occupant space and / or the second occupant space falls within the spatial range of the parking space. If, regardless of how the first occupant space is translated horizontally, at least one point in the first occupant space still cannot fall within the spatial range of the parking space, then the first occupant space is determined to exceed the parking space. If, by translating the first occupant space horizontally, every point in the first occupant space falls within the spatial range of the parking space, then the first occupant space is determined to not exceed the parking space. If, regardless of how the second occupant space is translated horizontally, at least one point in the second occupant space still cannot fall within the spatial range of the parking space, then the second occupant space is determined to exceed the parking space. If, by translating the second occupant space horizontally, every point in the second occupant space falls within the spatial range of the parking space, then the second occupant space is determined to not exceed the parking space.

[0042] Step S22: If it is determined that the second occupant space exceeds the parking space space, then the parking space to be parked is determined to be an invalid parking space;

[0043] Step S23: If it is determined that the second occupant space does not exceed the parking space, and the first occupant space exceeds the parking space, then it is determined that the parking space is a restricted parking space.

[0044] Step S24: If it is determined that the first occupant space does not exceed the parking space space, then it is determined that the parking space to be parked is an accessible parking space.

[0045] In this embodiment, specifically, if it is determined that the second occupant space exceeds the parking space, the parking space to be parked is determined to be an invalid parking space; if it is determined that the second occupant space does not exceed the parking space, and the first occupant space exceeds the parking space, the parking space is determined to be a restricted parking space; if it is determined that the first occupant space does not exceed the parking space, the parking space to be parked is determined to be an accessible parking space.

[0046] Step S30: Output the target parking space prompt information corresponding to the target parking space type.

[0047] In this embodiment, specifically, based on the preset mapping relationship between parking space types and parking space prompt information, the target parking space prompt information corresponding to the target parking space type is determined. The target parking space prompt information is output through audio playback devices, display devices, etc., on the vehicle or connected to the vehicle, to indicate to the user whether the parking space to be parked can fully accommodate a vehicle with its door open. The target parking space prompt information can be audio, images, etc.

[0048] In one feasible approach, if there are multiple parking spaces to be parked, the target parking space type of each parking space can be determined. Then, for each target parking space type, the corresponding target parking space prompt information can be determined. That is, there is a one-to-one correspondence between the target parking space prompt information and the parking spaces to be parked. When outputting each target parking space prompt information, it can be distinguished by text, color, display position, etc., so that the user can clearly know whether each parking space to be parked can fully accommodate a vehicle with its door open through the target parking space prompt information.

[0049] Optionally, the target parking space prompt information includes a first visual marker, and the step of outputting the target parking space prompt information corresponding to the target parking space type includes:

[0050] Step S31: Determine the target first visual marker corresponding to the target parking space type based on the preset mapping relationship between parking space types and first visual markers;

[0051] Step S32: In the parking assistance interface, the first visual marker of the target is displayed in the display area corresponding to the parking space to be parked.

[0052] In this embodiment, it should be noted that the target parking space prompt information includes a first visual marker. Different target parking space types correspond to different first visual markers, which allows users to visually and intuitively identify the parking spaces to be parked for different target parking space types. The first visual marker can be in the form of color, characters, graphics, etc. For example, the name of the target parking space type corresponding to each parking space can be output and displayed in the area corresponding to each parking space to be parked.

[0053] Specifically, based on the preset mapping relationship between parking space types and first visual markers, the target first visual marker corresponding to the target parking space type is determined. The parking space to be parked corresponds one-to-one with the target parking space type, and the target parking space type corresponds one-to-one with the target first visual marker. Therefore, the target first visual marker corresponding to the target parking space type is also the target first visual marker corresponding to the parking space to be parked. In the parking assistance interface, the target first visual marker is output and displayed in the display area corresponding to the parking space to be parked. The parking assistance interface can be the display interface of the vehicle terminal, or it can be the display interface of a mobile terminal (such as a mobile phone, laptop, tablet computer, etc.) that communicates with the vehicle. This embodiment does not limit this.

[0054] In one feasible approach, if there are multiple parking spaces to be parked, a target first visual marker corresponding to each parking space can be determined, and the target first visual marker corresponding to each parking space can be output and displayed in the display area corresponding to each parking space in the parking assistance interface.

[0055] In one feasible approach, the target parking space type includes invalid parking spaces, restricted parking spaces, and accessible parking spaces. The step of outputting the target parking space prompt information corresponding to the target parking space type may include: if it is determined that the parking space to be parked is an invalid parking space, then outputting a first visual marker corresponding to the invalid parking space in the display area corresponding to the parking space in the parking assistance interface; if it is determined that the parking space to be parked is a restricted parking space, then outputting a first visual marker corresponding to the restricted parking space in the display area corresponding to the parking space in the parking assistance interface; if it is determined that the parking space to be parked is an accessible parking space, then outputting a first visual marker corresponding to the accessible parking space in the display area corresponding to the parking space in the parking assistance interface, wherein the first visual markers corresponding to the invalid parking space, the restricted parking space, and the accessible parking space are all different.

[0056] In one implementable manner, the first visual marker may be a color marker, as shown in the reference. Figure 3 , Figure 3This is a schematic diagram of one possible implementation of a parking assistance interface. As shown in the parking assistance interface, four parking spaces (P01, P02, P03, and P04) are identified on the left side of the vehicle. Based on the space of the parking spaces and the preset first occupancy space of the vehicle when the door is open, the parking spaces are classified. Parking space P01 is determined to be an invalid parking space, and therefore, the area corresponding to parking space P01 in the parking assistance interface is marked in red. Parking spaces P02 and P03 are also identified. Since the parking spaces are accessible, the areas corresponding to parking spaces P02 and P03 in the parking assistance interface are marked in green. Since parking space P04 is a restricted parking space, the area corresponding to parking space P04 in the parking assistance interface is marked in yellow. Users can intuitively and quickly understand the parking space availability of each parking space by observing the colors of the corresponding areas in the parking assistance interface, thus enabling them to quickly and accurately select a parking space and enhance the interactive reminder effect.

[0057] In this embodiment, by detecting the parking space of the parking space to be parked in parking mode, the three-dimensional parking space of the parking space to be parked is detected. Then, by classifying the parking space according to the parking space and the first occupancy space of the vehicle when the door is open, the target parking space type of the parking space to be parked is determined, and the target parking space prompt information corresponding to the target parking space type is output, thus realizing the classification of parking space and the feedback of classification results. On the one hand, compared to drivers relying on experience to estimate whether there is enough space in a parking space, this application classifies parking spaces by comparing the available space with the vehicle's first occupancy space when the door is open. This allows users to quickly and accurately know the information of the parking space they want to park in before parking, based on the target parking space prompts. This enables them to accurately select a suitable parking space, reducing the need to reselect a space when they find that the vehicle cannot be fully parked or the door cannot be fully opened. On the other hand, compared to obstacle detection on a horizontal plane, this application adds a height dimension by recognizing the three-dimensional parking space. This accommodates the opening requirements of automatic doors that require height space, overcoming the technical shortcomings of choosing non-standard parking spaces where the vehicle cannot be fully parked or the automatic door cannot be opened, requiring reselection and causing inconvenience for users. This improves the convenience of choosing non-standard parking spaces.

[0058] Furthermore, referring to Figure 4Based on the above embodiments of this application, in another embodiment of this application, the same or similar content as the above embodiments can be referred to the above description, and will not be repeated hereafter. In addition, the target parking space type includes restricted parking spaces, and after the step of outputting the target parking space prompt information corresponding to the target parking space type, the method further includes:

[0059] Step S40: If the first operation of automatically parking in a parking space is detected as the target parking space to be parked in a restricted parking space, then output remote parking prompt information.

[0060] In this embodiment, it should be noted that the vehicle is a vehicle equipped with automatic parking functionality. With the rapid development of automatic parking technology, this function can help drivers automatically park their vehicles into designated parking spaces. However, with increasing car sales and a growing shortage of parking spaces, users often need to park in restricted spaces. Although automatic parking can effectively help drivers park in restricted spaces, physical space limitations mean that after parking, at least one door cannot be opened without a collision. This means that occupants cannot exit the vehicle through the locked door and may need to climb inside the vehicle to reach the openable door, resulting in low convenience.

[0061] Specifically, after outputting the target parking space prompt information corresponding to the target parking space type, the system continuously detects user operations. If the system detects that the user has triggered the first operation of automatically parking in a restricted parking space, the system outputs remote parking prompt information to remind the user that the car door may not be able to open after parking in the target parking space, and that the user can get out of the car in advance to park remotely. The first operation can be a click operation detected by the display interface, user voice detected by the microphone, etc.

[0062] Optionally, after the first operation of detecting that the automatic parking space belongs to the target parking space in a restricted parking space, the step of outputting remote parking prompt information further includes:

[0063] Step S61: When the third operation of automatic parking is detected, control the vehicle to automatically park into the target parking space.

[0064] In this embodiment, specifically, after outputting the remote parking prompt information, user operations are continuously detected. When a third operation triggered by the user for automatic parking is detected, the vehicle is controlled to automatically park in the target parking space based on a preset parking path. The third operation can be a click operation detected through the display interface, user voice detected through the microphone, etc.

[0065] Optionally, the step of controlling the vehicle to automatically park in the target parking space when a third automatic parking operation is detected includes:

[0066] Step S611: When the third operation of automatic parking is detected, at least one door to be opened is identified from each door.

[0067] Step S612: Plan a parking path based on the third occupancy space of the vehicle with each of the doors to be opened in the open state.

[0068] Step S613: Control the vehicle to automatically park in the target parking space based on the parking path.

[0069] In this embodiment, specifically, after outputting the remote parking prompt information, user operations are continuously detected. When a third operation of automatic parking triggered by the user is detected, at least one door to be opened is determined from each of the doors. A parking path is planned based on the third occupancy space of the vehicle when each door to be opened is in the open state, so that after the vehicle is parked in the target parking space based on the parking path, each door to be opened can be opened without colliding with obstacles. The vehicle is controlled to automatically park in the target parking space based on the planned parking path. The specific method of parking path planning is similar to the prior art and will not be described in detail here.

[0070] In one feasible approach, determining at least one door to be opened from among the various doors can be achieved by detecting whether there are occupants in the seats corresponding to each door using a camera, presence detection device, etc., and determining the door corresponding to the seat where an occupant is detected as the door to be opened. For example, if only the driver is detected, the driver's seat door is determined as the door to be opened; if both the driver's and passenger's seats are detected, both the driver's seat door and the passenger's seat door are determined as doors to be opened. Alternatively, determining at least one door to be opened from among the various doors can be achieved by outputting a door to be opened selection interface for the user to select a door to be opened, and determining the door to be opened based on the user's selection.

[0071] Step S62: During the process of controlling the vehicle to automatically park into the target parking space, monitor the obstacle information in the opening area corresponding to each door.

[0072] In this embodiment, specifically, during the process of controlling the vehicle to automatically park into the target parking space, detection devices such as LiDAR, UWB base station, 4D millimeter-wave radar, and high-precision camera continuously monitor the obstacle information in the opening area corresponding to each door, so as to continuously detect whether the obstacles in the opening area change during the parking process, thereby improving the accuracy of determining whether the door can be opened. The opening area refers to the three-dimensional space area occupied by the door during and after opening. The obstacle information may include information on the presence of obstacles and / or the distance between obstacles and the vehicle.

[0073] Step S63: Based on the obstacle information, determine the target door opening area type to which each door's corresponding door opening area belongs;

[0074] In this embodiment, the opening areas can be classified according to whether there are obstacles in their respective opening areas, thus determining the target opening area type to which each door's opening area belongs. For example, opening areas with obstacles are defined as obstacle opening areas, and opening areas without obstacles are defined as obstacle-free opening areas. Alternatively, obstacle opening areas can be further classified according to the distance between the obstacle and the vehicle. If the sum of a first distance and a second distance is detected to be greater than a preset safe opening area width, where the first distance refers to the distance between a first obstacle and the vehicle, and the second distance refers to the distance between a second obstacle and the vehicle, then the first obstacle is classified as an obstacle opening area. Both the door opening area where the obstacle is located and the door opening area where the second obstacle is located are defined as a set of optional door opening areas. For a set of optional door opening areas, the parking position after the vehicle is parked in the parking space can be adjusted so that there is no obstacle in one of the optional door opening areas. For example, if the left side of the driver's side door is 0.5m away from the obstacle and the right side of the passenger side door is 0.5m away from the obstacle, and the preset safe width of the door opening area is 0.8m, then the driver's side door and the passenger side door cannot be opened at the same time. However, if the passenger side door does not need to be opened, a maximum of 1m of door opening distance can be left on the side of the driver's side door, that is, a distance greater than 0.8m can be left for the driver's side door, so that the driver's side door can be opened without a collision.

[0075] Optionally, after determining the target door opening area type corresponding to each door based on the obstacle information, the method further includes:

[0076] Step A10: Determine whether there is a target door to be opened among the doors to be opened whose opening area belongs to the selectable opening area;

[0077] Step A20: If it is determined that there is at least one target door to be opened among the doors to be opened whose opening area belongs to the selectable opening area, then the automatic parking into the target parking space is paused and an early exit prompt message is output.

[0078] In this embodiment, specifically, it is determined whether there is a target door among the doors to be opened whose opening area belongs to the selectable opening area. If it is determined that there is at least one target door among the doors to be opened whose opening area belongs to the selectable opening area, it means that after the occupant parks in the target parking space, there is a door that cannot be opened without colliding with an obstacle. Therefore, it is necessary to move the car or climb to get out of the car. Therefore, automatic parking in the target parking space is suspended, and an early exit prompt message is output to remind the occupant to get out of the car in advance, reduce the number of doors to be opened, and avoid the inconvenience of moving the car or climbing after parking in the target parking space.

[0079] Step S64: Output the corresponding target door opening area prompt information according to the target door opening area type to which each door opening area belongs.

[0080] In this embodiment, specifically, based on the preset mapping relationship between door opening area types and door opening area prompt information, the target door opening area prompt information corresponding to the target door opening area type to which each door opening area belongs is determined. The target door opening area prompt information is output through audio playback devices, display devices, etc., on the vehicle or connected to the vehicle, to prompt the user whether each door can be opened without colliding with obstacles after parking in the target parking space. The target door opening area prompt information can be audio, images, etc.

[0081] In one feasible approach, the target door opening area prompt information can be a second visual marker, and the step of outputting the corresponding target door opening area prompt information according to the target door opening area type to which each door opening area belongs includes:

[0082] Based on the preset mapping relationship between door opening area types and second visual markers, determine the target second visual marker corresponding to each door opening area;

[0083] In the parking assistance interface, the corresponding display area for each door opening area outputs and displays the corresponding target second visual marker.

[0084] In one feasible approach, the second visual marker can be a color marker, as shown in the reference. Figure 5 , Figure 5This is a schematic diagram of another possible implementation of the parking assistance interface. As shown in the parking assistance interface, the vehicle includes four door opening areas. Based on the obstacle information, the first and second door opening areas are determined to be selectable door opening areas, the third door opening area is an unobstructed door opening area, and the fourth door opening area is an invalid door opening area. Therefore, the display areas corresponding to the first and second door opening areas in the parking assistance interface are marked in yellow, the display area corresponding to the third door opening area is marked in green, and the display area corresponding to the fourth door opening area is marked in red. Users can intuitively and quickly understand whether each door can be opened by observing the color of the display area corresponding to each door opening area in the parking assistance interface, and thus decide in time whether to get out of the car in advance.

[0085] Step S50: When the second operation of remote parking is detected, the vehicle is controlled to park in the target parking space based on the second operation.

[0086] In this embodiment, specifically, after outputting the remote parking prompt information, user operations are continuously detected. When a second remote parking operation triggered by the user is detected, the vehicle is controlled to park in the target parking space based on the second operation. The second operation can be a click-triggered operation on a user device (such as a car key, mobile phone, tablet computer, etc.) that is connected to the vehicle, a voice-triggered operation, etc. The second operation can be an automatic parking operation or a remote parking operation.

[0087] In this embodiment, after the user selects a restricted parking space, a remote parking prompt message is first output. Before the vehicle is parked in the restricted parking space, the user is reminded that there may be a situation where the car door cannot be opened after parking, and the user is reminded to get out of the car in advance to park remotely. This allows the user to know the possible situation after parking in advance, which can effectively avoid the situation where the user is unaware that they may not be able to get out of the car or that it is inconvenient to get out of the car, which would force the occupants to climb into the vehicle or move the car again. This effectively improves the convenience of parking in non-standard parking spaces.

[0088] Furthermore, embodiments of this application also provide a parking reminder device, referring to... Figure 6 The parking reminder device is applied to one's own vehicle and includes:

[0089] Detection module 10 is used to detect the parking space of the parking space to be parked in parking mode;

[0090] The determining module 20 is used to classify the parking spaces to be parked according to the parking space and the preset first occupancy space of the vehicle in the open state of the door, and to determine the target parking space type to which the parking spaces to be parked belong.

[0091] The output module 30 is used to output the target parking space prompt information corresponding to the target parking space type.

[0092] Optionally, the parking reminder device further includes a remote parking reminder module, which is used for:

[0093] If the first operation detects that the automatic parking space belongs to the target parking space of the restricted parking space, a remote parking prompt message is output.

[0094] When a second remote parking operation is detected, the vehicle is controlled to park in the target parking space based on the second operation.

[0095] Optionally, the remote parking prompt module is further used for:

[0096] When a third operation of automatic parking is detected, the vehicle is controlled to automatically park into the target parking space.

[0097] During the process of controlling the vehicle to automatically park into the target parking space, the obstacle information in the opening area corresponding to each door is monitored.

[0098] Based on the obstacle information, determine the target door opening area type to which each door's corresponding opening area belongs;

[0099] Output the corresponding target door opening area prompt information based on the target door opening area type to which each door opening area belongs.

[0100] Optionally, the remote parking prompt module is further used for:

[0101] When a third operation for automatic parking is detected, at least one door to be opened is identified from among the various doors;

[0102] Parking path is planned based on the third occupancy space of the vehicle with each of the doors to be opened in the open state.

[0103] The vehicle is controlled to automatically park in the target parking space based on the parking path.

[0104] Optionally, the remote parking prompt module is further used for:

[0105] Determine whether any of the doors to be opened have a target door whose opening area belongs to the selectable opening area.

[0106] If it is determined that there is at least one target door among the doors to be opened whose opening area belongs to the selectable opening area, then the automatic parking into the target parking space is paused and an early exit prompt message is output.

[0107] Optionally, the determining module 20 is further configured to:

[0108] The parking space is compared with the preset space specifications of the first space occupied by the vehicle when the door is open and the second space occupied by the vehicle when the door is closed.

[0109] If it is determined that the second occupant space exceeds the parking space space, then the parking space to be parked is determined to be an invalid parking space;

[0110] If it is determined that the second occupant space does not exceed the parking space, and the first occupant space exceeds the parking space, then the parking space is determined to be a restricted parking space.

[0111] If it is determined that the first occupant space does not exceed the parking space space, then the parking space to be parked is determined to be an accessible parking space.

[0112] Optionally, the output module 30 is further configured to:

[0113] Based on the preset mapping relationship between parking space types and first visual markers, determine the target first visual marker corresponding to the target parking space type;

[0114] In the parking assistance interface, the first visual marker of the target is displayed in the corresponding display area of ​​the parking space to be parked.

[0115] The parking guidance device provided by this invention, employing the parking guidance method in the above embodiments, solves the technical problem of poor convenience when parking in non-standard parking spaces in the prior art. Compared with the prior art, the beneficial effects of the parking guidance device provided by the embodiments of this invention are the same as those of the parking guidance method provided in the above embodiments, and other technical features in this parking guidance device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0116] Furthermore, embodiments of the present invention provide a vehicle, the vehicle comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the parking prompt method in the above embodiments.

[0117] The following is for reference. Figure 7 It shows a structural schematic diagram of a vehicle suitable for implementing embodiments of the present disclosure. Figure 7 The vehicle shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0118] like Figure 7As shown, the vehicle may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) or programs loaded from storage devices into random access memory (RAM). The RAM also stores various programs and arrays required for vehicle operation. The processing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0119] Typically, the following systems can be connected to the I / O interface: input devices including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices including, for example, magnetic tapes, hard disks, etc.; and communication devices. Communication devices allow the vehicle to communicate wirelessly or wiredly with other devices to exchange arrays. Although vehicles with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0120] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, it performs the functions defined above in the methods of embodiments of this disclosure.

[0121] The vehicle provided by this invention, employing the parking suggestion method described in the above embodiments, solves the technical problem of poor convenience when parking in non-standard parking spaces in the prior art. Compared with the prior art, the beneficial effects of the vehicle provided by the embodiments of this invention are the same as those of the parking suggestion method provided in the above embodiments, and other technical features of the vehicle are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0122] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0123] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0124] Furthermore, this embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon, the computer-readable program instructions being used to execute the parking prompting method in the above embodiment.

[0125] The computer-readable storage medium provided in this embodiment of the invention may be, for example, a USB flash drive, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0126] The aforementioned computer-readable storage medium may be included in the vehicle or may exist independently and not installed in the vehicle.

[0127] The aforementioned computer-readable storage medium carries one or more programs that, when executed by a vehicle, cause the vehicle to: in parking mode, detect the parking space of the parking space to be parked; classify the parking space to be parked according to the parking space and a preset first occupancy space of the vehicle in the open door state, determine the target parking space type to which the parking space to be parked belongs; and output target parking space prompt information corresponding to the target parking space type.

[0128] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0129] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0130] The modules described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0131] The computer-readable storage medium provided by this invention stores computer-readable program instructions for executing the above-described parking suggestion method, solving the technical problem of poor convenience when parking in non-standard parking spaces in the prior art. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the embodiments of this invention are the same as the beneficial effects of the parking suggestion method provided in the above-described embodiments, and will not be repeated here.

[0132] Furthermore, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the parking prompt method as described above.

[0133] The computer program product provided in this application solves the technical problem of poor convenience when parking in non-standard parking spaces in the prior art. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiments of this invention are the same as the beneficial effects of the parking prompt method provided in the above embodiments, and will not be repeated here.

[0134] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A parking prompting method characterized by comprising: The parking prompt method includes the following steps: In parking mode, the three-dimensional parking space of the parking space to be parked is detected; Based on the three-dimensional parking space and the preset first occupancy space of a vehicle with its door open, the parking spaces to be parked are classified to determine the target parking space type to which the parking spaces belong. The target parking space type includes invalid parking spaces, restricted parking spaces, and barrier-free parking spaces. The method for determining the target parking space type to which the parking spaces belong is as follows: input the three-dimensional image corresponding to the parking space and the three-dimensional image corresponding to the preset first occupancy space of a vehicle with its door open into a trained classification model to classify the parking spaces to be parked, and output the target parking space type to which the parking spaces belong through the preset classification model. Output the target parking space prompt information corresponding to the target parking space type; When a third operation of automatic parking in the restricted parking space is detected, at least one door to be opened is identified from the various doors. Parking path is planned based on the third occupancy space of the vehicle with each of the doors to be opened in the open state. The vehicle is controlled to automatically park in the target parking space based on the parking path. During the process of controlling the vehicle to automatically park into the target parking space, the obstacle information in the opening area corresponding to each door is monitored. Based on the obstacle information, determine the target door opening area type to which each door's corresponding opening area belongs; Output the corresponding target door opening area prompt information based on the target door opening area type to which each door opening area belongs.

2. The parking prompting method according to claim 1, characterized by, After the step of outputting the target parking space prompt information corresponding to the target parking space type, the method further includes: If the first operation detects that the automatic parking space belongs to the target parking space of the restricted parking space, a remote parking prompt message is output. When a second remote parking operation is detected, the vehicle is controlled to park in the target parking space based on the second operation.

3. The parking prompting method according to claim 1, wherein After determining the target door opening area type for each door based on the obstacle information, the method further includes: Determine whether any of the doors to be opened have a target door whose opening area belongs to the selectable opening area. If it is determined that there is at least one target door among the doors to be opened whose opening area belongs to the selectable opening area, then the automatic parking into the target parking space is paused and an early exit prompt message is output.

4. The parking prompting method according to claim 1, wherein The step of classifying the parking spaces to be parked according to the parking space space and the preset first occupancy space of the vehicle when the door is open, and determining the target parking space type to which the parking space to be parked belongs, includes: The parking space is compared with the preset space specifications of the first space occupied by the vehicle when the door is open and the second space occupied by the vehicle when the door is closed. If it is determined that the second occupant space exceeds the parking space space, then the parking space to be parked is determined to be an invalid parking space; If it is determined that the second occupant space does not exceed the parking space, and the first occupant space exceeds the parking space, then the parking space is determined to be a restricted parking space. If it is determined that the first occupant space does not exceed the parking space space, then the parking space to be parked is determined to be an accessible parking space.

5. The parking prompting method according to claim 1, wherein The target parking space prompt information includes a first visual marker, and the step of outputting the target parking space prompt information corresponding to the target parking space type includes: Based on the preset mapping relationship between parking space types and first visual markers, determine the target first visual marker corresponding to the target parking space type; In the parking assistance interface, the first visual marker of the target is displayed in the corresponding display area of ​​the parking space to be parked.

6. A parking prompting apparatus characterized by comprising: The parking guidance device includes: The detection module is used to detect the three-dimensional parking space of the parking space to be parked in parking mode; The determination module is used to classify the parking space to be parked based on the three-dimensional parking space space and the preset first occupancy space of the vehicle in the open door state, and determine the target parking space type to which the parking space to be parked belongs; the target parking space type includes invalid parking space space, restricted parking space, and barrier-free parking space space; the method of determining the target parking space type to which the parking space to be parked belongs is as follows: input the three-dimensional image corresponding to the parking space space and the three-dimensional image corresponding to the preset first occupancy space of the vehicle in the open door state into a trained classification model, classify the parking space to be parked, and output the target parking space type to which the parking space to be parked belongs through the preset classification model; The output module is used to output the target parking space prompt information corresponding to the target parking space type; The remote parking prompt module is used to, when detecting the third operation of automatic parking in the restricted parking space, identify at least one door to be opened from among the various doors; plan a parking path based on the third occupancy space of the vehicle when each door to be opened is in the open state; control the vehicle to automatically park into the target parking space based on the parking path; during the process of controlling the vehicle to automatically park into the target parking space, monitor obstacle information in the opening area corresponding to each door; determine the target opening area type to which the opening area corresponding to each door belongs based on the obstacle information; and output corresponding target opening area prompt information based on the target opening area type to which each opening area belongs.

7. A vehicle characterized by comprising: The vehicles include: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed, enable the at least one processor to perform the steps of the parking prompting method according to any one of claims 1 to 5.

8. A storage medium, characterized by The storage medium is a computer-readable storage medium, and the computer-readable storage medium stores a program that implements the parking prompting method. The program that implements the parking prompting method is executed by a processor to implement the steps of the parking prompting method as described in any one of claims 1 to 5.

Images