A parking assistance method and related device

Abstract

The application discloses a parking assistance method and related equipment, the method comprises the following steps: when it is detected that a vehicle reaches a preset range of a parking space, starting a parking assistance function, and projecting a vehicle model of the vehicle according to the parking assistance function to obtain a vehicle projection model; the vehicle projection model is optimized and adjusted to obtain a target vehicle projection model, and the target vehicle projection model is combined with the parking space to obtain an occupancy situation; if it is confirmed according to the occupancy situation that the target vehicle projection model and the boundary of the parking space do not have an overlapping part, and the distance between the target vehicle projection model and the left and right adjacent vehicles of the parking space is greater than a predetermined safety value, it is determined that the parking space meets the safety parking requirement, and the driver is prompted to park. The application projects the vehicle projection corresponding to the vehicle in front of the vehicle, combines the virtual and the real with the parking space, and then enables the driver to project to accurately determine whether the parking space can be parked and facilitate opening the door, so as to improve the safety of parking.

Description

Technical Field

[0001] This application relates to the field of vehicle parking technology, and more particularly to a parking assistance method, system, vehicle, and computer-readable storage medium. Background Technology

[0002] With rapid economic development and a gradual increase in the number of cars, many public parking lots and roadside parking spaces are often set up very compactly to accommodate more vehicles. Especially in some informal parking spaces, car owners often park their vehicles haphazardly, resulting in many parking spaces that are quite cramped. Some drivers with insufficient driving experience, especially novice drivers, often find it very difficult to park their vehicles safely in such areas, easily scraping against surrounding obstacles. Moreover, after parking, there is often the embarrassing problem of not having enough space to open the car door.

[0003] Existing assisted parking methods generally use radar sensors to measure distances. Only when the driver drives the vehicle into the current parking space and is about to collide with other objects will a warning sound alert the driver that the distance between the vehicle and other objects is too close. It is impossible to intuitively judge whether the vehicle can be parked in the current parking space before it enters the current parking space. Moreover, after the driver has parked the vehicle in the parking space, it is impossible to judge whether there is enough space to open the car door.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The main purpose of this application is to provide a parking assistance method and related equipment, which aims to solve the problem that existing parking assistance methods cannot accurately determine whether the current parking space is suitable for parking and whether there is enough space to open the car door before the driver enters the parking space.

[0006] The first aspect of this application provides a parking assistance method, comprising the following steps: when a vehicle is detected to have reached a preset range of a parking space, a parking assistance function is activated, and a vehicle model of the vehicle is projected according to the parking assistance function to obtain a vehicle projection model; the vehicle projection model is optimized and adjusted to obtain a target vehicle projection model, and the target vehicle projection model is combined with the parking space to obtain a parking space occupancy status; if the parking space occupancy status confirms that the target vehicle projection model and the boundary of the parking space do not overlap, and the distance between the target vehicle projection model and the adjacent vehicles on the left and right sides of the parking space is greater than a predetermined safety value, then the parking space is determined to meet the safe parking requirements, and the driver is prompted to park.

[0007] Based on the aforementioned technical means, in this embodiment of the application, before the driver drives the vehicle into the parking space, an AR-HUD (Augmented Reality-Head-Up Display) technology is used to project a vehicle projection model with the same size and shape as the vehicle onto the screen in front of the vehicle. This allows the vehicle model projection to be combined with the complex road conditions of the current parking space, thus enabling the driver to accurately determine whether the current parking space is safe enough to park the vehicle, and whether the car door can be opened normally after parking to prevent scratches to other vehicles, thereby improving parking safety. By combining AR-HUD technology, the driver can receive parking assistance in a visual form, which is more intuitive, accurate, and safer than traditional voice prompts and voice broadcasts. Moreover, the driver can understand whether the current parking space is suitable for parking and the opening degree of the car door after parking without actually parking the vehicle, so as to make timely parking adjustments based on the above information.

[0008] Optionally, in one embodiment of this application, when the parking assistance function is activated when the vehicle is detected to have reached the preset range of the parking space, and the vehicle model of the vehicle is projected according to the parking assistance function to obtain the vehicle projection model, the method further includes: storing vehicle models with various different morphological information of the vehicle in a vehicle model database in advance, wherein the morphological information includes the number of doors and the door opening angle, and each vehicle model corresponds to a number of doors and a door opening angle.

[0009] Based on the above technical means, the embodiments of this application can add various vehicle form model data to the vehicle model database of the AR-HUD system in advance. Each vehicle model corresponds to a number of doors and a door opening angle. The purpose of storing such vehicle models is to allow the driver to select a suitable vehicle model for the current parking space when dealing with different parking situations. This allows the driver to accurately determine whether the current parking space is suitable for the vehicle's usage form, thereby accurately and safely driving the vehicle into the parking space and facilitating the driver to open the door and get in and out of the vehicle.

[0010] Optionally, in one embodiment of this application, the step of activating the parking assistance function when the vehicle is detected to have reached a preset range of the parking space, and projecting the vehicle model of the vehicle according to the parking assistance function to obtain a vehicle projection model, specifically includes: when the vehicle is detected to have reached a preset range of the parking space, acquiring an image of the vehicle's surrounding environment, and identifying the surrounding environment image to obtain an identification result; determining whether there are parking space markers around the vehicle according to the identification result; if there are parking space markers around the vehicle, determining whether the vehicle's current speed is less than or equal to a preset speed; if the current speed is less than or equal to the preset speed, activating the parking assistance function and receiving a model selection instruction; selecting a target vehicle model from the vehicle model database according to the model selection instruction, and projecting the target vehicle model to obtain the vehicle projection model of the vehicle.

[0011] According to the above-mentioned technical means, in this embodiment of the application, when the driver arrives at a parking space and needs to park, the parking assistance function can be triggered by the parking button set on the vehicle's central control or by collecting images of the area around the vehicle through a roof-mounted camera, etc., and the images can be identified to determine whether there are parking space markings around the vehicle. If there are parking space markings, the parking assistance function is automatically triggered when the vehicle's speed decreases to a low speed or stops, so that the driver can activate the parking assistance function in a timely manner. After activating the parking assistance function, the driver is prompted to select a suitable vehicle model, and the selected vehicle model is projected through AR-HUD to show the driver the projection state of the current vehicle projection model in the parking space, so that the driver can subsequently determine whether the parking space is safe to park by using the vehicle projection model.

[0012] Optionally, in one embodiment of this application, optimizing and adjusting the vehicle projection model to obtain a target vehicle projection model, and combining the target vehicle projection model with the parking space to obtain the occupancy status, specifically includes: obtaining the driver's line of sight position and the projection position of the augmented reality head-up display; calculating a first distance between the line of sight position and the projection position, and calculating a second distance between the projection position and the vehicle projection model; adjusting the position of the vehicle projection model according to the first distance and the second distance, and focusing the adjusted vehicle projection model to obtain the target vehicle projection model; and combining and comparing the size information of the target vehicle projection model with the parking space information to obtain the occupancy status; the size information includes the length and width of the target projection model, and the parking space information includes the length and width of the parking space.

[0013] Based on the aforementioned technical means, this embodiment of the application uses AR-HUD technology in conjunction with a specific algorithm to calculate the accurate position of the vehicle projection model from the driver's perspective by utilizing the actual distance from the driver's line of sight to the projection position of the AR-HUD. Then, by optimizing and adjusting the position of the vehicle projection model projected by the AR-HUD, it is ensured that the virtual vehicle projection model seen from the driver's perspective is located directly in front of the driven vehicle, and its size and posture are consistent with the driven vehicle. The adjusted vehicle projection model is then driven into the current parking space, and the occupancy status of the vehicle projection model is determined by comparing it with the current parking space, so as to subsequently determine whether the current parking space can safely accommodate the vehicle.

[0014] Optionally, in one embodiment of this application, the optimization and adjustment of the vehicle projection model to obtain a target vehicle projection model, and the combination of the target vehicle projection model with the parking space to obtain the occupancy status, further includes: determining whether there is an overlapping part between the boundary of the target vehicle projection model and the parking space based on the occupancy status; if there is an overlapping part between the boundary of the target vehicle projection model and the parking space, marking the overlapping part and issuing a reminder to the driver that the parking space cannot be used, wherein the boundary includes an upper boundary, a lower boundary, a left boundary, and a right boundary.

[0015] Based on the above technical means, this application embodiment determines whether there is an overlap between the vehicle projection model and the boundary of the current parking space by observing the occupancy of the vehicle projection model in the current parking space. Based on the overlap, it determines whether the current parking space can accommodate the vehicle, so that the driver can quickly and accurately determine the parking space. If there is an overlap, the overlapping part is highlighted by color to make it easy for the driver to see in time, and the driver is reminded in other ways that the parking space cannot be used for safe parking.

[0016] Optionally, in one embodiment of this application, the step of determining that the parking space meets the safe parking requirements and prompting the driver to park if it is confirmed based on the occupancy situation that the target vehicle projection model and the boundary of the parking space do not overlap, and the distance between the target vehicle projection model and the adjacent vehicles on the left and right sides of the parking space is greater than a predetermined safety value, specifically includes: if it is confirmed based on the occupancy situation that the target vehicle projection model and the boundary of the parking space do not overlap, then obtaining the left distance between the left side of the target vehicle projection model and the vehicle on the left side of the parking space and the right distance between the right side of the target vehicle projection model and the vehicle on the right side of the parking space; pre-setting a predetermined safety value that meets the safe parking requirements, and determining whether the left distance and the right distance are both greater than the predetermined safety value; if the left distance and the right distance are both greater than the predetermined safety value, then determining that the parking meets the safe parking requirements and prompting the driver to park.

[0017] Based on the above technical means, the embodiments of this application can determine whether the parking space meets the safe parking requirements by judging whether the distance between the target vehicle projection model and the boundary of the parking space is greater than a predetermined safety value. When both distances are greater than the predetermined safety value, it means that the current parking space can not only accommodate the vehicle, but also ensure that there is space to open the car door after parking. This not only facilitates the driver getting in and out of the car, but also greatly improves the safety of parking and prevents the vehicle from scraping against the vehicles on the left and right.

[0018] Optionally, in one embodiment of this application, after determining whether both the left-side distance and the right-side distance are greater than the predetermined safety value, the method further includes: if the left-side distance or the right-side distance is less than the predetermined safety value, then issuing a reminder to the driver that the car door cannot be safely opened after parking.

[0019] Based on the above technical means, the embodiments of this application can remind the driver that the car door cannot be opened after parking when the distance between the target vehicle projection model and the vehicle on the left or the vehicle on the right is less than a predetermined safety value. This prevents the driver from having difficulty opening the car door after driving the vehicle into the current parking space and reduces the damage caused by scratching the adjacent vehicle when opening the door.

[0020] A second aspect of this application provides a parking assistance system, comprising: a model projection module, configured to activate a parking assistance function when a vehicle is detected to have reached a preset range of a parking space, and project a vehicle model of the vehicle according to the parking assistance function to obtain a vehicle projection model; a data processing module, configured to optimize and adjust the vehicle projection model to obtain a target vehicle projection model, and combine the target vehicle projection model with the parking space to obtain a parking space occupancy status; and a parking space determination module, configured to determine that the parking space meets the safe parking requirements and prompt the driver to park if, according to the parking space occupancy status, the target vehicle projection model and the boundary of the parking space do not overlap, and the distance between the target vehicle projection model and adjacent vehicles in the parking space is greater than a predetermined safety value.

[0021] Optionally, in one embodiment of this application, the model projection module includes: an image recognition unit, configured to acquire an image of the vehicle's surrounding environment when the vehicle is detected to have reached a preset range of a parking space, and to recognize the surrounding environment image to obtain a recognition result; an identification judgment unit, configured to determine whether there are parking space identification marks around the vehicle based on the recognition result; a speed judgment unit, configured to determine whether the vehicle's current speed is less than or equal to a preset speed if there are parking space identification marks around the vehicle; a parking assistance unit, configured to activate a parking assistance function and receive a model selection instruction if the current speed is less than or equal to the preset speed; and a projection selection unit, configured to select a target vehicle model from the vehicle model database according to the model selection instruction, and project the target vehicle model to obtain a vehicle projection model of the vehicle.

[0022] Optionally, in one embodiment of this application, the data processing module includes: a distance calculation unit, configured to acquire the driver's line-of-sight position and the projection position of the augmented reality head-up display, calculate a first distance between the line-of-sight position and the projection position, and calculate a second distance between the projection position and the vehicle projection model; a model adjustment unit, configured to adjust the position of the vehicle projection model according to the first distance and the second distance, and perform focusing processing on the adjusted vehicle projection model to obtain a target vehicle projection model; and an information comparison unit, configured to combine and compare the size information of the target vehicle projection model with the parking space information to obtain the occupancy status; the size information includes the length and width of the target projection model, and the parking space information includes the length and width of the parking space.

[0023] Optionally, in one embodiment of this application, the parking space determination module includes: a distance acquisition unit, configured to acquire, respectively, the left distance between the left side of the target vehicle projection model and the vehicle to the left of the parking space and the right distance between the right side of the target vehicle projection model and the vehicle to the right of the parking space if it is confirmed based on the occupancy situation that there is no overlap between the target vehicle projection model and the boundary of the parking space; a distance judgment unit, configured to pre-set a predetermined safety value that meets the safe parking requirements, and judge whether the left distance and the right distance are both greater than the predetermined safety value; and a parking reminder unit, configured to determine that the parking meets the safe parking requirements and remind the driver to park if the left distance and the right distance are both greater than the predetermined safety value.

[0024] Optionally, in one embodiment of this application, the system of this application embodiment further includes: a model storage unit, used to store vehicle models with various different morphological information of the vehicle in advance to a vehicle model database, wherein the morphological information includes the number of doors and the door opening angle, and each vehicle model corresponds to a number of doors and a door opening angle.

[0025] Optionally, in one embodiment of this application, the system of this application embodiment further includes: an overlap judgment unit, used to determine whether there is an overlap between the target vehicle projection model and the boundary of the parking space based on the occupancy situation; and an overlap reminder unit, used to mark the overlap if there is an overlap between the target vehicle projection model and the boundary of the parking space, and to issue a reminder to the driver that the parking space cannot be used, wherein the boundary includes an upper boundary, a lower boundary, a left boundary, and a right boundary.

[0026] Optionally, in one embodiment of this application, the system of this application embodiment further includes: a safety reminder unit, used to remind the driver that the car door cannot be safely opened after parking if the left distance or the right distance is less than the predetermined safety value.

[0027] A third aspect of this application provides a vehicle, the vehicle including: a memory, a processor, and a parking assistance program stored in the memory and executable on the processor, wherein when the parking assistance program is executed by the processor, it implements the steps of the parking assistance method as described in the above embodiments.

[0028] A fourth aspect of this application provides a computer-readable storage medium storing a parking assistance program that, when executed by a processor, implements the steps of the parking assistance method as described in the above embodiments.

[0029] The beneficial effects of this application are:

[0030] (1) In this embodiment of the application, before the driver drives the vehicle into the parking space, the AR-HUD technology is used to project a vehicle projection model with the same size and shape as the vehicle onto the screen in front of the vehicle. This allows the vehicle model projection to be combined with the complex road conditions of the current parking space in a virtual and real way. In this way, the driver can accurately determine whether the current parking space is safe enough to park the vehicle, and whether the car door can be opened normally after the vehicle is parked, so as to prevent scratches to other vehicles next to it, thereby improving the safety performance of parking. By combining AR-HUD technology, the driver can use visual form to assist parking. Compared with traditional voice prompts and voice broadcasts, it is more intuitive, accurate and safe. Moreover, the driver can understand whether the current parking space is suitable for parking the vehicle and the opening degree of the car door after parking without performing the parking operation, so as to make timely parking adjustments based on the above information.

[0031] (2) In this embodiment of the application, various vehicle form model data can be added to the vehicle model database of the AR-HUD system in advance. Each vehicle model corresponds to a number of doors and a door opening angle. The purpose of storing such vehicle models is to allow the driver to select the appropriate vehicle model for the current parking space when dealing with different parking situations. This allows the driver to accurately determine whether the current parking space is suitable for the vehicle's usage form, thereby accurately and safely driving the vehicle into the parking space and making it convenient for the driver to open the door and get in and out of the vehicle.

[0032] (3) In this embodiment of the application, when the driver arrives at the parking space and wants to park, the parking assistance function can be triggered by the parking button set on the vehicle's central control or by collecting images of the area around the vehicle through a roof camera, etc., and the images can be identified to determine whether there are parking space signs around the vehicle. If there are parking space signs, the parking assistance function is automatically triggered when the vehicle speed is reduced to a low speed or stopped, so that the driver can activate the parking assistance function in time. After the parking assistance function is activated, the driver is prompted to select a suitable vehicle model and the selected vehicle model is projected through AR-HUD to show the driver the projection status of the current vehicle projection model in the parking space, so that the driver can determine whether the parking space is safe to park through the vehicle projection model.

[0033] (4) In this embodiment of the application, AR-HUD technology is used in conjunction with a specific algorithm to calculate the accurate position of the vehicle projection model from the driver’s perspective by using the actual distance from the driver’s line of sight to the projection position of AR-HUD. Then, the position of the vehicle projection model projected by AR-HUD is optimized and adjusted to ensure that the position of the virtual vehicle projection model seen from the driver’s perspective is directly in front of the vehicle being driven, and that its size and posture are consistent with the vehicle being driven. The adjusted vehicle projection model is driven into the current parking space, and the vehicle projection model is compared with the current parking space to determine the occupancy of the vehicle projection model, so as to determine whether the current parking space can safely accommodate the vehicle.

[0034] (5) In this embodiment, the vehicle projection model is used to determine whether there is an overlap between the vehicle projection model and the boundary of the current parking space. The overlap is used to determine whether the current parking space can accommodate the vehicle, so that the driver can quickly and accurately determine the parking space. If there is an overlap, the overlapping part is marked with color to highlight the overlapping part, so that the driver can see it in time. The driver is also reminded in other ways that the parking space cannot be parked safely.

[0035] (6) In this embodiment of the application, when there is no overlap between the target vehicle projection model and the boundary of the parking space, it can only be said that the current parking space can accommodate the vehicle, but it cannot guarantee whether the car door can be opened safely after parking. By judging whether the distance between the target vehicle projection model and the adjacent vehicles on the left and right sides of the current parking space is greater than a predetermined safety value, it can be determined whether the parking space meets the requirements for safe parking. When both are greater than the predetermined safety value, it means that the current parking space can not only accommodate the vehicle, but also ensure that the vehicle has space to open the car door after parking. This not only facilitates the driver to get in and out of the car, but also greatly improves the safety of parking and prevents the vehicle from scraping against the vehicles on the left and right sides.

[0036] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a flowchart of a preferred embodiment of the parking assistance method of this application;

[0039] Figure 2 This is a schematic diagram of the AR-HUD principle in a preferred embodiment of the parking assistance method of this application;

[0040] Figure 3 This is a schematic diagram of a parking scenario in a preferred embodiment of the parking assistance method of this application;

[0041] Figure 4 This is a schematic diagram of the vehicle projection in the door opening posture in a preferred embodiment of the parking assistance method of this application;

[0042] Figure 5 This is a schematic diagram of a preferred embodiment of the parking assistance system of this application;

[0043] Figure 6 This is a structural schematic diagram of a preferred embodiment of the vehicle described in this application.

[0044] Among them, 10-parking assistance system; 100-model projection module; 200-data processing module; 300-parking space determination module; 501-memory; 502-processor; and 503-communication interface. Detailed Implementation

[0045] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0046] The parking assistance method and related equipment of this application are described below with reference to the accompanying drawings. Addressing the problem mentioned in the background art that existing parking assistance methods cannot accurately determine whether the current parking space is suitable for parking, or whether there is sufficient space to open the car door, before the driver enters the parking space, this application provides a parking assistance method. In this method, before the driver drives the vehicle into the parking space, AR-HUD technology is used to project a vehicle projection model with the same size and shape as the vehicle onto the screen in front of the vehicle. This allows the vehicle model projection to be combined with the complex road conditions of the current parking space, thereby facilitating parking in parking spaces with limited width and length. By projecting the image, drivers can accurately determine whether the current parking space is safe enough to park their vehicle, and whether the car door can be opened normally after parking to prevent scratches to other vehicles, thus improving parking safety. Combined with AR-HUD technology, this provides visual parking assistance, which is more intuitive, accurate, and safer than traditional voice prompts and announcements. Furthermore, it eliminates the need for manual parking maneuvers to understand whether the current parking space is suitable for parking and the door opening information, allowing for timely adjustments. This solves the problem of existing parking assistance methods failing to accurately determine whether a parking space is suitable and whether there is sufficient space to open the car door before the driver enters the parking space.

[0047] Specifically, Figure 1 This is a schematic flowchart of a parking assistance method provided in an embodiment of this application.

[0048] like Figure 1 As shown, the parking assistance method includes the following steps:

[0049] In step S101, when the vehicle is detected to have reached the preset range of the parking space, the parking assistance function is activated, and the vehicle model of the vehicle is projected according to the parking assistance function to obtain the vehicle projection model.

[0050] It is understood that the vehicle in this application embodiment is a vehicle equipped with an AR-HUD device and other devices such as an external camera (e.g., a roof-mounted camera). The AR-HUD device is used to project a vehicle projection model, and the external camera is used to capture images of the vehicle's surrounding environment. The parking space is a parking space with limited length and width, meaning that vehicles are parked in the adjacent parking spaces on both sides of the current parking space, including but not limited to parking lots and roadside parking spaces. When the driver drives the vehicle to a preset range of the current parking space, for example, when the driver drives the vehicle to a distance of 6 meters from the current parking space, the parking assistance function of the vehicle is activated when the driver is about to drive the vehicle into the current parking space. The parking assistance function can be triggered by the driver triggering the parking function set on the vehicle's central control screen. The parking assist function can be activated by pressing a button. It can also capture multiple images of the surrounding environment using a roof-mounted camera, and then identify the presence of parking space markers around the vehicle. If no parking space markers are found, the parking assist function will not be activated. If parking space markers are found, the system checks if the vehicle's speed is less than or equal to the preset speed for activating the parking assist function. This is to prevent accidental activation of the parking assist function when parking space markers are detected but parking is not required. When the vehicle speed decreases to the preset speed or stops, it is determined that the user intends to park, and the parking assist function is automatically activated.

[0051] Furthermore, various vehicle models with different morphological information are pre-stored in the vehicle model database of the AR-HUD system. The morphological information includes the number of doors open and the door opening angle; each vehicle model corresponds to a specific number of doors and an opening angle. For example, there is a vehicle model with all doors closed, a vehicle model with only the driver's side door open at a 45-degree angle, etc. The purpose of storing these vehicle models is to allow drivers to select a suitable vehicle model for different parking spaces, enabling them to accurately determine whether the parking space is suitable for their vehicle's usage, thus ensuring accurate and safe parking and facilitating easy entry and exit. After activating the parking assist function, the vehicle's central control display prompts the user to select the desired vehicle model from the AR-HUD system's vehicle model data or to match a vehicle model based on the vehicle's actual situation. When the driver selects a target vehicle model, such as a model with closed doors, the AR-HUD device projects the target vehicle model to obtain a virtual vehicle projection model, showing the driver the current projection status of the vehicle in the parking space.

[0052] In other words, in this embodiment of the application, when the driver arrives at a parking space and intends to park, the parking assistance function can be triggered by a parking button on the vehicle's central control unit or by capturing images of the vehicle's surroundings through a roof-mounted camera. The images are then analyzed to determine whether there are parking space markers around the vehicle. If parking space markers are present, the parking assistance function is automatically triggered when the vehicle's speed decreases to a low speed or stops, allowing the driver to activate the function promptly. After activating the parking assistance function, the driver is prompted to select a suitable vehicle model, which is then projected onto an AR-HUD to show the driver the projection status of the vehicle model in the parking space. This allows the driver to determine whether the parking space is safe to use the vehicle model.

[0053] In step S102, the vehicle projection model is optimized and adjusted to obtain the target vehicle projection model, and the target vehicle projection model is combined with the parking space to obtain the occupancy status.

[0054] Understandably, in this application, the driver's face is captured by an in-vehicle camera, analyzed to obtain the eye position, and this eye position is used as the driver's line of sight. Figure 2 The position of position 1; the position where the AR-HUD device is projected onto the car window is used as the projection position for the augmented reality head-up display, such as... Figure 2 The position of 2; and the vehicle projection model as seen from the driver's perspective, such as Figure 2 The position of the vehicle projection model is optimized and adjusted using AR-HUD technology and specific algorithms. Since the projection position of the AR-HUD device is on the windshield of the vehicle, which is a fixed position relative to the vehicle, the first distance from the driver's line of sight to the projection position can be calculated simply by obtaining the driver's line of sight position through the camera. Because the vehicle projection model's image is a proportionally enlarged version of the projection position, and the vehicle projection model is the same size as the current vehicle, a second distance between the projection position and the vehicle projection model can be calculated. The position of the vehicle projection model is adjusted based on the first and second distances to determine the driver's final desired parking position. The adjusted vehicle projection model is then focused to improve the image clarity, resulting in the target vehicle projection model. The length and width of the target vehicle projection model are then compared with the length and width of the parking space to determine the occupancy status.

[0055] In other words, this embodiment of the application uses AR-HUD technology in conjunction with a specific algorithm to calculate the accurate position of the vehicle projection model from the driver's perspective by using the actual distance from the driver's line of sight to the projection position of the AR-HUD. Then, by optimizing and adjusting the position of the vehicle projection model projected by the AR-HUD, it is ensured that the virtual vehicle projection model seen from the driver's perspective is located directly in front of the driven vehicle, and its size and posture are consistent with the driven vehicle. The adjusted vehicle projection model is then driven into the current parking space, and the occupancy status of the vehicle projection model is determined by comparing the vehicle projection model with the current parking space, so as to determine whether the current parking space can safely accommodate the vehicle.

[0056] Furthermore, the occupancy status of the target vehicle projection model is used to determine whether there is any overlap between the target vehicle projection model and the upper, lower, left, and right boundaries of the parking space. The presence of overlap determines whether the current parking space can accommodate a vehicle. If the target vehicle projection model overlaps with one of the upper, lower, left, and right boundaries of the parking space, it indicates that the vehicle cannot park in the current parking space. The overlapping part is marked, for example, by highlighting the overlapping part in red, and a reminder is given to the driver that the parking space cannot be used, such as by making a voice announcement "Parking is not possible at this location," to prevent the driver from scraping against surrounding vehicles after driving in.

[0057] In other words, the system determines whether there is any overlap between the vehicle projection model and the boundary of the current parking space by observing the vehicle's occupancy in the current parking space. Based on the overlap, it determines whether the current parking space can accommodate the vehicle, so that the driver can quickly and accurately identify the parking space. If there is an overlap, the overlapping part is highlighted by color so that the driver can see it in time, and the driver is reminded in other ways that the parking space is not safe for parking.

[0058] In step S103, if it is confirmed based on the occupancy status that the target vehicle projection model and the boundary of the parking space do not overlap, and the distance between the target vehicle projection model and the adjacent vehicles on the left and right sides of the parking space is greater than a predetermined safety value, then it is determined that the parking space meets the safe parking requirements, and the driver is prompted to park.

[0059] It is understood that in this application, if it is confirmed based on the occupancy situation that there is no overlap between the upper boundary, lower boundary, left boundary, and right boundary of the target vehicle projection model and the parking space, then the left distance between the left side of the target vehicle projection model and the vehicle to the left of the parking space, and the right distance between the right side of the target vehicle projection model and the vehicle to the right of the parking space are obtained respectively. The purpose of obtaining the left distance and the right distance is to determine whether the driver and passengers have enough space to open the car door after the virtual vehicle projection has completed parking, so as to facilitate getting in and out of the car while preventing scratches to other vehicles next to it. A predetermined safety value (e.g., 30 cm) is set to meet safe parking requirements. The system then determines whether both the left and right distances are greater than this predetermined safety value. If both distances are greater than the predetermined safety value, the parking is deemed safe, and the driver is prompted to proceed with parking. This can be done through voice prompts such as "This location is safe for parking, please begin parking" or by displaying "Please park the vehicle at the current location" on the vehicle's screen. To ensure parking safety, the default is that the distances on both sides are greater than the predetermined safety value. The driver can also manually set the predetermined values ​​for the left and right distances. Figure 3 As shown, Figure 3 In this diagram, 1 and 2 represent actual road obstacles, such as parked vehicles; 3 represents the vehicle projection model; and 4 represents the actual vehicle's position. A comparison is made between the width of the vehicle projection model and the width of the current parking space, combining the virtual and real scenes. If, in the comparison results, the vehicle projection model does not overlap with the left and right boundaries of the current parking space, and the distance between the left and right sides is greater than a predetermined safety value (e.g., 30 cm), then it is determined that the vehicle can park in the current parking space and there is sufficient space to open the door. If, in the comparison results, the vehicle projection model does not overlap with the left and right boundaries of the current parking space, and the distance between the left and right sides is not greater than the predetermined safety value, then... If the vehicle can be parked in the current parking space, it is determined that the driver should be careful when opening the door, as it may easily scrape against adjacent vehicles, and the driver will be reminded. If the width of the current parking space is limited, only one side of the door can be opened, meaning that the vehicle projection model does not overlap with the left and right boundaries of the current parking space, and one of the left and right distances is greater than a predetermined safety value. This ensures that parking can be completed without affecting the driver's ability to open the door and get out of the car. If the comparison results show that the vehicle projection model overlaps with the left and right boundaries of the current parking space, it is determined that the vehicle cannot be parked in the current parking space, and the overlapping part is marked, and the driver is reminded.

[0060] In other words, this application can determine whether a parking space meets safe parking requirements by judging whether the distance between the target vehicle projection model and the boundary of the parking space is greater than a predetermined safety value. When both distances are greater than the predetermined safety value, it means that the current parking space can not only accommodate the vehicle, but also ensure that there is space to open the door after parking. This not only facilitates the driver getting in and out of the vehicle, but also greatly improves parking safety and prevents the vehicle from scraping against the vehicles on the left and right.

[0061] Furthermore, when determining whether both the left-side distance and the right-side distance are greater than the predetermined safety value, if the left-side distance or the right-side distance is less than the predetermined safety value, it is determined that the vehicle can park in the current parking space, but there is a situation where the car door cannot be safely opened after the driver completes parking, and a reminder is issued to the driver that the car door cannot be safely opened after parking.

[0062] In other words, this application can remind the driver that the car door cannot be opened after parking when the distance between the target vehicle projection model and the vehicle on the left or the vehicle on the right is less than a predetermined safety value. This prevents the driver from being unable to open the car door after parking and reduces the risk of damage caused by collisions with adjacent vehicles when opening the door.

[0063] Furthermore, if the current parking space allows the vehicle to be parked, in order to accurately demonstrate the space for the driver and passengers to open the car doors after the virtual vehicle projection completes parking, and to prevent scratches to other vehicles, a vehicle model with four doors is selected from the vehicle model database for projection. The projection result is as follows. Figure 4 As shown, by comparing the projected vehicle model with the actual parking space scene, observe whether there is any overlap between the door of the projected vehicle model and the vehicles adjacent to the left and right of the parking space. Determine whether the two sides of the current parking space can guarantee that the driver and passengers can open the door to facilitate getting in and out of the vehicle. If there is no overlap, it means that there is enough space for the driver and passengers to get in and out of the vehicle after parking. If there is overlap, remind the driver and passengers that the door may not be able to be opened after parking, or remind the driver and passengers that they may not be able to leave the vehicle after entering the parking space.

[0064] Next, a parking assistance system according to an embodiment of this application is described with reference to the accompanying drawings.

[0065] Figure 5 This is a block diagram of a parking assistance system according to an embodiment of this application.

[0066] like Figure 5As shown, the parking assistance system 10 includes: a model projection module 100, a data processing module 200, and a parking space determination module 300.

[0067] Specifically, the model projection module 100 is used to activate the parking assistance function when the vehicle is detected to have reached the preset range of the parking space, and to project the vehicle model of the vehicle according to the parking assistance function to obtain the vehicle projection model.

[0068] The data processing module 200 is used to optimize and adjust the vehicle projection model to obtain the target vehicle projection model, and to combine the target vehicle projection model with the parking space to obtain the occupancy status.

[0069] The parking space determination module 300 is used to determine that the parking space meets the safe parking requirements and prompt the driver to park if it is confirmed based on the occupancy situation that the target vehicle projection model and the boundary of the parking space do not overlap, and the distance between the target vehicle projection model and the adjacent vehicle of the parking space is greater than a predetermined safety value.

[0070] Optionally, in one embodiment of this application, the model projection module 100 includes: an image recognition unit, an identifier judgment unit, a speed judgment unit, a parking assistance unit, and a projection selection unit.

[0071] The image recognition unit is used to collect images of the vehicle's surrounding environment when the vehicle is detected to have reached a preset range of the parking space, and to recognize the images of the surrounding environment to obtain a recognition result.

[0072] The identification determination unit is used to determine whether there are parking space signs around the vehicle based on the identification result.

[0073] The speed determination unit is used to determine whether the current speed of the vehicle is less than or equal to a preset speed if there are parking space signs in the vicinity.

[0074] The parking assist unit is used to activate the parking assist function if the current speed is less than or equal to a preset speed, and to receive a model selection instruction.

[0075] The selection projection unit is used to select a target vehicle model from the vehicle model database according to the model selection instruction, and project the target vehicle model to obtain the vehicle projection model.

[0076] Optionally, in one embodiment of this application, the data processing module 200 includes: a distance calculation unit, a model adjustment unit, and an information comparison unit.

[0077] The distance calculation unit is used to obtain the driver's line of sight position and the projection position of the augmented reality head-up display, calculate a first distance between the line of sight position and the projection position, and calculate a second distance between the projection position and the vehicle projection model.

[0078] The model adjustment unit is used to adjust the position of the vehicle projection model according to the first distance and the second distance, and to focus the adjusted vehicle projection model to obtain the target vehicle projection model.

[0079] An information comparison unit is used to combine and compare the size information of the target vehicle projection model with the parking space information to obtain the occupancy status; the size information includes the length and width of the target projection model, and the parking space information includes the length and width of the parking space.

[0080] Optionally, in one embodiment of this application, the parking space determination module 300 includes: a distance acquisition unit, a distance judgment unit, and a parking reminder unit.

[0081] The distance acquisition unit is used to acquire, if it is confirmed based on the occupancy situation that there is no overlap between the target vehicle projection model and the boundary of the parking space, the left distance between the left side of the target vehicle projection model and the vehicle to the left of the parking space, and the right distance between the right side of the target vehicle projection model and the vehicle to the right of the parking space.

[0082] The distance judgment unit is used to pre-set a predetermined safety value that meets the requirements for safe parking, and to determine whether the distance to the left and the distance to the right are both greater than the predetermined safety value.

[0083] The parking reminder unit is used to determine that the parking meets the safe parking requirements if both the left-side distance and the right-side distance are greater than the predetermined safety value, and to remind the driver to park.

[0084] Optionally, in one embodiment of this application, the parking assistance system 10 of this application embodiment further includes: a model storage unit.

[0085] The model storage unit is used to store vehicle models with various different morphological information of the vehicle in the vehicle model database in advance. The morphological information includes the number of doors and the door opening angle. Each vehicle model corresponds to a number of doors and a door opening angle.

[0086] Optionally, in one embodiment of this application, the parking assistance system 10 of this application embodiment further includes: an overlap determination unit and an overlap reminder unit.

[0087] The overlap determination unit is used to determine whether there is an overlap between the target vehicle projection model and the boundary of the parking space based on the occupancy situation.

[0088] An overlap reminder unit is used to mark the overlapping part if the target vehicle projection model overlaps with the boundary of the parking space, and to remind the driver that the parking space cannot be used for parking. The boundary includes an upper boundary, a lower boundary, a left boundary, and a right boundary.

[0089] Optionally, in one embodiment of this application, the parking assistance system 10 of this application embodiment further includes: a safety reminder unit.

[0090] The safety warning unit is used to remind the driver that the car door cannot be safely opened after parking if the distance to the left or the distance to the right is less than the predetermined safety value.

[0091] It should be noted that the foregoing explanation of the parking assistance method embodiment also applies to the parking assistance system of this embodiment, and will not be repeated here.

[0092] According to the parking assistance system proposed in this application, before the driver drives the vehicle into a parking space, an AR-HUD technology is used to project a vehicle projection model with the same size and shape as the vehicle onto the screen in front of the vehicle. This allows the vehicle model projection to be combined with the complex road conditions of the current parking space, thus enabling the driver to accurately determine whether the current parking space is safe enough to park the vehicle, and whether the car door can be opened normally after parking to prevent scratches to other vehicles, thereby improving parking safety. By combining AR-HUD technology, the driver can receive parking assistance in a visual form, which is more intuitive, accurate, and safer than traditional voice prompts and voice broadcasts. Moreover, the driver can understand whether the current parking space is suitable for parking and the opening degree of the car door after parking without having to perform a parking operation, so as to make timely parking adjustments based on the above information.

[0093] This solves the problem that existing assisted parking methods cannot accurately determine whether the current parking space is suitable for parking or whether there is enough space to open the car door before the driver enters the parking space.

[0094] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0095] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0096] When processor 502 executes the program, it implements the parking assistance method provided in the above embodiments.

[0097] Furthermore, the vehicle also includes:

[0098] Communication interface 503 is used for communication between memory 501 and processor 502.

[0099] The memory 501 is used to store computer programs that can run on the processor 502.

[0100] The memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0101] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EIS) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0102] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0103] Processor 502 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of this application.

[0104] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the parking assistance method described above.

[0105] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0106] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0107] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0108] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable storage medium could be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0109] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0110] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0111] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0112] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

[0113] It should be understood that the application of this application is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A parking assistance method, characterized in that, The parking assistance method includes: When a vehicle is detected to have reached the preset range of the parking space, the parking assistance function is activated, and the vehicle model of the vehicle is projected according to the parking assistance function to obtain the vehicle projection model. The vehicle projection model is optimized and adjusted to obtain the target vehicle projection model. The target vehicle projection model is then combined with the parking space to obtain the occupancy status. The optimization and adjustment of the vehicle projection model to obtain the target vehicle projection model, and the combination of the target vehicle projection model with the parking space to obtain the occupancy status, specifically includes: Obtain the driver's gaze position and the projection position of the augmented reality head-up display, calculate a first distance between the gaze position and the projection position, and calculate a second distance between the projection position and the vehicle projection model; The position of the vehicle projection model is adjusted based on the first distance and the second distance, and the adjusted vehicle projection model is focused to obtain the target vehicle projection model. The size information of the target vehicle projection model is compared with the parking space information to obtain the occupancy status; the size information includes the length and width of the target vehicle projection model, and the parking space information includes the length and width of the parking space. If, based on the occupancy status, it is confirmed that the target vehicle projection model does not overlap with the boundary of the parking space, and the distance between the target vehicle projection model and the adjacent vehicles on the left and right sides of the parking space is greater than a predetermined safety value, then the parking space is determined to meet the safe parking requirements, and the driver is prompted to park.

2. The parking assistance method according to claim 1, characterized in that, When a vehicle is detected to have reached a preset range within the parking space, the parking assistance function is activated, and a vehicle model is projected based on the parking assistance function to obtain a vehicle projection model. Prior to this, the process also includes: Vehicle models with various morphological information are pre-stored in a vehicle model database. The morphological information includes the number of doors and the door opening angle. Each vehicle model corresponds to a number of doors and a door opening angle.

3. The parking assistance method according to claim 2, characterized in that, When a vehicle is detected to have reached a preset range within the parking space, the parking assistance function is activated, and a vehicle model is projected based on the parking assistance function to obtain a vehicle projection model, specifically including: When a vehicle is detected to have reached the preset range of the parking space, an image of the vehicle's surrounding environment is captured, and the image of the surrounding environment is identified to obtain the identification result. Based on the recognition results, determine whether there are parking space signs around the vehicle; If there are parking space signs in the vicinity, then determine whether the current speed of the vehicle is less than or equal to the preset speed; If the current speed is less than or equal to the preset speed, then the parking assist function is activated and a model selection command is received; According to the model selection instruction, a target vehicle model is selected from the vehicle model database, and the target vehicle model is projected to obtain the vehicle projection model.

4. The parking assistance method according to claim 1, characterized in that, The process involves optimizing and adjusting the vehicle projection model to obtain a target vehicle projection model, combining the target vehicle projection model with the parking space to obtain the occupancy status, and then further including: Based on the occupancy situation, determine whether there is an overlap between the target vehicle projection model and the boundary of the parking space; If the target vehicle projection model overlaps with the boundary of the parking space, the overlapping part is marked, and a reminder is issued to the driver that the parking space cannot be used. The boundary includes the upper boundary, lower boundary, left boundary, and right boundary.

5. The parking assistance method according to claim 1, characterized in that, If, based on the occupancy status, it is confirmed that the target vehicle projection model and the boundary of the parking space do not overlap, and the distance between the target vehicle projection model and the adjacent vehicles on the left and right sides of the parking space is greater than a predetermined safety value, then the parking space is determined to meet the safe parking requirements, and the driver is prompted to park. Specifically, this includes: If it is confirmed based on the occupancy situation that there is no overlap between the target vehicle projection model and the boundary of the parking space, then the left distance between the left side of the target vehicle projection model and the vehicle to the left of the parking space and the right distance between the right side of the target vehicle projection model and the vehicle to the right of the parking space are obtained respectively. A predetermined safety value that meets the requirements for safe parking is set in advance, and it is determined whether the distance to the left and the distance to the right are both greater than the predetermined safety value; If both the left-side distance and the right-side distance are greater than the predetermined safety value, then the parking is determined to meet the safe parking requirements, and the driver is prompted to park.

6. The parking assistance method according to claim 5, characterized in that, The step of determining whether both the left distance and the right distance are greater than the predetermined safety value further includes: If the distance to the left or the distance to the right is less than the predetermined safety value, a warning will be issued to the driver that the car door cannot be safely opened after the car has stopped.

7. A parking assistance system, characterized in that, The parking assistance system is applied to the parking assistance method according to any one of claims 1-6, and the parking assistance system comprises: The model projection module is used to activate the parking assistance function when the vehicle is detected to have reached the preset range of the parking space, and to project the vehicle model of the vehicle according to the parking assistance function to obtain the vehicle projection model. The data processing module is used to optimize and adjust the vehicle projection model to obtain the target vehicle projection model, and combine the target vehicle projection model with the parking space to obtain the occupancy status. The parking space determination module is used to determine that the parking space meets the safe parking requirements and prompt the driver to park if, based on the occupancy situation, it is confirmed that there is no overlap between the target vehicle projection model and the boundary of the parking space, and the distance between the target vehicle projection model and the adjacent vehicle of the parking space is greater than a predetermined safety value.

8. A vehicle, characterized in that, The vehicle includes: a memory, a processor, and a parking assistance program stored in the memory and executable on the processor, wherein the parking assistance program, when executed by the processor, implements the steps of the parking assistance method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a parking assistance program, which, when executed by a processor, implements the steps of the parking assistance method as described in any one of claims 1-6.

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