Parking positioning control method and device, electronic equipment and storage medium

Abstract

The application discloses a parking positioning control method and device, electronic equipment and a storage medium, and the parking positioning control method comprises the following steps: starting a parking positioning function according to vehicle positioning, and then acquiring external environment information in real time; determining a prompt target according to a parking behavior and the external environment information; determining a parking track according to the parking behavior, and marking the prompt target on the parking track; taking the parking track as a return route, and if the acquired external environment information is the same as the prompt target, a prompt is sent. Beneficial effects: when returning, a message feedback is obtained every time a prompt information is passed, a driver believes that the road walked and the road coming are consistent, there is no sense of getting lost, and the driving experience is improved.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a parking positioning control method, device, electronic device, and storage medium. Background Technology

[0002] With economic development and accelerated urbanization, large underground parking lots are becoming increasingly common. However, due to their location, the network signals in these parking lots are often poor, making it very difficult to accurately locate cars.

[0003] Chinese patent CN113447040A discloses a parking positioning control method applicable to fields such as mapping, navigation, autonomous driving, vehicle networking, intelligent transportation, and cloud computing. The method includes: acquiring the initial driving trajectory of a vehicle and determining multiple trajectory points of the initial driving trajectory; iteratively adjusting the initial driving trajectory based on each trajectory point; after each adjustment, determining the average distance between each trajectory point and its nearest road; stopping the iterative adjustment when the average distance meets the adjustment stopping condition, and determining the driving trajectory at the point of adjustment stopping as the vehicle's target driving trajectory. Using the embodiments of this application can improve the accuracy of the vehicle's driving trajectory and has high applicability.

[0004] Chinese patent CN108226924B discloses a method for detecting the driving environment of a vehicle based on millimeter-wave radar. This method uses millimeter-wave radar to collect data on target objects in the vehicle's surrounding environment, obtaining a point matrix of these objects. The collected point matrix is ​​then divided to obtain static and dynamic targets. A GNSS receiver determines the vehicle's current position on a pre-mapped map, and existing static and dynamic targets within the current location's area are downloaded from the map. The downloaded static and dynamic targets are then compared with the collected static and dynamic targets to obtain static and dynamic target information about the vehicle and its surrounding environment. Because environmental information collected via millimeter-wave radar is less affected by environmental conditions, and this information is used for real-time vehicle positioning and the creation of real-time high-precision maps, the range of real-time road condition information collection is expanded. Furthermore, the relevant information is displayed on the in-vehicle human-machine interface, helping the driver understand the static and dynamic information around the vehicle when visibility is poor.

[0005] However, both of these methods lack subjective involvement when returning to the destination, which can easily make people feel like they have been on a long journey without reaching the exit, and they have a poor sense of direction when parking and returning. Summary of the Invention

[0006] In view of the above-mentioned defects or improvement needs of the prior art, the purpose of the present invention is to provide a parking positioning control method, device, electronic device and storage medium.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] Firstly, a parking positioning control method includes the following steps:

[0009] The parking positioning function is activated based on the vehicle's location, and then external environmental information is obtained in real time.

[0010] Based on the parking behavior and the aforementioned external environmental information, the target for the prompt is determined;

[0011] The parking trajectory is determined based on the parking behavior, and the prompt target is marked on the parking trajectory;

[0012] Using the parking trajectory as the return route, if the acquired external environmental information is the same as the target, a reminder is issued.

[0013] In a preferred embodiment, the step of activating the parking positioning function based on the vehicle positioning includes:

[0014] Determine the parking area based on the vehicle's travel plan;

[0015] Activate the parking location function.

[0016] In a preferred embodiment, the method further includes the following steps before activating the parking positioning function:

[0017] Upon entering the parking area, a first operation prompt will be given;

[0018] In response to the first operation prompt, confirm the activation of the parking positioning function.

[0019] In a preferred embodiment, the step of acquiring real-time external environmental information includes:

[0020] The scanning space is determined based on the location of vehicle sensors, wherein the vehicle sensors include cameras, radio radar systems and / or lidar systems;

[0021] Obtain ground information and / or wall information within the scanned space.

[0022] In a preferred embodiment, the ground information includes parking space identification information and parked vehicle information.

[0023] In a preferred embodiment, the parked vehicle information includes vehicle model information, color information, and / or brand information.

[0024] In a preferred embodiment, the step of determining the prompt target based on the parking behavior and the external environmental information includes:

[0025] If the steering wheel angle is lower than the first angle threshold within a first preset time, the first driving distance is determined based on the vehicle speed and the preset time.

[0026] The first driving distance is divided into multiple segments, and at least one piece of environmental information obtained in each segment is identified as a prompt target.

[0027] In a preferred embodiment, the step of determining the prompt target based on the parking behavior and the external environmental information further includes:

[0028] If the steering wheel angle is higher than the second angle threshold within a second preset time, the second driving distance is determined based on the vehicle speed and the preset time.

[0029] All environmental information acquired within the second travel distance is identified as the prompt target.

[0030] In a preferred embodiment, the step of determining the parking trajectory based on the parking behavior and marking the prompt target on the parking trajectory includes:

[0031] Display the parking trajectory based on the parking behavior;

[0032] The prompt target is displayed in a first manner based on its position relative to the parking trajectory.

[0033] In a preferred embodiment, the step of using the parking trajectory as the return route and issuing a reminder if the acquired external environmental information is the same as the target being alerted includes:

[0034] When the acquired external environment information is the same as the target of the prompt, the target of the prompt is displayed in a second manner.

[0035] In a preferred embodiment, the step of using the parking trajectory as the return route and issuing a reminder if the acquired external environmental information is the same as the target being alerted further includes:

[0036] If, during the return journey, the timing of two consecutive acquisitions of external environmental information is reversed compared to the previously acquired two prompt targets, the two prompt targets will be displayed in a third manner.

[0037] Secondly, a parking positioning control device includes:

[0038] The first module is used to activate the parking positioning function based on the vehicle's location, and then obtain external environmental information in real time.

[0039] The second module is used to determine the prompt target based on the parking behavior and the external environmental information;

[0040] The third module is used to determine the parking trajectory based on the parking behavior and mark the prompt target on the parking trajectory;

[0041] The fourth module is used to take the parking trajectory as the return route. If the external environmental information obtained again is the same as the target of the prompt, a reminder will be issued.

[0042] Thirdly, an electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the parking positioning control method as described above.

[0043] Fourthly, a computer-readable storage medium stores computer instructions that cause the computer to perform the parking positioning control method described above.

[0044] The beneficial effects of this invention are as follows: For the parking positioning control method, device, electronic equipment, and storage medium, the parking positioning function is activated based on vehicle positioning, and then external environmental information is acquired in real time; a prompt target is determined based on parking behavior and external environmental information; a parking trajectory is determined based on parking behavior, and the prompt target is marked on the parking trajectory; the parking trajectory is used as the return route, and if the external environmental information acquired again is the same as the prompt target, a reminder is issued, so that feedback is received every time a prompt is passed on the return trip, allowing the driver to believe that the route taken is the same as the route taken from, preventing a feeling of getting lost and improving the driving experience.

[0045] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0046] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0047] Figure 1 This is a flowchart of the parking positioning control method provided in the embodiments of this application;

[0048] Figure 2 This is a schematic diagram illustrating the application scenario of this control method;

[0049] Figure 3 This is a schematic diagram of the scanning space of the vehicle in this embodiment;

[0050] Figure 4 This is a schematic diagram showing the parking trajectory fusion prompt information in this embodiment;

[0051] Figure 5 This is a schematic diagram of the parking positioning control device provided in this embodiment;

[0052] Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0054] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0055] Those skilled in the art will understand that, unless otherwise stated, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the word “comprising” as used in the specification of this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0056] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as in the embodiments of this application.

[0057] This embodiment provides a parking positioning control method, which can be applied to fields such as maps, navigation, autonomous driving, intelligent vehicle control, vehicle networking, intelligent transportation, and cloud computing, such as intelligent traffic systems (ITS) in the transportation field.

[0058] Intelligent Transportation Systems (ITS), also known as Intelligent Transportation Systems, effectively integrate advanced technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing. This strengthens the connection between vehicles, roads, and drivers, forming a comprehensive transportation system that ensures safety, improves efficiency, enhances the environment, and conserves energy. Based on the parking positioning control method provided in this application, feedback is received after each prompt during the return journey, reassuring the driver that the route taken is the same as the route taken from, eliminating any sense of getting lost and improving the driving experience.

[0059] Among them, the intelligent vehicle-road cooperative system, or vehicle-road cooperative system for short, is a development direction of intelligent transportation systems (ITS). The vehicle-road cooperative system utilizes advanced wireless communication and next-generation Internet technologies to implement comprehensive, dynamic, real-time information interaction between vehicles and roads. Based on the collection and fusion of dynamic traffic information across all times and spaces, it conducts active vehicle safety control and cooperative road management, fully realizing effective coordination between people, vehicles, and roads, ensuring traffic safety, improving traffic efficiency, and thus forming a safe, efficient, and environmentally friendly road traffic system. The parking positioning control method provided in the embodiments of this application can provide technical support for traffic safety and vehicle-road cooperation.

[0060] The parking positioning control method provided in this application can be executed by a server or a terminal. The server can be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server providing cloud computing services. The terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, in-vehicle terminal, smart TV, etc., and the specific device can be determined based on the actual application scenario requirements, without limitation here.

[0061] See Figure 1 , Figure 1 This is a flowchart of the parking positioning control method provided in the embodiments of this application. Figure 1 As shown, the control method includes steps S10-S40.

[0062] Step S10: Activate the parking positioning function based on the vehicle's location, and then obtain external environmental information in real time.

[0063] Figure 2 This is a schematic diagram illustrating the application scenario of this control method. (Participate) Figure 2 The vehicle travels along route S0 to garage A. Vehicle location confirms arrival at garage A, triggering the parking location function to provide route planning for subsequent parking.

[0064] In this embodiment, the vehicle has a preliminary route plan, and the preliminary route S0 includes a parking area, garage A. Then, based on the location, the vehicle determines its destination, garage A. It should be noted that the parking area is not limited to underground garages, surface parking lots, shopping malls, parks, test drive centers, 4S stores, etc. It can be understood that the parking area can be pre-set or pre-defined.

[0065] A certain area can be pre-designated as a parking area. For example, the parking area is not limited to garage A itself, but can include a certain range outside garage A. When the vehicle arrives in this area, the parking positioning function will be activated.

[0066] Understandably, controlling the activation of the parking positioning function can reduce the power consumption of automotive electronic circuitry.

[0067] In certain usage scenarios, even though the vehicle has entered the parking area, there may be reasons why it's unnecessary to immediately activate the parking location function, or even not at all. Activating the parking location function automatically might affect the driver's mindset or the vehicle's performance. Therefore, after the vehicle enters the parking area (Garage A), the driver still needs to confirm entry into the parking area; that is, the driver must manually confirm entry before activating the parking location function.

[0068] Specifically, upon entering the parking area, the driver receives a first operational prompt, which includes: "Confirm entry into the parking area, please confirm activation of the parking location function." This serves as a reminder to the driver that they have arrived at their destination and are about to enter the final parking phase, requiring the driver to confirm activation of the parking location function.

[0069] In one preferred embodiment, if the driver does not confirm the activation of the parking positioning function, it is assumed that the parking positioning function does not need to be activated. In another preferred embodiment, if the driver does not confirm the activation of the parking positioning function, it is assumed that the parking positioning function is activated by default. In practical applications, the operation prompts can be selected according to the two preferred embodiments above.

[0070] It should be noted that the first operation prompt can be implemented using a touchscreen or through voice recognition. In this embodiment, the first operation prompt is implemented through voice recognition. Specifically, when entering a parking area, the vehicle's AI voice system announces: "You have entered a parking area. Would you like to activate the parking location function?" If the driver does not provide a voice response, the parking location function is not required by default.

[0071] Understandably, the AI ​​voice system can recognize the driver's voice responses such as "yes," "start it," "open," "drive it," and "okay," and use these as instructions to activate the parking positioning function.

[0072] Furthermore, in step S10, the step of acquiring external environmental information in real time includes: determining the scanning space based on the position of the vehicle sensors.

[0073] In this embodiment, the vehicle sensors include a camera, a radio radar system, and / or a lidar system. In other words, the scanning space is determined based on the positions of the camera, radio radar system, and lidar system on the vehicle.

[0074] Furthermore, the camera can acquire optical images and accurately record information such as the color, texture, and color distribution of objects from a certain angle. Additionally, the camera is used to perform tasks such as target recognition, environmental mapping, lane detection, and target tracking. Preferably, in this embodiment, to avoid the problem of poor reliability caused by sudden changes in lighting, the camera is combined with GPS, HPM, or even V2X to introduce some prior information to dynamically adjust the camera exposure. This improved method can be solved using existing technologies, which will not be elaborated upon in this embodiment.

[0075] Radio radar systems, such as millimeter-wave radar, measure the distance to objects through pulse compression and the velocity of objects through Doppler frequency shift. Millimeter-wave radar has a longer wavelength, offering some resistance to jamming and contamination, and can operate in rain, snow, fog, and dark environments. Radar can not only obtain precise distances to multiple targets but also measure relative velocities using the Doppler frequency shift effect. The mainstream frequency bands for millimeter-wave radar include 24 GHz, 60 GHz, 77 GHz, and 79 GHz. In this embodiment, the 79 GHz band is selected for its higher range, velocity, and angular resolution.

[0076] The main applications of lidar include localization, obstacle detection, and environmental reconstruction. Because three-dimensional (3D) data offers advantages in information representation compared to two-dimensional data, it can reconstruct traffic conditions in a realistic environment to the greatest extent possible. Combining the dynamic characteristics of targets from millimeter-wave radar, the variational advantages of lidar, and the details of targets in optical images, the integrated information helps vehicles perform various tasks, such as intent analysis, motion planning, and autonomous driving.

[0077] Furthermore, in this embodiment, the camera, radio radar system, and lidar system are all installed at the front, rear, roof, sides, and underside of the vehicle. In other words, the camera, radio radar system, and lidar system are installed at the front, rear, roof, sides, and underside of the vehicle. Figure 3 This is a schematic diagram of the scanning space of the vehicle in this embodiment. The scanning space can cover all directions of the vehicle, including the top, bottom, left, right, front, and rear.

[0078] It should be noted that the accuracy of this scanning space is determined by a combination of the accuracy of the camera, radio radar system, and lidar system, as well as multi-sensor data fusion technology.

[0079] Furthermore, multi-sensor data fusion technology is not limited to information fusion strategies based on identifiable units, fusion strategies based on complementary features, fusion strategies based on target attributes of different sensors, and fusion strategies based on decisions made by different sensors. These will not be elaborated upon in this embodiment.

[0080] Furthermore, in step S10, the step of acquiring external environmental information in real time also includes: acquiring ground information and / or wall information within the scanned space.

[0081] To ensure effective marking during parking, this embodiment acquires ground information, wall information, or both ground and wall information within the scanning space. Ground information refers to the actual road surface traversed by the wheels and information about obstacles on the road surface, while wall information refers to the walls or side walls of buildings passed by the vehicle.

[0082] In this embodiment, the ground information includes parking space identification information and parked vehicle information.

[0083] Specifically, the identified parking space marking information may include parking space lines and parking space numbers, see [link to relevant documentation]. Figure 2 The parking route S1 for this vehicle entering and driving from the entrance / exit of garage A is as follows: from the entrance / exit, drive south to the first row of parking spaces, then drive east to the easternmost side of the first row of parking spaces, continue south to the second row of parking spaces, and then drive west to the second parking space from west to east.

[0084] Secondly, according to parking route S1, vehicles are parked in the first row of parking spaces from west to east, specifically in spaces 1, 3, and 4, and vehicles are parked in the second row of parking spaces from east to west, specifically in spaces 1, 2, and 4.

[0085] It should be noted that the parking spaces in the first row, from west to east, are numbered 101, 102, 103, 104, and 105. Vehicles are currently parked in spaces 101, 103, and 104. An irregularly shaped obstacle, C1 (a columnar structure), is located between spaces 104 and 105. The parking spaces in the second row, from west to east, are numbered 201, 202, 203, 204, 205, 206, and 207. Vehicles are currently parked in spaces 204, 206, and 207.

[0086] The information on parked vehicles includes vehicle model, color, and brand. Vehicle model information includes sedans, SUVs, and trucks. Color information includes nine colors: black, white, red, orange, yellow, green, blue, indigo, and purple. Brand information is sourced from a directory of car brands published by relevant departments.

[0087] In this embodiment, the parking vehicle information of vehicles parked at 101, 103, 104, 201, 204, 206 and 207 is defined as X1, X2, X3, X4, X5 and X6, respectively.

[0088] After step S10, proceed to step S20: determine the target for prompting based on parking behavior and external environmental information.

[0089] Specifically, step S20 includes:

[0090] S201. If the steering wheel angle is lower than the first angle threshold within a first preset time, the first driving distance is determined based on the vehicle speed and the preset time.

[0091] S202. Divide the first driving distance into multiple segments, and determine at least one piece of environmental information obtained in each segment as the prompt target.

[0092] Understandably, the purpose of step S201 is to determine that the vehicle travels in a straight line within a certain time and to determine the straight-line distance. Therefore, by setting the first preset time to 5 seconds and the steering wheel angle to less than 45 degrees, it can be determined that the vehicle travels in a straight line within 5 seconds. Then, based on the vehicle speed and time, the first driving distance is determined.

[0093] It is understandable that if the steering wheel angle of the vehicle is below 45° for a longer period of time, the multiple first travel distances determined in sequence can be regarded as a first travel distance.

[0094] Furthermore, the first preset time and the first corner threshold can be adaptively set to other values, and this embodiment is not limited to this.

[0095] In this embodiment, during the process of the vehicle moving from parking space 101 to parking space 105, the first driving distance L1 is determined. Then, the first driving distance L1 is divided into three segments, and at least one piece of environmental information obtained in each segment is determined as the prompt target.

[0096] Furthermore, the vehicle moved from parking space 207 to parking space 202, determining another first driving distance L1. This first driving distance L1 was divided into two segments, and at least one piece of environmental information obtained in each segment was identified as a prompt target.

[0097] In this embodiment, the prompt targets determined during the two linear movements include: parking space number 101, parking space number 104, parking space number 105, parking space 206, parked vehicle information X1, parked vehicle information X2, and parked vehicle information X4.

[0098] Step S20 also includes:

[0099] S211. If the steering wheel angle is higher than the second angle threshold within a second preset time, determine the second driving distance based on the vehicle speed and the preset time.

[0100] S212. The environmental information obtained within the second travel distance is determined as the prompt target.

[0101] Understandably, the purpose of step S211 is to determine the turning distance of the vehicle within a certain time. Therefore, by setting the second preset time to 3 seconds and the steering wheel angle to be greater than 250°, it can be determined that the vehicle turns approximately 90° within 3 seconds. Then, based on the vehicle speed and time, the second driving distance is determined.

[0102] Furthermore, the second preset time and the second turning angle threshold can be adaptively set to other values, and this embodiment is not limited to this.

[0103] In this embodiment, the second driving distance is determined by the vehicle turning south after passing parking space 105 and turning west after reaching parking space 207.

[0104] Considering that the turning angle of a car changes rapidly and the range it can perceive is greater than that of a straight-line movement, in this embodiment, all environmental information within the second travel distance is determined as the prompt target.

[0105] In this embodiment, the prompt targets determined during the two right-angle movements include: parking space number 105, parking space 206, parking space 207, parked vehicle information X5, and parked vehicle information X6.

[0106] After step S20, proceed to step S30: determine the parking trajectory based on the parking behavior, and mark the target on the parking trajectory.

[0107] Specifically, the parking trajectory is first determined based on the parking behavior, and then the target is displayed in the first manner based on the position of the target relative to the parking trajectory.

[0108] Specifically, the parking trajectory can be determined based on vehicle speed, steering wheel angle, and time. Figure 4 This is the parking trajectory determined in this embodiment, which is a broken line.

[0109] Then, based on the position of the prompt target relative to the parking trajectory determined in step S20, the prompt target is marked at the corresponding position in the first manner.

[0110] In this embodiment, the position of the target relative to the parking trajectory refers to its distance and orientation relative to the parking trajectory, scaled proportionally and displayed. This display is not limited to a mobile terminal or a car's central control screen; in this embodiment, the planned route can be displayed on the car's central control screen, such as... Figure 4As shown, a prompt target determined in step S20 is provided on one side of the parking trajectory. The prompt target can be set as text, physical image, or graphic. In this embodiment, the first mode of each prompt target is uniformly set as a static dot with a certain color.

[0111] Step S40: Using the parking trajectory as the return route, if the acquired external environmental information is the same as the target, a reminder is issued.

[0112] It's understandable that when returning, the system will still acquire information about the external environment. If the acquired information matches the target, a warning will be issued, indicating that the vehicle is traversing the previous route. This reassures the driver that the route taken is the same as the route taken from, preventing them from feeling lost and improving the driving experience.

[0113] Specifically, when the acquired external environmental information is the same as the target, the target is displayed in a second manner.

[0114] For example, when the parked vehicle information X5 is retrieved again on the return trip, the notification dot corresponding to the previously parked vehicle information X5 will change from static to dynamic; optionally, the shape can also change, from a small circle to a large circle and then back to a small circle; optionally, the color can change, and so on.

[0115] In this embodiment, the second method is that the shape changes periodically: from a small circle to a large circle and then back to a small circle.

[0116] Furthermore, if, during the return journey, the timing of two consecutive acquisitions of external environmental information is reversed compared to the timing of the two previously acquired prompt targets, the two prompt targets are displayed in a third manner.

[0117] For example, during the return trip, parked vehicle information X5 and parked vehicle information X6 are obtained sequentially. When obtaining the external environment information for the first time, parked vehicle information X6 is obtained first, followed by parked vehicle information X5. It can be seen that the timing of the two events is reversed, indicating that the return direction is correct at least within the interval between the two external environment information. At this time, the two prompt targets are displayed in a third manner.

[0118] In this embodiment, the third method is to add color changes based on the second method.

[0119] The parking positioning control method provided in this embodiment activates the parking positioning function based on vehicle positioning, and then acquires external environmental information in real time; determines the prompt target based on parking behavior and external environmental information; determines the parking trajectory based on parking behavior and marks the prompt target on the parking trajectory; uses the parking trajectory as the return route, and if the acquired external environmental information is the same as the prompt target, a reminder is issued, so that the driver will receive feedback without passing through any prompt information on the return trip, making the driver believe that the route taken is the same as the route taken in the past, and will not feel lost, thus improving the driving experience.

[0120] This embodiment also provides a parking positioning control device. Figure 5 This is a schematic diagram of the parking positioning control device provided in this embodiment, as shown below. Figure 5 As shown, the parking positioning control device includes a first module 51, a second module 52, a third module 53, and a fourth module 54.

[0121] The first module 51 is used to activate the parking positioning function based on the vehicle's location, and then obtain external environmental information in real time.

[0122] The second module 52 is used to determine the prompt target based on the parking behavior and the external environment information.

[0123] The third module 53 is used to determine the parking trajectory based on the parking behavior and mark the prompt target on the parking trajectory.

[0124] The fourth module 54 is used to use the parking trajectory as the return route. If the external environmental information obtained again is the same as the prompt target, a reminder will be issued.

[0125] In a preferred embodiment of this invention, the first module 51 is further configured to:

[0126] Determine the parking area based on the vehicle's travel plan;

[0127] Activate the parking location function.

[0128] In a preferred embodiment of this invention, the first module 51 is further configured to:

[0129] Upon entering the parking area, a first operation prompt will be given;

[0130] In response to the first operation prompt, confirm the activation of the parking positioning function.

[0131] In a preferred embodiment of this invention, the first module 51 is further configured to:

[0132] The scanning space is determined based on the location of vehicle sensors, wherein the vehicle sensors include cameras, radio radar systems and / or lidar systems;

[0133] Obtain ground information and / or wall information within the scanned space.

[0134] It should be noted that the ground information includes parking space signage and parked vehicle information.

[0135] In a preferred embodiment, the parked vehicle information includes vehicle model information, color information, and / or brand information.

[0136] The second module 52 is also used for:

[0137] If the steering wheel angle is lower than the first angle threshold within a first preset time, the first driving distance is determined based on the vehicle speed and the preset time.

[0138] The first driving distance is divided into multiple segments, and at least one piece of environmental information obtained in each segment is identified as a prompt target.

[0139] In a preferred embodiment of this invention, the second module 52 is further configured to:

[0140] If the steering wheel angle is higher than the second angle threshold within a second preset time, the second driving distance is determined based on the vehicle speed and the preset time.

[0141] All environmental information acquired within the second travel distance is identified as the prompt target.

[0142] In a preferred embodiment, the third module 53 is further configured to:

[0143] Display the parking trajectory based on the parking behavior;

[0144] The prompt target is displayed in a first manner based on its position relative to the parking trajectory.

[0145] In a preferred embodiment, the fourth module 54 is further configured to:

[0146] When the acquired external environment information is the same as the target of the prompt, the target of the prompt is displayed in a second manner.

[0147] In a preferred embodiment, the fourth module 54 is further configured to:

[0148] If, during the return journey, the timing of two consecutive acquisitions of external environmental information is reversed compared to the previously acquired two prompt targets, the two prompt targets will be displayed in a third manner.

[0149] It should be noted that the parking positioning control device provided in this embodiment can also be a computer program (including program code) running on a computer device. For example, the parking positioning control device is an application program that can be used to execute the corresponding steps in the methods provided in the embodiments of this application.

[0150] In some feasible implementations, the parking positioning control device provided in this embodiment can be implemented using a combination of hardware and software. As an example, the parking positioning control device in this application embodiment can be a processor in the form of a hardware decoding processor, which is programmed to execute the parking positioning control method provided in this application embodiment. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0151] In some feasible implementations, the parking positioning control device provided in this embodiment can be implemented in software, which can be software in the form of programs and plug-ins, and includes a series of modules to implement the parking positioning control method provided in this embodiment of the invention.

[0152] The parking positioning control device provided in this embodiment activates the parking positioning function based on vehicle positioning, and then acquires external environmental information in real time; determines the prompt target based on parking behavior and external environmental information; determines the parking trajectory based on parking behavior and marks the prompt target on the parking trajectory; uses the parking trajectory as the return route, and if the acquired external environmental information is the same as the prompt target, a reminder is issued, so that the driver will receive feedback every time they pass through a prompt on the return trip, making the driver believe that the route taken is the same as the route taken in the past, and will not feel lost, thus improving the driving experience.

[0153] This embodiment also provides an electronic device. Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application, such as... Figure 6As shown, the electronic device 1000 in this embodiment may include: a processor 1001, a network interface 1004, and a memory 1005. Furthermore, the electronic device 1000 may also include: a user interface 1003, and at least one communication bus 1002. The communication bus 1002 is used to implement communication between these components. The user interface 1003 may include a display screen and a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1004 may be a high-speed RAM or non-volatile memory, such as at least one disk storage device. The memory 1005 may optionally be at least one storage device located remotely from the processor 1001. Figure 6 As shown, the memory 1005, which is a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and a device control application.

[0154] like Figure 6 In the illustrated electronic device 1000, the network interface 1004 provides network communication functionality; the user interface 1003 is primarily used to provide an input interface for the user; and the processor 1001 can be used to call the device control application stored in the memory 1005 to achieve:

[0155] The parking positioning function is activated based on the vehicle's location, and then external environmental information is obtained in real time.

[0156] Based on the parking behavior and the aforementioned external environmental information, the target for the prompt is determined;

[0157] The parking trajectory is determined based on the parking behavior, and the prompt target is marked on the parking trajectory;

[0158] Using the parking trajectory as the return route, if the acquired external environmental information is the same as the target, a reminder is issued.

[0159] It should be understood that in some feasible implementations, the processor 1001 described above may be a central processing unit (CPU), which may also be other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. The memory may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store device type information.

[0160] In practice, the electronic device 1000 can execute the implementation methods provided by the various steps of the control method described above through its built-in functional modules. For details, please refer to the implementation methods provided by the various steps described above, which will not be repeated here.

[0161] The electronic device provided in this embodiment activates the parking positioning function based on the vehicle's location, and then acquires external environmental information in real time; it determines the prompt target based on the parking behavior and the external environmental information; it determines the parking trajectory based on the parking behavior and marks the prompt target on the parking trajectory; it uses the parking trajectory as the return route, and if the external environmental information acquired again is the same as the prompt target, it issues a reminder, so that the driver will receive a message feedback without passing through any prompt information on the return trip, making the driver believe that the route taken is the same as the route taken in the past, and will not feel lost, thus improving the driving experience.

[0162] This application also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the various steps in the parking positioning control method described above. For details, please refer to the implementation methods provided for the various steps described above, which will not be repeated here.

[0163] The computer-readable storage medium provided in this embodiment initiates the parking positioning function based on vehicle positioning, and then acquires external environmental information in real time; determines the prompt target based on parking behavior and external environmental information; determines the parking trajectory based on parking behavior and marks the prompt target on the parking trajectory; uses the parking trajectory as the return route, and if the external environmental information acquired again is the same as the prompt target, a reminder is issued, so that the driver will receive a message feedback without passing through any prompt information on the return trip, so that the driver can believe that the road taken is the same as the road taken in, and will not feel lost, thus improving the driving experience.

[0164] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0165] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A parking positioning control method, characterized in that, Includes the following steps: The parking positioning function is activated based on the vehicle's location, and then external environmental information is obtained in real time. Based on parking behavior and the external environmental information, the following steps are taken to determine the prompt target: if the steering wheel angle is below a first steering angle threshold for a first preset time period, a first driving distance is determined based on the vehicle speed and the preset time period; the first driving distance is divided into multiple segments, and at least one piece of environmental information acquired in each segment is determined as the prompt target; if the steering wheel angle is above a second steering angle threshold for a second preset time period, a second driving distance is determined based on the vehicle speed and the preset time period; all environmental information acquired within the second driving distance is determined as the prompt target. The parking trajectory is determined based on the parking behavior, and the prompt target is marked on the parking trajectory; Using the parking trajectory as the return route, if the acquired external environmental information is the same as the target, a reminder is issued.

2. The parking positioning control method according to claim 1, characterized in that, The steps for activating the parking positioning function based on vehicle positioning include: Determine the parking area based on the vehicle's travel plan; Activate the parking location function.

3. The parking positioning control method according to claim 2, characterized in that, Before the step of activating the parking positioning function, the following also includes: Upon entering the parking area, a first operation prompt will be given; In response to the first operation prompt, confirm the activation of the parking positioning function.

4. The parking positioning control method according to claim 1, characterized in that, The steps for acquiring real-time external environmental information include: The scanning space is determined based on the location of vehicle sensors, wherein the vehicle sensors include cameras, radio radar systems and / or lidar systems; Obtain ground information and / or wall information within the scanned space.

5. The parking positioning control method according to claim 4, characterized in that, The ground information includes parking space signage and parked vehicle information.

6. The parking positioning control method according to claim 5, characterized in that, The information on parked vehicles includes vehicle model information, color information, and / or brand information.

7. The parking positioning control method according to claim 1, characterized in that, The step of determining the parking trajectory based on the parking behavior and marking the prompt target on the parking trajectory includes: Display the parking trajectory based on the parking behavior; The prompt target is displayed in a first manner based on its position relative to the parking trajectory.

8. The parking positioning control method according to claim 7, characterized in that, The step of using the parking trajectory as the return route and issuing a reminder if the acquired external environmental information is the same as the target being alerted includes: When the acquired external environment information is the same as the target of the prompt, the target of the prompt is displayed in a second manner.

9. The parking positioning control method according to claim 8, characterized in that, The step of using the parking trajectory as the return route, and issuing a reminder if the acquired external environmental information is the same as the target being alerted, further includes: If, during the return journey, the timing of two consecutive acquisitions of external environmental information is reversed compared to the previously acquired two prompt targets, the two prompt targets will be displayed in a third manner.

10. A parking positioning control device, implementing the parking positioning control method as described in any one of claims 1 to 9, characterized in that, include: The first module is used to activate the parking positioning function based on the vehicle's location, and then obtain external environmental information in real time. The second module is used to determine the prompt target based on the parking behavior and the external environmental information; The third module is used to determine the parking trajectory based on the parking behavior and mark the prompt target on the parking trajectory; The fourth module is used to take the parking trajectory as the return route. If the external environmental information obtained again is the same as the target of the prompt, a reminder will be issued.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the parking positioning control method as described in any one of claims 1 to 9.

12. A computer-calibrated storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause the computer to perform the parking positioning control method as described in any one of claims 1 to 9.

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