Positioning Method, Device and Electronic Equipment Applicable to Mechanical Parking Spaces

Abstract

The present disclosure provides a positioning method, device and electronic device applicable to mechanical parking spaces, specifically related to technical fields such as artificial intelligence, driverless, and autonomous parking. The specific implementation scheme is as follows: Detect relevant information of the mechanical parking space to be parked; obtain the first positioning information of the vehicle in the world coordinate system, and based on the first positioning information and the relevant information, obtain the target ground clearance of the mechanical parking space; determine the first position information of the mechanical parking space in the camera coordinate system; project the first position information onto the world coordinate to obtain the position relationship between the vehicle and the mechanical parking space. By determining the target ground clearance of the mechanical parking space and determining the first position information based on the target ground clearance and the relevant information of the mechanical parking space, the position relationship between the vehicle and the mechanical parking space can be determined. In this way, the interference of the ground clearance of the mechanical parking space on vehicle positioning can be avoided, and the recognition accuracy of the mechanical parking space, the success rate of automatic parking and the user experience can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technologies, specifically to technologies such as artificial intelligence, driverless, and autonomous parking, and particularly to a positioning method, device, and electronic device applicable to mechanical parking spaces. Background Art

[0002] Autonomous parking can achieve the autonomous parking of a vehicle into a parking space without a driver. According to current research, the current autonomous parking products on the market can only support the autonomous parking function of vehicles in ordinary scenarios of online and spatial parking spaces, and cannot support the scenario of mechanical multi-storey parking spaces.

[0003] Mechanical multi-storey parking spaces have the characteristics of convenient access and storage, economical operation, convenient maintenance, and less floor area. They are a solution to the current situation of more vehicles and less parking area, and will have a very large market share in the future. However, at the same time, mechanical multi-storey parking spaces also have problems such as narrow parking spaces and poor visibility, which are difficulties that people often face in daily life. Summary of the Invention

[0004] The present disclosure provides a positioning method, device, electronic device, and storage medium applicable to mechanical parking spaces.

[0005] According to a first aspect of the present disclosure, there is provided a positioning method applicable to mechanical parking spaces, including: detecting relevant information of a mechanical parking space to be parked through multiple sensors of a vehicle; obtaining first positioning information of the vehicle in a world coordinate system, and obtaining a target ground clearance of the mechanical parking space based on the first positioning information and the relevant information; determining first position information of the mechanical parking space in a camera coordinate system based on the target ground clearance and the relevant information; projecting the first position information of the mechanical parking space in the camera coordinate system onto the world coordinate to obtain the position relationship between the vehicle and the mechanical parking space in the world coordinate.

[0006] According to a second aspect of the present disclosure, there is provided a positioning device applicable to mechanical parking spaces, including: a detection module for detecting relevant information of a mechanical parking space to be parked through multiple sensors of a vehicle; an obtaining module for obtaining first positioning information of the vehicle in a world coordinate system, and obtaining a target ground clearance of the mechanical parking space based on the first positioning information and the relevant information; a processing module for determining first position information of the mechanical parking space in a camera coordinate system based on the target ground clearance and the relevant information; a projection module for projecting the first position information of the mechanical parking space in the camera coordinate system onto the world coordinate to obtain the position relationship between the vehicle and the mechanical parking space in the world coordinate.

[0007] According to a third aspect of the present disclosure, there is provided an electronic device, including: 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, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the positioning method applicable to a mechanical parking space described in the embodiment of the foregoing aspect.

[0008] According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, on which a computer program / instruction is stored, and the computer instructions are used to cause the computer to execute the positioning method applicable to a mechanical parking space described in the embodiment of the foregoing aspect.

[0009] According to a fifth aspect of the present disclosure, there is provided a computer program product, including a computer program / instruction, and when the computer program / instruction is executed by a processor, the positioning method applicable to a mechanical parking space described in the embodiment of the foregoing aspect is implemented.

[0010] By determining the target ground clearance of the mechanical parking space and determining the first position information based on the target ground clearance and the relevant information of the mechanical parking space, the position relationship between the vehicle and the mechanical parking space can be determined. In this way, the interference of the ground clearance of the mechanical parking space on vehicle positioning can be avoided, the recognition accuracy of the mechanical parking space, the success rate of automatic parking, and the user experience are improved.

[0011] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] [[ID= seventeen]]The drawings are used to better understand the solution and do not constitute a limitation to the present disclosure. Among them:

[0013] Figure 1 is a schematic flowchart of a positioning method applicable to a mechanical parking space provided by an embodiment of the present disclosure;

[0014] Figure 2 is a schematic diagram of the generation of a mechanical parking space fusion framework of a positioning method applicable to a mechanical parking space provided by an embodiment of the present disclosure;

[0015] Figure 3 is a schematic projection diagram of a positioning method applicable to a mechanical parking space provided by an embodiment of the present disclosure;

[0016] Figure 4 is a schematic flowchart of another positioning method applicable to a mechanical parking space provided by an embodiment of the present disclosure;

[0017] Figure 5Schematic diagram of vehicle movement for a positioning method applicable to mechanical parking spaces provided by an embodiment of the present disclosure;

[0018] Figure 6 Projection schematic diagram of a positioning method applicable to mechanical parking spaces provided by an embodiment of the present disclosure;

[0019] Figure 7 Flow schematic diagram of another positioning method applicable to mechanical parking spaces provided by an embodiment of the present disclosure;

[0020] Figure 8 Structural schematic diagram of a positioning device applicable to mechanical parking spaces provided by an embodiment of the present disclosure;

[0021] Figure 9 Block diagram of an electronic device for a positioning method applicable to mechanical parking spaces according to an embodiment of the present disclosure. Detailed implementation manners

[0022] The following describes exemplary embodiments of the present disclosure with reference to the accompanying drawings. Various details of the embodiments of the present disclosure are included to assist understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, descriptions of well-known functions and structures are omitted below for clarity and conciseness.

[0023] Next, a positioning method, device, and electronic device applicable to mechanical parking spaces according to embodiments of the present disclosure are described with reference to the drawings.

[0024] Artificial Intelligence (AI) is a discipline that studies how to make a computer simulate certain thinking processes and intelligent behaviors of humans (such as learning, reasoning, thinking, planning, etc.). It includes both hardware-level technologies and software-level technologies. Artificial intelligence hardware technologies generally include several aspects such as computer vision technology, speech recognition technology, natural language processing technology, machine learning / deep learning, big data processing technology, and knowledge graph technology.

[0025] Computer vision. Computer vision is a science that studies how to enable machines to "see". More specifically, it refers to machine vision that uses cameras and computers to replace human eyes for tasks such as object recognition, tracking, and measurement, and further performs image processing to make the computer-processed images more suitable for human eyes to observe or be transmitted to instruments for detection. As a scientific discipline, computer vision studies related theories and technologies, and attempts to establish artificial intelligence systems that can obtain "information" from images or multi-dimensional data, which can be used to help make a "decision" based on the information. Since perception can be regarded as extracting information from sensory signals, computer vision can also be regarded as the science of studying how to enable artificial systems to "perceive" from images or multi-dimensional data.

[0026] Image processing technology is the technology of analyzing images by computer to achieve the desired results. It is also called image processing. Image processing generally refers to digital image processing. A digital image is a large two-dimensional array obtained by devices such as industrial cameras, video cameras, and scanners. The elements of this array are called pixels, and their values are called gray values. Image processing technology generally includes three parts: image compression, enhancement and restoration, and matching, description and recognition.

[0027] Autopilot uses advanced communication, computer, network, and control technologies to achieve real-time and continuous control of trains. By using modern communication means and directly facing the trains, two-way data communication between the train and the ground can be realized, with a fast transmission rate and a large amount of information. The following trains and the control center can timely know the exact position of the preceding train, making the operation management more flexible, the control more effective, and more adaptable to the needs of train autopilot.

[0028] Valet Parking means that the car can park automatically without manual control. Automobile manufacturers developed cars that can park automatically because they realized the needs of consumers. Valet Parking can help drivers park their cars automatically. For many drivers, parallel parking is a painful experience. With limited parking spaces in big cities, driving a car into a narrow space has become a necessary skill. There are few cases where a car can be parked without any trouble. The development of technology provides a solution, which is the Valet Parking function. Just gently press the button, sit back, relax, and everything else will be done automatically.

[0029] The Freespace technology has become an indispensable part. Here, Freespace refers to the drivable area of the vehicle, which includes areas such as avoiding other vehicles, pedestrians, and the roadside. Among them, the Freespace edge points refer to the scattered points on the boundary of the drivable area. Generally, the resolution of the Freespace edge points is 1deg. The accurate information of the Freespace edge points can provide effective perceptual input for the autonomous driving system, thus providing data guarantee for the decision-making and planning layer. However, currently, the existing information of the Freespace edge points often has problems such as frequent jumps and poor stability.

[0030] Figure 1 The flowchart of a positioning method applicable to a mechanical parking space provided by an embodiment of the present disclosure.

[0031] As Figure 1 shown, the positioning method applicable to a mechanical parking space may include:

[0032] S101, detecting relevant information of the mechanical parking space to be parked by multiple sensors of the vehicle.

[0033] In the embodiment of the present disclosure, the relevant information of the mechanical parking space to be parked is the influencing factors or parameters that affect the vehicle's normal entry into the mechanical parking space to be parked. By analyzing the relevant information, an entry strategy or method suitable for the vehicle can be determined. The relevant information can be various, and no specific limitation is made here. For example, it may include the environmental information around the mechanical parking space to be parked, the type of the parking space, the position of the parking space line, and the position of the lane line, etc. It should be noted that the type of the parking space can include multiple types. For example, it may include normal parking spaces, disabled parking spaces, and mechanical parking spaces, etc. The corresponding multiple sensors may include the vehicle's radar, image acquisition device, etc., and no specific limitation is made here. The relevant information of the mechanical parking space to be parked is collected by multiple sensors. For example, as Figure 2 shown, the information such as the corner points of the parking space, the lane line, and the guide wheel beam of the mechanical parking space can be sensed by multiple sensors.

[0034] S102, obtaining the first positioning information of the vehicle in the world coordinate system, and based on the first positioning information and the relevant information, obtaining the target ground clearance of the mechanical parking space.

[0035] It should be noted that the world coordinate system is the absolute coordinate system of the system. Before the user coordinate system is established, the coordinates of all points on the screen are determined by the origin of this coordinate system. The world coordinate system can be set manually or be the actual recognized coordinate system, and no specific limitation is made here. It can be specifically set according to the actual design requirements.

[0036] In actual operation, the detection points of the actual guide wheel beam are all on the parking space plane and have coplanar data. The height in the world coordinate system is considered to be the ground clearance of the vehicle. Due to reasons such as the wear of the mechanical parking space and the unstable operating state of the mechanical parking space, there will be an error between the measured ground clearance and the actual ground clearance. Therefore, when the vehicle automatically parks into the mechanical parking space, it is necessary to determine the optimal current ground clearance based on the first positioning information and relevant information, so as to ensure the efficiency and safety of the vehicle automatically parking in the mechanical parking space and avoid accidents.

[0037] In the embodiments of the present disclosure, the first positioning information of the vehicle in the world coordinate system can include various types. For example, it can include the initial height of the vehicle, the pitch angle of the vehicle, etc.

[0038] It should be noted that there are various methods for obtaining the target ground clearance of the mechanical parking space based on the first positioning information and relevant information.

[0039] Optionally, the first positioning information and relevant information can be input into the target ground clearance generation model to obtain the current target ground clearance of the mechanical parking space. It should be noted that the target ground clearance generation model is pre-trained and can be changed according to actual design needs, and no specific limitations are imposed here.

[0040] Optionally, the relevant information can also be processed, the first positioning information can be calibrated with the relevant information, and the first positioning information can be adjusted based on the calibration result to determine the target ground clearance of the mechanical parking space.

[0041] S103. Based on the target ground clearance and the relevant information detected by multiple channels, determine the first position information of the mechanical parking space in the camera coordinate system.

[0042] Since the camera can be placed at any position in the environment, a reference coordinate system is selected in the environment to describe the position of the camera and use it to describe the position of any object in the environment. This coordinate system is called the camera coordinate system. It should be noted that there is a certain positional relationship between the camera coordinate system and the world coordinate system, which is pre-set and can be changed according to actual design needs, and no specific limitations are imposed here.

[0043] In the embodiments of the present disclosure, due to the ground clearance of the mechanical parking space, there is a change in the perspective pitch during the uphill process of the vehicle, which affects the detection accuracy of the vehicle in the camera coordinate system. Among them, the main reason for the reduced accuracy is that when the vehicle detection is projected in the local coordinate system of the vehicle body, it is assumed that the detection point and the vehicle body are on the same horizontal plane. Therefore, if the vehicle body is tilted, the detection point will be projected higher (closer), and the farther the longitudinal position of the detection point is from the camera, the more serious the deviation effect is. For example Figure 3As shown, the farther the distance is, the greater the deviation of the detection height, and thus the greater the deviation between the projected point coordinates and the true values.

[0044] After obtaining the height of the target from the ground, the relevant information detected by multiple channels can be processed based on the height of the target from the ground to prevent the deviation of coordinates caused by the height deviation. This processing method can be various and is not limited here.

[0045] Optionally, the relevant information can be compensated based on the height of the target from the ground, and data processing can be performed according to the compensated relevant information to obtain the first position information of the mechanical parking space in the camera coordinates.

[0046] Optionally, the height of the target from the ground and the relevant information detected by multiple channels can also be input into the first position information generation model to obtain the first position information of the mechanical parking space in the camera coordinates. It should be noted that this first position information generation model is pre-trained and can be changed according to actual design needs, and is not limited here. Optionally, as Figure 2 described, data fusion can also be performed on the relevant information detected by multiple channels. For example, this data fusion can be Kalman fusion, and based on the fusion result, a fused mechanical parking space can be generated and displayed in the camera coordinates to determine the first position information of the mechanical parking space in the camera coordinates.

[0047] S104, project the first position information of the mechanical parking space in the camera coordinates onto the world coordinates to obtain the position relationship between the vehicle and the mechanical parking space in the world coordinates.

[0048] In the embodiments of the present disclosure, there are various methods for projecting the first position information in the camera coordinates onto the world coordinates, and no limitation is made here.

[0049] Optionally, based on the relationship between the camera coordinates and the world coordinates, the first position information in the camera coordinates can be converted into the world coordinates by means of a rotation matrix. This rotation matrix is pre-set and can be changed according to actual design needs, and no limitation is made here.

[0050] Optionally, based on the translation vector, the first position information of the mechanical parking space in the camera coordinates can also be projected onto the world coordinates. This translation vector is pre-set and can be changed according to actual design needs, and no limitation is made here.

[0051] In the embodiments of the present disclosure, first, relevant information of the mechanical parking space to be parked is detected by multiple sensors of the vehicle, and then the first positioning information of the vehicle in the world coordinate system is obtained. Based on the first positioning information and the relevant information, the target ground clearance of the mechanical parking space is obtained. Then, based on the target ground clearance, depth compensation and parking space fusion of the relevant information detected by multiple channels are performed to determine the first position information of the mechanical parking space in the camera coordinate system. Finally, the first position information of the mechanical parking space in the camera coordinate system is projected onto the world coordinate to obtain the position relationship between the vehicle and the mechanical parking space in the world coordinate system. By detecting the mechanical parking space to be parked, determining the target ground clearance of the mechanical parking space, and performing parking space information fusion after compensating the relevant information of the mechanical parking space based on the target ground clearance, the position relationship between the vehicle and the mechanical parking space can be determined. In this way, the interference of the ground clearance of the mechanical parking space on vehicle positioning can be avoided, and the recognition accuracy of the mechanical parking space, the success rate of automatic parking, and the user experience can be improved. It should be noted that detecting the relevant information of the mechanical parking space to be parked by multiple sensors of the vehicle may include detecting the guide rail beam obstacles of the mechanical parking space to obtain obstacle detection information; detecting the corner points of the parking space of the mechanical parking space to obtain corner point detection information of the parking space, and detecting the lane line in front of the parking space of the mechanical parking space to obtain lane line detection information. Thus, by detecting the guide rail beam obstacles, corner points, and front lane lines of the mechanical parking space to obtain detection information, the key points of the mechanical parking space can be accurately located, providing a data basis for subsequent information fusion.

[0052] In the above embodiments, based on the first positioning information and the relevant information, to obtain the target ground clearance of the mechanical parking space, it can also be through Figure 4 For further explanation, the method includes:

[0053] S401, according to the guide rail beam obstacle detection information in the relevant information, determine the second position information of the detected grounding point of the guide rail beam of the mechanical parking space in the camera coordinate system.

[0054] In the embodiments of the present disclosure, the second position information may include various types. For example, it may include the height, coordinates, pitch angle, etc. of the grounding point, and there is no limitation here.

[0055] S402, according to the first positioning information, obtain the initial height when the vehicle enters the mechanical parking space, the real-time positioning height of the vehicle, and the real-time pitch angle.

[0056] In the embodiments of the present disclosure, the initial height when the vehicle enters the mechanical parking space, the real-time positioning height of the vehicle, and the real-time pitch angle can be determined by analyzing the first positioning information.

[0057] S403, obtain the initial ground clearance of the mechanical parking space and the pitch angle of the camera in the vehicle coordinate system.

[0058] S404. Based on the second position information, the initial height, the real-time positioning height, the initial ground clearance height, as well as the real-time pitch angle and the pitch angle of the camera, construct an optimization equation, and iteratively obtain the optimal solution of the optimization equation under preset constraints as the target ground clearance height of the mechanical parking space.

[0059] In the embodiments of the present disclosure, due to the existence of the ground clearance height of the mechanical parking space, there are changes in the perspective pitch during the uphill process of the vehicle, which affects the detection accuracy of the freespace in the vehicle body coordinate system. If it is necessary to improve the generalization performance of the mechanical parking space, in the case of limited scene data sets, it is necessary to improve the accuracy of the detection data as much as possible and enhance the accuracy of the integrated parking space.

[0060] As follows Figure 5 As shown in the figure below, the rectangle in the figure can represent the vehicle, and the tilt angle of the vehicle changes from 4° to 8° and then to 6° during the movement. According to the current parking space integration strategy, the integration of the parking space stops when the center of the rear axle of the vehicle passes the front line of the parking space. At this time, the pitch angle is the largest, so the detection accuracy of the freespace is the worst. If there is a tilt angle between the vehicle body and the parking space, the detection point is likely to reduce the accuracy of the parking space integration.

[0061] In the embodiments of the present disclosure, as Figure 6 shown, the actual detection points of the guide wheel beam are all on the parking space plane, with coplanar data, and the heights in the world coordinate system are all the ground clearance height of the parking space. When there is a deviation between the initially estimated parking space height and the actual value, it will cause the problem of inconsistent calculation of the projection point height. Therefore, an optimization equation of the projection point (x Figure 6 , y car , car ) and the height difference of the parking space as shown in the figure can be constructed, and the optimal ground clearance height of the parking space can be estimated by the minimum residual. The target ground clearance height of the mechanical parking space can be determined by the following formula:

[0062]

[0063] where Z0 is the initial height of the vehicle, x ic , y ic are the second position information, z is the real-time positioning height of the vehicle, H0 is the initial height of the vehicle, α car is the real-time pitch angle, α cam is the pitch angle of the camera, and g() is the summation function.

[0064] In the embodiments of the present disclosure, first, according to the guide rail beam obstacle detection information in the relevant information, the second position information of the detection grounding point of the guide rail beam of the mechanical parking space in the camera coordinate system is determined. Then, according to the first positioning information, the initial height of the vehicle when entering the mechanical parking space, the real-time positioning height of the vehicle, and the real-time pitch angle are obtained. Then, the initial ground clearance height of the mechanical parking space and the pitch angle of the camera in the vehicle coordinate system are obtained. Finally, according to the second position information, the initial height, the real-time positioning height, the initial ground clearance height, the real-time pitch angle, and the pitch angle of the camera, an optimization equation is constructed, and the optimal solution of the optimization equation is iteratively obtained under the preset constraints as the target ground clearance height of the mechanical parking space. By establishing projections for the mechanical parking space and the vehicle, the target ground clearance height can be accurately determined, providing an accurate data basis for subsequently determining the position relationship between the vehicle and the mechanical parking space in the world coordinate system.

[0065] In the above embodiments, based on the target ground clearance height, depth compensation and parking space fusion of the relevant information detected by multiple channels are performed to determine the first position information of the mechanical parking space in the camera coordinate system. It can also be achieved through Figure 7 For further explanation, the method includes:

[0066] S701, based on the target ground clearance height, determine the compensation depth of the guide rail beam obstacle of the mechanical parking space.

[0067] In the embodiments of the present disclosure, as Figure 5 shown, first, the compensation height of the mechanical parking space can be determined according to the target ground clearance height, and then based on the compensation height of the mechanical parking space, the compensation depth of the guide rail beam obstacle of the mechanical parking space is determined.

[0068] Optionally, obtain the angle difference between the pitch angle of the camera and the real-time pitch angle, and obtain the compensation depth according to the compensation height and the angle difference.

[0069] It should be noted that to obtain the compensation height, first, the detection height of the grounding detection point in the vehicle coordinate system can be obtained according to the target ground clearance height, the initial height, and the real-time positioning height. Then, the distance between the grounding detection point and the vehicle in the vehicle coordinate system is obtained. Subsequently, according to the distance, the pitch angle of the camera, and the detection height, the compensation height is obtained. Thus, through the target ground clearance height, the compensation height is determined, and then the accurate compensation depth is determined, which can improve the effectiveness of the relevant information and the final fusion effect.

[0070] Based on the target ground clearance height, the compensation depth of the guide rail beam obstacle of the mechanical parking space can be confirmed through the following formula:

[0071] Δh = d * sin(α cam ) - h

[0072] Δd = Δh / sin(α cam - α car )

[0073] Wherein, Δh is the compensation height, Δd is the compensation depth, d is the distance between the grounding detection point and the vehicle in the vehicle coordinate system, and α cam is the pitch angle of the camera, h is the height of the target from the ground, and α car is the real-time pitch angle, and d*sin(α cam ) is the real-time positioning height.

[0074] S702. Perform depth compensation on the relevant information detected by multiple channels according to the compensation depth to obtain the compensated relevant information.

[0075] In the embodiment of the present disclosure, as Figure 3 shown, since the current perception of the obstacles at the grounding point is based on single-image detection and then processed by the inverse projection technology and projected onto the world coordinate system, due to the height of the mechanical parking space from the ground, the real points are not on the ground plane, so there will be a depth deviation. For example, as Figure 3 shown by the gray points and black points, there is a depth deviation due to the projection problem. Therefore, it is necessary to calculate the compensation depth and perform depth compensation on the relevant information to improve the accuracy of the data.

[0076] In the embodiment of the present disclosure, after obtaining the compensation depth, the relevant information can be correspondingly changed according to the compensation depth to obtain the compensated relevant information.

[0077] S703. Determine the first position information of the mechanical parking space in the camera coordinate according to the compensated relevant information.

[0078] In the embodiment of the present disclosure, the data fusion technology refers to the information processing technology that uses a computer to automatically analyze and synthesize several observation information obtained in chronological order under certain criteria to complete the required decision-making and evaluation tasks. The data fusion technology includes the acquisition, transmission, synthesis, filtering, correlation, and synthesis of useful information given by various information sources to assist people in situation / environment determination, planning, detection, verification, and diagnosis. By fusing the compensated relevant information detected by multiple channels, the information detected by multiple channels can be combined to more specifically display the environment around the mechanical parking space and the relative position relationship between the mechanical parking space and the vehicle, providing an accurate data basis for subsequent data analysis and acquisition of position information.

[0079] In an embodiment of the present disclosure, the parking space side line of the mechanical parking space can be subjected to Kalman filter fusion based on the compensated obstacle detection information to estimate the parking space side line of the mechanical parking space, where the parking space side line includes the detection grounding points of the guide rail beams. Then, the parking space corners can be subjected to Kalman filter fusion based on the compensated parking space corner detection information to estimate the parking space corners of the mechanical parking space. Finally, based on the estimated parking space side line, the estimated parking space corners, and the compensated lane line detection information, the mechanical parking space is fused to obtain the first position information of the mechanical parking space in the camera coordinate system. Thus, by fusing the compensated relevant information detected by multiple channels through Kalman filter, the optimal data can be estimated, and the effect of data fusion can be improved.

[0080] In an embodiment of the present disclosure, first, based on the target ground clearance, the compensation depth of the guide rail beam obstacle of the mechanical parking space is determined. Then, according to the compensation depth, the relevant information detected by multiple channels is depth-compensated to obtain the compensated relevant information. Finally, the compensated relevant information detected by multiple channels is fused to determine the first position information of the mechanical parking space in the camera coordinate system. Through two compensations, the influence of the target ground clearance of the mechanical parking space on the final positioning result can be reduced.

[0081] Specifically, the parking space for perception and fusion can be subjected to Kalman filter to obtain the fused parking space of the current frame. Then, the calculated width value of the fused parking space of the current frame is used, and width Kalman filter is used for width filtering. Then, the width value of the previous frame is recursively updated to the current width value, and the output of the width Kalman filter is also used to update the parking space width number of the current frame. Finally, the current numerical parking space coordinates are used for recursion.

[0082] It should be noted that, based on the estimated parking space side line, the estimated parking space corners, and the compensated lane line detection information, when fusing the mechanical parking space, it is necessary to first identify the parking space scene to determine whether the parking space scene is a mechanical parking space scene. If the parking space scene is a mechanical parking space scene, the step of fusing the mechanical parking space based on the estimated parking space side line, the estimated parking space corners, and the compensated lane line detection information is executed. By determining the current parking space scene and judging whether to perform the fusion operation, redundant operations in non-mechanical parking space scenes can be avoided, thereby reducing the cost of autonomous vehicle reverse parking.

[0083] In an embodiment of the present disclosure, the locomotive position confidence can be increased according to the environmental information. For example, when there are mechanical parking spaces on both the left and right sides, this parking space must be a mechanical parking space; when there are small curb obstacles on the left and right sides of the front line of the parking space, this parking space is likely to be a mechanical parking space.

[0084] When the parking space scene is a non-mechanical parking space scene, the above method does not need to be executed, and automatic reverse parking into the garage is performed through the simultaneous localization and mapping (SLAM) scheme in traditional technology.

[0085] In the embodiments of the present disclosure, after obtaining the position relationship between the vehicle and the mechanical parking space in the world coordinate system, the obstacles within the coverage of the vehicle and the mechanical parking space can be determined according to relevant information, and then the position information of the obstacles is projected from the camera coordinate system to the world coordinate system to generate global fusion information.

[0086] Furthermore, according to the global fusion information, it can be determined whether the mechanical parking space meets the parking conditions. Then, when it is determined that the parking conditions are met, a parking path is planned for the vehicle according to the global fusion information, and finally the vehicle is guided into the mechanical parking space along the parking path. By determining the global fusion information, accidents caused by the vehicle parking autonomously when the parking conditions are not met can be avoided, and the practicability of autonomous parking can be improved.

[0087] Corresponding to the positioning methods for mechanical parking spaces provided in the above several embodiments, an embodiment of the present disclosure also provides a positioning device for mechanical parking spaces. Since the positioning device for mechanical parking spaces provided in the embodiments of the present disclosure corresponds to the positioning methods for mechanical parking spaces provided in the above several embodiments, the implementation manners of the above positioning methods for mechanical parking spaces are also applicable to the positioning device for mechanical parking spaces provided in the embodiments of the present disclosure and will not be described in detail in the following embodiments.

[0088] Figure 8 It is a schematic structural diagram of a positioning device for mechanical parking spaces provided in the embodiments of the present disclosure. As Figure 8 shown, the positioning device 800 for mechanical parking spaces includes: a detection module 810, an acquisition module 820, a processing module 830, and a projection module 840.

[0089] Among them, the detection module 810 is configured to detect relevant information of the mechanical parking space to be parked through multiple sensors of the vehicle.

[0090] The acquisition module 820 is configured to acquire the first positioning information of the vehicle in the world coordinate system, and based on the first positioning information and relevant information, acquire the target ground clearance of the mechanical parking space.

[0091] The processing module 830 is configured to determine the first position information of the mechanical parking space in the camera coordinate system based on the target ground clearance and relevant information.

[0092] The projection module 840 is configured to project the first position information of the mechanical parking space in the camera coordinate system to the world coordinate to obtain the position relationship between the vehicle and the mechanical parking space in the world coordinate system.

[0093] In an embodiment of the present disclosure, the acquisition module 820 is further configured to: determine the second position information of the detection grounding point of the guide rail beam of the mechanical parking space in the camera coordinate system according to the guide rail beam obstacle detection information in the relevant information; obtain the initial height of the vehicle when entering the mechanical parking space, the real-time positioning height of the vehicle, and the real-time pitch angle according to the first positioning information; obtain the initial ground clearance height of the mechanical parking space and the pitch angle of the camera in the vehicle coordinate system; construct an optimization equation according to the second position information, the initial height, the real-time positioning height, the initial ground clearance height, the real-time pitch angle, and the pitch angle of the camera, and iterate to obtain the optimal solution of the optimization equation under preset constraints as the target ground clearance height of the mechanical parking space.

[0094] In an embodiment of the present disclosure, the relevant information includes obstacle detection information, parking space corner point detection information, and lane line detection information. The processing module 830 is further configured to: perform Kalman filter fusion on the parking space side line of the mechanical parking space according to the compensated obstacle detection information to estimate the parking space side line of the mechanical parking space, where the parking space side line includes the detection grounding point of the guide rail beam; perform Kalman filter fusion on the parking space corner points according to the compensated parking space corner point detection information to estimate the parking space corner points of the mechanical parking space; determine the first position information of the mechanical parking space in the camera coordinate system based on the estimated parking space side line, the estimated parking space corner points, and the compensated lane line detection information.

[0095] In an embodiment of the present disclosure, the processing module 830 is further configured to: perform Kalman filter fusion on the parking space side line of the mechanical parking space according to the compensated obstacle detection information to estimate the parking space side line of the mechanical parking space, where the parking space side line includes the detection grounding point of the guide rail beam; perform Kalman filter fusion on the parking space corner points according to the compensated parking space corner point detection information to estimate the parking space corner points of the mechanical parking space; determine the first position information of the mechanical parking space in the camera coordinate system based on the estimated parking space side line, the estimated parking space corner points, and the compensated lane line detection information.

[0096] In an embodiment of the present disclosure, the processing module 830 is further configured to: determine the compensation height of the mechanical parking space according to the target ground clearance height; determine the compensation depth of the guide rail beam obstacle of the mechanical parking space based on the compensation height of the mechanical parking space.

[0097] In an embodiment of the present disclosure, the processing module 830 is further configured to: obtain the detection height of the grounding detection point in the vehicle coordinate system according to the target ground clearance height, the initial height, and the real-time positioning height; obtain the distance between the grounding detection point and the vehicle in the vehicle coordinate system; obtain the compensation height according to the distance, the pitch angle of the camera, and the detection height.

[0098] In an embodiment of the present disclosure, the processing module 830 is further configured to project the second position information of the grounding detection point in the camera coordinate system to obtain the third position information of the grounding detection point in the vehicle coordinate system; and obtain the distance between the grounding detection point and the vehicle according to the third position information and the first positioning information of the vehicle in real time.

[0099] In an embodiment of the present disclosure, the processing module 830 is further configured to obtain the angle difference between the pitch angle of the camera and the real-time pitch angle, and obtain the compensation depth according to the compensation height and the angle difference.

[0100] In an embodiment of the present disclosure, the processing module 830 is further configured to identify the parking space scene to determine whether the parking space scene is a mechanical parking space scene; if the parking space scene is a mechanical parking space scene, perform the step of fusing the mechanical parking space based on the estimated parking space side line, the estimated parking space corner points, and the compensated lane line detection information.

[0101] In an embodiment of the present disclosure, the projection module 840 is further configured to determine the obstacles within the coverage of the vehicle and the mechanical parking space according to the relevant information; project the position information of the obstacles from the camera coordinate to the world coordinate system to generate global fusion information.

[0102] In an embodiment of the present disclosure, the projection module 840 is further configured to determine whether the mechanical parking space meets the parking conditions according to the global fusion information; when it is determined that the parking conditions are met, plan a parking path for the vehicle according to the global fusion information; and guide the vehicle into the mechanical parking space according to the parking path.

[0103] By detecting the mechanical parking space to be parked, determining the target ground clearance height of the mechanical parking space, and compensating the relevant information of the mechanical parking space based on the target ground clearance height and then performing parking space information fusion, the position relationship between the vehicle and the mechanical parking space can be determined. In this way, the interference of the ground clearance height of the mechanical parking space on vehicle positioning can be avoided, and the recognition accuracy of the mechanical parking space, the success rate of automatic parking, and the user experience are improved.

[0104] In the technical solution of the present disclosure, the acquisition, storage, and application of the user's personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0105] According to the embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0106] Figure 9FIG. shows a schematic block diagram of an exemplary electronic device 900 that can be used to implement embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0107] As Figure 9 shown, the device 900 includes a computing unit 901 that can perform various appropriate actions and processes according to computer programs / instructions stored in a read-only memory (ROM) 902 or computer programs / instructions loaded from a storage unit 906 into a random access memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0108] A plurality of components in the device 900 are connected to the I / O interface 905, including: an input unit 906 such as a keyboard, a mouse, etc.; an output unit 907, such as various types of displays, speakers, etc.; a storage unit 908, such as a magnetic disk, an optical disk, etc.; and a communication unit 909, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 909 allows the device 900 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0109] The computing unit 901 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 901 executes the various methods and processes described above, such as the positioning method applicable to mechanical parking spaces. For example, in some embodiments, the positioning method applicable to mechanical parking spaces can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as the storage unit 906. In some embodiments, part or all of the computer program / instructions can be loaded and / or installed onto the device 900 via the ROM 902 and / or the communication unit 909. When the computer program / instructions are loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the positioning method applicable to mechanical parking spaces described above can be executed. Alternatively, in other embodiments, the computing unit 901 can be configured to execute the positioning method applicable to mechanical parking spaces by any other suitable means (e.g., by means of firmware).

[0110] Various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), system-on-chip systems (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs / instructions, which can be executed and / or interpreted on a programmable system including at least one programmable processor, and the programmable processor can be a dedicated or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0111] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code can be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0112] In the context of this disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0113] To provide for interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0114] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0115] A computer system may include a client and a server. The client and the server are generally far away from each other and usually interact through a communication network. The client-server relationship is generated by computer programs / instructions running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

[0116] It should be understood that various forms of the processes shown above may be used, with steps reordered, added, or deleted. For example, the steps recited in the disclosure may be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and this is not limited herein.

[0117] The above specific embodiments do not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A positioning method applicable to mechanical parking spaces, wherein, Including: Detecting relevant information of the mechanical parking space to be parked by multiple sensors of the vehicle; Obtaining the first positioning information of the vehicle in the world coordinate system, and determining the second position information of the detection grounding point of the guide rail beam of the mechanical parking space in the camera coordinate system according to the guide rail beam obstacle detection information in the relevant information; According to the first positioning information, obtaining the initial height when the vehicle enters the mechanical parking space, the real-time positioning height and the real-time pitch angle of the vehicle; Obtaining the initial ground clearance height of the mechanical parking space and the pitch angle of the camera in the vehicle coordinate; Constructing an optimization equation according to the second position information, the initial height, the real-time positioning height, the initial ground clearance height, the real-time pitch angle and the pitch angle of the camera, and iteratively obtaining the optimal solution of the optimization equation under preset constraints as the target ground clearance height of the mechanical parking space; Based on the target ground clearance height and the relevant information, determining the first position information of the mechanical parking space in the camera coordinate; Projecting the first position information of the mechanical parking space in the camera coordinate onto the world coordinate to obtain the position relationship between the vehicle and the mechanical parking space in the world coordinate.

2. The method according to claim 1, wherein The determining the first position information of the mechanical parking space in the camera coordinate based on the target ground clearance height and the relevant information includes: Based on the target ground clearance height, determining the compensation depth of the guide rail beam obstacle of the mechanical parking space; Performing depth compensation on the relevant information detected by multiple channels according to the compensation depth to obtain the compensated relevant information; According to the compensated relevant information, determining the first position information of the mechanical parking space in the camera coordinate.

3. The method according to claim 2, wherein, The relevant information includes obstacle detection information, parking space corner point detection information and lane line detection information. The determining the first position information of the mechanical parking space in the camera coordinate according to the compensated relevant information includes: Performing Kalman filter fusion on the parking space side line of the mechanical parking space according to the compensated obstacle detection information to estimate the parking space side line of the mechanical parking space, where the parking space side line includes the detection grounding point of the guide rail beam; Performing Kalman filter fusion on the parking space corner points according to the compensated parking space corner point detection information to estimate the parking space corner points of the mechanical parking space; Based on the estimated parking space side line, the estimated parking space corner points and the compensated lane line detection information, determining the first position information of the mechanical parking space in the camera coordinate.

4. The method according to claim 3, wherein, The determining the compensation depth of the guide rail beam obstacle of the mechanical parking space based on the target ground clearance height includes: According to the target ground clearance height, determining the compensation height of the mechanical parking space; Based on the compensation height of the mechanical parking space, determining the compensation depth of the guide rail beam obstacle of the mechanical parking space.

5. The method according to claim 4, wherein The determining the compensation height of the mechanical parking space according to the target ground clearance height includes: According to the target ground clearance height, the initial height and the real-time positioning height, obtaining the detection height of the grounding detection point in the vehicle coordinate system; Obtaining the distance between the grounding detection point and the vehicle in the vehicle coordinate system; According to the distance, the pitch angle of the camera and the detection height, obtaining the compensation height.

6. The method according to claim 5, wherein Obtaining the distance between the grounding detection point and the vehicle in the vehicle coordinate system includes: Projecting the second position information of the grounding detection point in the camera coordinate system to obtain the third position information of the grounding detection point in the vehicle coordinate system; Obtaining the distance between the grounding detection point and the vehicle according to the third position information and the first positioning information of the vehicle in real time.

7. The method according to claim 4, wherein Obtaining the compensation depth based on the compensation height includes: Obtaining the angle difference between the pitch angle of the camera and the real-time pitch angle, and obtaining the compensation depth according to the compensation height and the angle difference.

8. The method according to claim 3, wherein Based on the estimated parking space side line, estimated parking space corner points, and compensated lane line detection information, determining the first position information of the mechanical parking space in the camera coordinate system includes: Identifying the parking space scene to determine whether the parking space scene is a mechanical parking space scene; If the parking space scene is the mechanical parking space scene, perform the step of fusing the mechanical parking space based on the estimated parking space side line, the estimated parking space corner points, and the compensated lane line detection information.

9. The method according to any one of claims 1-2, wherein After obtaining the position relationship between the vehicle and the mechanical parking space in the world coordinate system, it further includes: Determining the obstacles within the coverage of the vehicle and the mechanical parking space according to the relevant information; Projecting the position information of the obstacles from the camera coordinate to the world coordinate system to generate global fusion information.

10. The method according to claim 9, wherein The method further includes: Judging whether the mechanical parking space meets the parking condition according to the global fusion information; When it is determined that the parking condition is met, planning a parking path for the vehicle according to the global fusion information; Guiding the vehicle into the mechanical parking space according to the parking path.

11. A positioning device applicable to a mechanical parking space, including: A detection module for detecting relevant information of a mechanical parking space to be parked through multiple sensors of the vehicle; An acquisition module for acquiring the first positioning information of the vehicle in the world coordinate system, and acquiring the target ground clearance of the mechanical parking space based on the first positioning information and the relevant information; A processing module for determining the first position information of the mechanical parking space in the camera coordinate system based on the target ground clearance and the relevant information; A projection module for projecting the first position information of the mechanical parking space in the camera coordinate system to the world coordinate to obtain the position relationship between the vehicle and the mechanical parking space in the world coordinate; The acquisition module is further used for: Determining the second position information of the detection grounding point of the guide rail beam of the mechanical parking space in the camera coordinate system according to the guide rail beam obstacle detection information in the relevant information; Obtaining the initial height when the vehicle enters the mechanical parking space, the real-time positioning height and the real-time pitch angle of the vehicle according to the first positioning information; Obtaining the initial ground clearance of the mechanical parking space and the pitch angle of the camera in the vehicle coordinate. Construct an optimization equation based on the second position information, the initial height, the real-time positioning height, the initial ground clearance, the real-time pitch angle, and the pitch angle of the camera, and iterate to obtain the optimal solution of the optimization equation under preset constraints as the target ground clearance of the mechanical parking space.

12. The device according to claim 11, wherein, The processing module is further configured to: Determine the compensation depth of the guide rail beam obstacle of the mechanical parking space based on the target ground clearance; Perform depth compensation on the relevant information detected by multiple channels according to the compensation depth to obtain the compensated relevant information; Determine the first position information of the mechanical parking space in the camera coordinate system according to the compensated relevant information.

13. The apparatus according to claim 12, wherein, The relevant information includes obstacle detection information, parking space corner point detection information, and lane line detection information. The processing module is further configured to: Perform Kalman filter fusion on the parking space side line of the mechanical parking space according to the compensated obstacle detection information to estimate the parking space side line of the mechanical parking space, where the parking space side line includes the detected grounding point of the guide rail beam; Perform Kalman filter fusion on the parking space corner points according to the compensated parking space corner point detection information to estimate the parking space corner points of the mechanical parking space; Determine the first position information of the mechanical parking space in the camera coordinate system based on the estimated parking space side line, the estimated parking space corner points, and the compensated lane line detection information.

14. The apparatus according to claim 13, wherein, The processing module is further configured to: Determine the compensation height of the mechanical parking space according to the target ground clearance; Determine the compensation depth of the guide rail beam obstacle of the mechanical parking space based on the compensation height of the mechanical parking space.

15. The apparatus according to claim 14, wherein, The processing module is further configured to: Obtain the detection height of the grounding detection point in the vehicle coordinate system according to the target ground clearance, the initial height, and the real-time positioning height; Obtain the distance between the grounding detection point and the vehicle in the vehicle coordinate system; Obtain the compensation height according to the distance, the pitch angle of the camera, and the detection height.

16. The device according to claim 15, wherein The processing module is further configured to: Project the second position information of the grounding detection point in the camera coordinate system to obtain the third position information of the grounding detection point in the vehicle coordinate system; Obtain the distance between the grounding detection point and the vehicle according to the third position information and the first positioning information of the vehicle in real time.

17. The apparatus according to claim 14, wherein, The processing module is further configured to: Obtain the angle difference between the pitch angle of the camera and the real-time pitch angle, and obtain the compensation depth according to the compensation height and the angle difference.

18. The device according to claim 13, wherein, The processing module is further configured to: Identify the parking space scene to determine whether the parking space scene is a mechanical parking space scene; If the parking space scene is the mechanical parking space scene, perform the step of fusing the mechanical parking space based on the estimated parking space side line, the estimated parking space corner points, and the compensated lane line detection information.

19. The apparatus according to any one of claims 11-12, wherein, The projection module is further configured to: Determine the obstacles within the coverage of the vehicle and the mechanical parking space according to the relevant information; Project the position information of the obstacles from the camera coordinate to the world coordinate system to generate global fusion information.

20. The device according to claim 19, wherein, The projection module is further configured to: Judge whether the mechanical parking space meets the parking conditions according to the global fusion information. When it is determined that the parking conditions are met, plan a parking path for the vehicle according to the global fusion information; Guide the vehicle into the mechanical parking space according to the parking path.

21. An electronic device, 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, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the positioning method applicable to a mechanical parking space according to any one of claims 1-10.

22. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to execute the positioning method applicable to a mechanical parking space according to any one of claims 1-10.

23. A computer program product comprising a computer program / instructions, wherein, When the computer program / instructions are executed by the processor, the positioning steps of the method applicable to a mechanical parking space according to any one of claims 1-10 are implemented.

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