Method for assisting vehicle in finding parking space by means of another vehicle

Abstract

The invention provides a method for assisting a vehicle in finding a parking space by means of another vehicle, comprising the following steps: step S20: the vehicle receives parking space occupancy state information by means of a communication network, the parking space occupancy state information being detected by the other vehicle by means of its own environment sensor during driving in a parking lot; and S22, in the vehicle, the parking space occupation state information is displayed in a customized manner according to the navigation destination of the vehicle and / or the scene where the current position is located. The invention further provides a device for assisting a vehicle in finding a parking space by means of another vehicle and a computer program product. In the application, the vehicles running in the parking lot can mutually share the detected parking space occupation state through the vehicle-to-vehicle communication technology, and the information can be displayed in a personalized manner according to the current scene of the vehicle and the navigation destination, so that the updating speed and accuracy of the parking space information are improved, and the user experience is improved. And the individual requirements of different drivers are fully met.

Description

Technical Field

[0001] The present invention relates to a method for assisting a vehicle to find a parking space with the aid of another vehicle. The present invention also relates to a device for assisting the vehicle to find a parking space with the aid of another vehicle and a computer program product. Background Art

[0002] As the number of cars continues to grow, urban parking problems are becoming increasingly serious. Especially in densely populated urban centers, the contradiction between parking supply and demand is particularly acute, and the frequent changes in parking space occupancy status also make it difficult for drivers to grasp real-time vacant parking space information.

[0003] Traditional parking lot monitoring systems mostly rely on fixed deployed sensors, which not only have slow information updates and limited coverage areas, but also require high infrastructure investments and have poor adaptability in dynamic environments.

[0004] In addition, although the in-vehicle navigation system can provide basic navigation services, it lacks flexibility in guiding vacant parking spaces and is difficult to meet the specific needs of drivers. This not only makes it challenging for drivers to find parking spaces, but may also result in the parking spaces they find being suboptimal, affecting parking efficiency and driving experience. Therefore, existing technologies still need to be improved in assisting drivers in finding parking spaces. Summary of the invention

[0005] The purpose of the present application is to provide a method for assisting a vehicle in finding a parking space with the aid of another vehicle, a device for assisting a vehicle in finding a parking space with the aid of another vehicle, and a computer program product, so as to at least solve some of the problems in the prior art.

[0006] According to a first aspect of the present application, a method for assisting a vehicle in finding a parking space with the aid of another vehicle is provided, the method comprising the following steps:

[0007] Step S20: receiving parking space occupancy status information by the own vehicle via a communication network, wherein the parking space occupancy status information is detected by another vehicle via its own environmental sensor while the other vehicle is driving in the parking lot; and

[0008] Step S22: In the vehicle, parking space occupancy status information is displayed in a customized manner according to the navigation destination and / or current location of the vehicle.

[0009] This application particularly includes the following technical concepts: This application uses vehicle-to-vehicle communication technology to enable vehicles to share the detected parking space occupancy status with each other while driving in a parking lot, and uses the on-board navigation system to display these parking space information in a personalized manner according to the vehicle's current scene and navigation destination. This not only improves the update speed and accuracy of parking space information, but also fully meets the personalized needs of different drivers, ensuring that they can quickly find a satisfactory parking space. As a result, the parking experience and urban traffic efficiency are significantly improved.

[0010] In an exemplary embodiment, displaying parking space occupancy status information in a customized manner based on a navigation destination of the vehicle includes: assigning recommendation priorities to free parking spaces within a predetermined range around the navigation destination of the vehicle based on multiple evaluation indicators; displaying multiple free parking spaces within a predetermined range around the navigation destination in the vehicle, wherein the multiple free parking spaces are sorted and displayed according to the determined recommendation priorities, and / or the free parking spaces with the highest recommendation priorities are highlighted.

[0011] In an exemplary embodiment, the multiple evaluation indicators include: the estimated driving time from the current position of the vehicle to the parking space, the estimated walking time from the parking space to the navigation destination, the convenience of parking operation, the size of the parking space, the charging situation of the parking space and / or the safety of the parking space.

[0012] In an exemplary embodiment, the parking space occupancy status information is displayed in a customized manner according to the scene in which the vehicle is currently located, including: when the vehicle is currently in an aisle area, all parking spaces in the aisle area and their corresponding occupancy status are fully displayed; and / or, when the vehicle is currently in an intersection area, only the number of vacant parking spaces and / or the number of occupied parking spaces in each aisle area connected to the intersection area is displayed.

[0013] In an exemplary embodiment, the received parking space occupancy status information is provided in the form of a digital map, in which basic information of the parking space and the corresponding occupancy status are marked; and / or, the received parking space occupancy status information is provided in the form of paired data consisting of the basic information of the parking space and the occupancy status, wherein the basic information includes the location, orientation, geometric boundaries and / or unique identifier of the parking space.

[0014] According to a second aspect of the present application, a method for assisting a vehicle in finding a parking space with the aid of another vehicle is provided, the method comprising the following steps:

[0015] Step S10: While another vehicle is driving in the parking lot, the other vehicle detects parking space occupancy status information in the surrounding environment by means of its own environmental sensor;

[0016] Step S12: another vehicle sends parking space occupancy status information to the vehicle via a communication network;

[0017] Step S20: The vehicle receives parking space occupancy status information via a communication network; and

[0018] Step S22: In the vehicle, parking space occupancy status information is displayed in a customized manner according to the navigation destination and / or current location of the vehicle.

[0019] In an exemplary embodiment, the method further includes the following steps: another vehicle continuously monitors changes in the occupancy status of parking spaces in the surrounding environment, and once a change in the occupancy status of the parking space is detected, updates the acquired parking space occupancy status information; and the other vehicle sends the updated parking space occupancy status information to the present vehicle via a communication network.

[0020] In an exemplary embodiment, in step S10, another vehicle detects parking space occupancy status information in the surrounding environment by means of an environmental sensor, including: detecting basic information of the parking space by means of an environmental sensor of the other vehicle, the basic information including the location, orientation, geometric boundaries and / or unique identifier of the parking space; identifying the occupancy status of the detected parking space by means of a machine learning algorithm; providing paired data consisting of the basic information and the occupancy status of the parking space as parking space occupancy status information, and / or marking the basic information of the parking space and the corresponding occupancy status in a digital map carried by the other vehicle, and providing the digital map as the occupancy status information.

[0021] According to a third aspect of the present application, there is provided a device for assisting a vehicle in finding a parking space with the aid of another vehicle, the device comprising: a communication interface for receiving parking space occupancy status information with the aid of a communication network, the parking space occupancy status information being detected by another vehicle with the aid of its own environmental sensors while the other vehicle is driving in the parking lot; and a processor for displaying the parking space occupancy status information in a customized manner in the vehicle according to the scene of the navigation destination and / or current location of the vehicle.

[0022] According to a fourth aspect of the present application, a computer program product having a program code unit is provided, wherein the program code unit is configured to cause the computer to execute the method according to the first aspect and / or the second aspect of the present application when the computer program product is run on a computer or stored on a computer-readable storage medium. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be described in more detail below with reference to the accompanying drawings, so that the principles, features and advantages of the present invention can be better understood. The accompanying drawings include:

[0024] Figure 1 The present vehicle and another vehicle are shown, wherein the present vehicle includes a device for assisting the present vehicle in finding a parking space with the aid of another vehicle according to an exemplary embodiment of the present application;

[0025] Figure 2 A flowchart showing a method for assisting a vehicle in finding a parking space with the aid of another vehicle according to an exemplary embodiment of the present application is shown;

[0026] Figure 3 A flowchart showing a method for assisting a vehicle in finding a parking space with the aid of another vehicle according to another exemplary embodiment of the present application is shown;

[0027] Figure 4 A schematic diagram showing the use of the method according to the present application in an exemplary application scenario; and

[0028] Figure 5A , Figure 5B and Figure 5C A schematic diagram of an on-board display of the vehicle according to an exemplary embodiment of the present application is shown, and parking space occupancy status information is displayed in a customized manner in the on-board display. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the scope of protection of the present application.

[0030] Figure 1 The present vehicle 100 and another vehicle 200 are shown, wherein the present vehicle 100 includes a device 10 for assisting the present vehicle 100 in finding a parking space with the aid of another vehicle 200 according to an exemplary embodiment of the present application. These vehicles 100 and 200 may be manually driven vehicles or equipped with driving assistance technology or autonomous driving technology.

[0031] like Figure 1 As shown, another vehicle 200 includes a plurality of environmental sensors 203, 205, which include, for example, radar sensors, lidar sensors, ultrasonic sensors, video sensors (such as cameras), magnetic sensors, and infrared sensors. These sensors may be of the same type or of different types. Since another vehicle 200 is capable of driving in a parking lot and using these sensors 203, 205 to detect the surrounding environment, another vehicle 200 may also be referred to as a sensor vehicle or a perception vehicle. It should be noted that, in addition to combining Figure 1 In addition to the sensors 203 and 205 described above, the other vehicle 200 may be equipped with other types and numbers of environmental sensors, and the present invention does not impose any specific limitation on the types and numbers of environmental sensors.

[0032] In addition, the other vehicle 200 is further equipped with a processor 21, which is responsible for processing the raw data collected by the environmental sensors 203, 205 to determine the occupancy status of the parking space and generate corresponding parking space occupancy status information.

[0033] In one embodiment, another vehicle 200 can perform vehicle-to-vehicle (V2V) communication with the host vehicle 100 through a communication network. V2V stands for "Vehicle-to-Vehicle", that is, direct communication between vehicles. This wireless communication can be achieved through technologies such as WLAN, Bluetooth, cellular networks (such as 4G or 5G), DSRC, etc. To this end, the other vehicle 200 also includes a communication interface 22, which is responsible for wirelessly transmitting the parking space occupancy status information detected by the environmental sensors 203, 205 of the other vehicle 200 to the host vehicle 100.

[0034] In another embodiment, another vehicle 200 can also perform vehicle-to-infrastructure (V2I) communication with a roadside unit or a remote server through a communication network. V2I stands for "Vehicle-to-Infrastructure", that is, communication between vehicles and infrastructure. The roadside unit may include, for example, street lights or signs in a parking lot. For example, another vehicle 200 may transmit the raw sensor data detected by it or the parking space occupancy status information determined based on the raw sensor data to the roadside unit or the remote server via the communication interface 22. The roadside unit or the remote server may perform identification of the parking space occupancy status based on the raw sensor data or perform further processing on the received parking space occupancy status information.

[0035] In another embodiment, the other vehicle 200 and the roadside unit (or remote server) may both obtain parking space occupancy status information based on the original sensor data detected by the other vehicle 200, and compare the two obtained results at the roadside unit for verification.

[0036] Accordingly, the vehicle 100 includes a device 10 for assisting the vehicle 100 in finding a parking space. The device 10 also includes a communication interface 12 and a processor 11. With the help of the communication interface 12, the vehicle 100 can receive parking space occupancy status information from another vehicle 200, from a roadside unit or from a remote server. The processor 11 is used to display the parking space occupancy status information in a customized manner in the vehicle 100 according to the navigation destination and / or current location of the vehicle 100. To this end, the processor 11 can be connected to one or more on-board displays 103 of the vehicle 100 so as to present the parking space occupancy status to the driver in a customized display manner. On the on-board display 103, the parking space occupancy status information can be intuitively displayed, especially in the electronic map of the navigation interface. This ensures that the driver can make the best parking decision based on real-time data.

[0037] In one embodiment, the vehicle 100 itself may also include an environmental sensor, which enables the vehicle 100 to autonomously detect the surrounding environment and obtain parking space occupancy status information in the surrounding environment. In this way, the processor 11 of the vehicle 100 can not only receive the parking space occupancy status information transmitted by another vehicle 200, but also process the data captured by the sensor of the vehicle 100. The processor 11 of the vehicle 100 can cause the two types of information to be displayed in combination, or process them to eliminate contradictory data, ensuring that the information displayed to the driver has higher reliability.

[0038] Figure 2 FIG. 1 is a flowchart showing a method for assisting a vehicle in finding a parking space with another vehicle according to an exemplary embodiment of the present application. The method exemplarily includes steps S20 and S22, and can be used, for example, in a vehicle that is used Figure 1 The device 10 shown is implemented in the context of.

[0039] In step S20 , the own vehicle receives parking space occupancy status information via a communication network, wherein the parking space occupancy status information is detected by another vehicle via its own environmental sensor while the other vehicle is driving in the parking lot.

[0040] In this context, a parking lot may refer to a parking building, an above-ground or underground parking lot, a parking garage and / or a parking area on a public street. In the parking lot, for example, a plurality of parking spaces are provided.

[0041] As mentioned above, Figure 1As described above, the vehicle can receive parking space occupancy status information directly from another vehicle through vehicle-to-vehicle communication, or from a roadside unit through vehicle-to-infrastructure communication. In the latter case, the roadside unit will first collect the parking space occupancy status information detected by one or more other vehicles, and then forward it to the vehicle. It should be noted that there is no restriction on the number of other vehicles in this article, which means that the vehicle can receive information from one or more other vehicles with environmental perception capabilities in the surrounding area.

[0042] In one embodiment, the vehicle has two operation modes, namely, normal driving mode and parking space search mode. In normal driving mode, the vehicle does not receive or consider parking space occupancy status information provided by the outside world. In parking space search mode, the vehicle receives or actively requests parking space occupancy status information in its surrounding environment. In other words, the vehicle may obtain parking space occupancy status information by passive reception or by active request.

[0043] In one embodiment, the parking space occupancy status information received by the vehicle is provided in the form of a digital map. The basic information of the parking space and the corresponding occupancy status are marked in the digital map. For example, on the digital map, the geometric figures of all parking spaces in a specific area are drawn to show their positions, parking directions and geometric boundaries. In order to intuitively distinguish between vacant and occupied parking spaces, vacant parking spaces can be represented by green, for example, and occupied parking spaces can be represented by red. In addition, the digital map can be designed in a universal format, for example, so that it can adapt to the navigation systems of various vehicles and can be directly loaded and used.

[0044] In another embodiment, the parking space occupancy status information received by the vehicle is provided in the form of paired data consisting of basic information of the parking space and the occupancy status, wherein the basic information includes the location, orientation, geometric boundaries and / or unique identifier (e.g., parking space number) of the parking space. Exemplarily, the parking space occupancy status information received by the vehicle exists in the form of a list or a data matrix, which contains multiple entries, each of which corresponds to a parking space and contains corresponding location coordinates (e.g., x, y) and occupancy status (e.g., "free" or "occupied"). The occupancy status can be represented by a specific numerical value or coding method, such as using the number "1" to represent free and "0" to represent occupied, so as to facilitate parsing and application by the system of the vehicle.

[0045] Furthermore, if the vehicle receives the paired data described above, the vehicle can further process it and display it on the digital map built into the vehicle to intuitively display the occupancy status of each parking space. Once the vehicle generates the digital map with the parking space occupancy status marked, the vehicle can also share it with other vehicles or roadside units around it through the communication network, thereby realizing real-time information sharing.

[0046] In step S22, in the vehicle, parking space occupancy status information is displayed in a customized manner according to the navigation destination and / or the current location of the vehicle.

[0047] In the present application, "customized display" means that the presentation method of the parking space occupancy status information needs to be adapted to the scene of the navigation destination and / or current location of the vehicle.

[0048] In one embodiment, the operation of customized display according to the navigation destination of the vehicle is as follows: First, a plurality of vacant parking spaces within a predetermined range around the navigation destination of the vehicle may be assigned recommendation priorities based on a series of evaluation indicators. Then, a plurality of vacant parking spaces within a predetermined range around the navigation destination may be displayed in the vehicle. When specifically displayed, the plurality of vacant parking spaces may be sorted and displayed according to the determined recommendation priorities. In addition, the vacant parking spaces with the highest recommendation priorities may also be directly highlighted (e.g., highlighted, bolded, or enlarged). Such a display method may help the driver quickly identify and select the most suitable parking space according to his or her specific needs.

[0049] Specifically, the navigation destination may be a destination pre-entered into the vehicle navigation system by the vehicle user, or a destination saved in the navigation system by default, which may include, for example, a home address, company, restaurant, shopping mall, hotel, and museum.

[0050] Evaluation indicators may include, for example: the estimated driving time from the current position of the vehicle to the parking space, the estimated walking time from the parking space to the navigation destination, the convenience of parking operation (such as whether there are any obstacles around the parking space, whether the parking path is smooth), the size of the parking space, the parking space charges and / or the safety of the parking space (such as whether it is guarded, whether it is open-air or indoors).

[0051] Exemplarily, a partial priority value TP_ij for each evaluation indicator may be assigned to each parking space, where i represents the number of the evaluation indicator and j represents the number of the parking space. For a particular evaluation indicator, if the recommendation of the parking space is higher, its partial priority value is also higher. For example, if the estimated walking time from the parking space to the navigation destination is longer, the partial priority value of the parking space under the evaluation indicator will be lower; on the contrary, if the parking operation of the parking space is more convenient, the partial priority value of the parking space under the evaluation indicator will be higher.

[0052] Based on these partial priority values, the total recommendation priority P_j of the jth parking space can be calculated as follows:

[0053] P_j=TP_1j+TP_2j+...+TP_nj

[0054] Among them, TP_1j, TP_2j, ...TP_nj represent the partial priority values ​​of the jth parking space under different evaluation indicators, and n represents the number of evaluation indicators. By adding these partial priority values, the recommendation priority of the parking space can be obtained. For example, assuming that there are two parking spaces around the navigation destination, their recommendation priorities are calculated as follows:

[0055] The recommendation priority of the first parking space is P_1=TP_11+TP_21+...+TP_n1=10

[0056] The recommendation priority of the second parking space is P_2=TP_12+TP_22+...+TP_n2=3

[0057] The above results show that the first parking space has a higher recommendation priority than the second parking space, and is therefore more suitable as the preferred parking location.

[0058] It is worth noting that the evaluation indicators listed above are only exemplary, and there may be more evaluation factors that affect the recommendation of parking spaces in practice. In addition, when calculating the recommendation priority, in addition to the summation method, other meaningful calculation methods can also be considered, such as multiplication, weighted summation, or a combination of multiple operations, to more accurately reflect the comprehensive recommendation of each parking space.

[0059] In another embodiment, the operation of performing customized display according to the scene of the current position of the vehicle is as follows: when the vehicle is currently in the aisle area, all parking spaces in the aisle area and their corresponding occupancy status are fully displayed. Additionally or alternatively, when the vehicle is currently in the intersection area, only the number of free parking spaces and / or the number of occupied parking spaces in each aisle area connected to the intersection area are displayed.

[0060] To this end, for example, a GPS positioning device can be used to track the precise position of the vehicle in a digital map in real time, and based on detailed road information pre-stored in the digital map, it can be intelligently determined whether the vehicle is currently in an aisle area or an intersection area.

[0061] For example, the display mode can be dynamically adjusted according to the real-time position of the vehicle to match the needs of the current scene. When the vehicle enters the intersection area from the aisle area, it can switch from the full display mode to the simplified display mode. In the simplified mode, the driver can quickly identify the approximate number of free parking spaces in different directions, so as to make a more reasonable passage choice. Conversely, when the vehicle enters the aisle area from the intersection area, it can also switch from the simplified display mode to the full display mode accordingly, so that the driver can obtain the detailed distribution of free parking spaces.

[0062] In addition, it should be pointed out that although the above describes the solutions for customizing the parking space occupancy status display based on the navigation destination and the current vehicle location respectively, in fact, these two display solutions can be presented on the vehicle display at the same time. For example, the navigation interface can be divided into two parts: the left side customizes the parking space situation around the current vehicle location, while the right side customizes the parking space situation around the navigation destination.

[0063] Figure 3 A flowchart of a method for assisting a vehicle in finding a parking space with the aid of another vehicle according to another exemplary embodiment of the present application is shown. The method includes steps S10, S12, S20 and S22, wherein the implementation process of steps S20 and S22 can refer to Figure 2 The above method is carried out and will not be described in detail here.

[0064] In step S10 , while another vehicle is driving in the parking lot, the other vehicle detects parking space occupancy status information in the surrounding environment by means of its own environment sensor.

[0065] First, basic information of the parking space may be detected by means of an environmental sensor of another vehicle, the basic information including the position, orientation, geometric boundaries and / or a unique identifier of the parking space.

[0066] Specifically, the other vehicle includes, for example, a video camera. During the driving of the other vehicle, an image of the surrounding environment can be captured by means of a video camera, and then the parking space marking in the image can be identified by means of a pattern recognition algorithm to determine the geometric boundary position of the parking space. For example, the captured image can be analyzed pixel by pixel with the help of a trained deep learning algorithm to find patterns that meet the characteristics of the parking space marking, such as rectangular borders, line intersections, and possible digital or letter logos. Once these features are detected, the algorithm determines the geometric boundary position of the parking space. In addition, 3D point cloud data of the surrounding environment of the other vehicle can also be obtained with the help of a lidar sensor. Using techniques such as point cloud density analysis, the position and orientation of the parking space relative to the other vehicle can be determined. Combined with the position information of the other vehicle itself, the absolute position and orientation of the parking space can be calculated. In addition to the position and orientation, the parking direction of the parking space can also be determined by the above-mentioned technology. In addition, it is also possible to consider using a fusion solution of different sensor technologies such as ultrasonic sensors and millimeter wave radars to obtain basic information about the parking space.

[0067] Next, in the case where the corresponding parking space (i.e., the parking space boundary position) has been detected, the occupancy status of the detected parking space can be identified with the help of a machine learning algorithm. This process can be achieved, for example, with the help of pre-trained machine learning models, which have been trained on a large number of parking space images containing manually annotated occupancy status, and thus estimate the occupancy of the parking space by learning features in the image, such as the outline and shape of the vehicle and the parking space line. In addition, object tracking algorithms can be used to track other vehicles around another vehicle and analyze their trajectories in relation to the parking space position to determine the occupancy status of the parking space. Object tracking algorithms help to understand the dynamic behavior of vehicles and predict where they may be parked.

[0068] Then, the basic information and occupancy status of the parking space detected in the above manner can be combined to form paired data, and the paired data can be directly sent as the parking space occupancy status information. In addition, the basic information of the parking space and the corresponding occupancy status can also be marked in a digital map carried by another vehicle, and then the parking space occupancy status information can be provided and sent in the form of a digital map.

[0069] In step S12, another vehicle sends parking space occupancy status information to the vehicle via a communication network. As described above, this can be done via vehicle-to-vehicle communication or vehicle-to-infrastructure communication.

[0070] In one embodiment, the communication strategy can be accurately set to ensure that only vehicles that are likely to be looking for parking spaces and are close to the sensing vehicle receive this information, thereby avoiding unnecessary interference to vehicles that are normally traveling in the distance. Specifically, a reasonable communication range can be set so that only vehicles within this range can receive shared information about parking space availability. For example, it can be stipulated that the wireless communication of parking space occupancy status information between another vehicle and the vehicle is implemented using a local area network (LAN) deployed in the parking lot.

[0071] In one embodiment, the other vehicle continuously monitors the change of the occupancy status of the parking space in the surrounding environment, and once the occupancy status of the parking space is monitored to change, the acquired parking space occupancy status information is updated. Subsequently, the other vehicle sends the updated parking space occupancy status information to the host vehicle via the communication network.

[0072] Changes in the occupancy status of a parking space include, for example: first, the vehicle that originally occupied the parking space leaves, causing the parking space to become vacant; second, a new vehicle enters the vacant parking space, causing the parking space to become occupied. In order to accurately capture these changes, it is possible to consider performing a difference analysis on a sequence of images taken continuously with the aid of a camera from another vehicle. For example, it is possible to identify whether a vehicle has entered or left a parking space by comparing pixel changes or movement of feature points between adjacent frames. For example, if a parking space shows an obvious change in area or grayscale in several consecutive frames of images, or a new vehicle outline is detected, this usually indicates that the occupancy status of the parking space has changed.

[0073] Figure 4 A schematic diagram showing the use of the method according to the present application in an exemplary application scenario is shown.

[0074] exist Figure 4 In the illustrated scene, another vehicle 200 is driving in a parking lot 40. The parking lot 40 includes a plurality of parking spaces 401 and 402, wherein some parking spaces 401 have vehicles 300 parked, indicating that these spaces 401 are occupied; and parking spaces 402 without vehicles 300 parked are vacant.

[0075] The other vehicle 200 is equipped with a camera 203, for example. While the other vehicle 200 is traveling, the camera 203 is used to monitor the surrounding environment to obtain the occupancy status of each parking space 401, 402.

[0076] In one embodiment, although another vehicle 200 is located in the parking lot 41 , it has no need to find a parking space 401 , 402 , and may be just a passing vehicle passing through the parking lot area.

[0077] In another embodiment, the other vehicle 200 itself is also looking for parking spaces 401, 402 in the parking lot. In this case, when it shares the parking space occupancy status information with the surrounding vehicles 100, it needs to take its own parking needs into consideration. In particular, the other vehicle 200 should avoid mistakenly marking the parking space it intends to park or has selected as vacant and sharing it with the surrounding vehicles 100.

[0078] like Figure 4 As shown, the vehicle 100 is also located in the parking lot 41, but is in a different passage area from the other vehicle 200. The vehicle receives the parking space occupancy status information transmitted by the other vehicle 200 through the communication network 30. Since the parking spaces in the passage area where the vehicle 100 is located are full, it is very beneficial to know in advance the free parking spaces in the area where the other vehicle 200 is located. After receiving this information, the vehicle 100 can display the parking space information in an adaptive manner according to the current driving scene and / or navigation destination, so that the vehicle 100 can find a parking space more efficiently.

[0079] Figure 5A , Figure 5B and Figure 5C A schematic diagram of an on-board display 103 of the vehicle according to an exemplary embodiment of the present application is shown, and parking space occupancy status information is displayed in a customized manner in the on-board display 103 .

[0080] exist Figure 5A In the illustrated scene, the vehicle 100 is traveling in a parking lot and is in the passage area 51 in the parking lot. In the vehicle display 103, the distribution and occupancy status of the parking spaces in the parking lot are displayed in a complete display mode. In this display mode, the vehicle user can not only understand the position of the vehicle 100 in the passage area 51, but also see the boundary boxes 506 of the surrounding parking spaces 501 and 502. Vehicle icons 300 are drawn in some parking spaces 502, indicating that these positions 502 are occupied. These vehicle icons 300 can be symbolic virtual graphics, or pictures or models of actual vehicles. Parking spaces 501 without vehicle icons 300 are indicated as free. In addition to drawing vehicle icons 300 in parking spaces 502, color coding can also be used to intuitively indicate the occupancy status of parking spaces 501 and 502. For example, "green" can be used to indicate a free parking space 501, and "red" can be used to indicate an occupied parking space 502.

[0081] exist Figure 5B In the illustrated scenario, the vehicle 100 is traveling in a parking lot and is located at an intersection area 52 in the parking lot.

[0082] and Figure 5A compared to, Figure 5B The on-board display 103 in the figure adopts a highly simplified display mode to display the parking space occupancy status information. In this simplified display mode, the on-board display 103 only displays the channel areas 53, 54, 55, and 56 in four directions connected to the intersection 52, and no longer displays the specific parking space layout in each channel area 53, 54, 55, and 56 in detail. Instead, it provides an overview showing the number of free parking spaces in each channel direction 53, 54, 55, and 56, for example, 8, 10, 5, and 2 in a counterclockwise direction, respectively.

[0083] This simplified display method enables the driver of the vehicle 100 to quickly grasp the overall free parking space situation and make more intelligent driving choices. By intuitively understanding the number of free parking spaces in each direction, the driver can avoid driving into a parking space-constrained area, thereby saving time in finding a parking space.

[0084] exist Figure 5C In the illustrated scenario, parking space occupancy status information is displayed on the vehicle display 103 in a customized manner according to the navigation destination 57 of the vehicle 100 .

[0085] like Figure 5C As shown, the layout of the entire parking lot is displayed in the form of a digital map on the vehicle display 103, and the current position of the vehicle 100 and the navigation destination 57 are clearly marked. At the same time, multiple available parking spaces 501 within a range of 1 km around the navigation destination 57 are also displayed. Each available parking space 501 is equipped with corresponding numbers ①, ②, and ③, which are arranged in order from small to large, reflecting the recommendation priority. The smaller the number, the higher the recommendation priority. In addition, color coding, such as the depth or grayscale of the color, can be used to further distinguish the recommendation priority. In addition, the system can also provide personalized options to allow vehicle users to select evaluation indicators that they think are important in the configuration according to their preferences. For example, some users may not care about parking fees, but pay more attention to the distance between the parking space 501 and the destination 57. Therefore, vehicle users can set the evaluation method of the recommendation degree according to their own needs.

[0086] This customized display allows vehicle users to more quickly identify the best parking space options. Once the driver manually selects an empty parking space 501 as a target, the vehicle display 103 can then display the optimal navigation route 58 from the current position of the vehicle 100 to the selected target parking space 57.

[0087] Although the specific embodiments of the present application are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present application. Various substitutions, changes and modifications may be conceived without departing from the spirit and scope of the present application.

Claims

1. A method for assisting a vehicle (100) in finding a parking space with the aid of another vehicle (200), the method comprising the following steps: Step S20: The vehicle (100) receives parking space occupancy status information via a communication network (30), wherein the parking space occupancy status information is detected by another vehicle (200) via its own environmental sensors (203, 205) while the other vehicle (200) is driving in the parking lot; and Step S22: In the vehicle (100), parking space occupancy status information is displayed in a customized manner according to the navigation destination (57) and / or the current location of the vehicle (100).

2. The method according to claim 1, wherein: Customized display of parking space occupancy status information according to the navigation destination (57) of the vehicle (100) includes: assigning recommendation priorities to vacant parking spaces within a predetermined range around a navigation destination (57) of the vehicle (100) according to a plurality of evaluation indicators; A plurality of vacant parking spaces within a predetermined range around a navigation destination (57) are displayed in the vehicle (100), wherein: The plurality of vacant parking spaces are sorted and displayed according to the determined recommendation priority levels, and / or the vacant parking space with the highest recommendation priority level is highlighted.

3. The method according to claim 2, wherein: The multiple evaluation indicators include: the estimated driving time from the current position of the vehicle (100) to the parking space, the estimated walking time from the parking space to the navigation destination (57), the convenience of parking operation, the size of the parking space, the charging situation of the parking space and / or the safety of the parking space.

4. The method according to any one of claims 1 to 3, wherein: The parking space occupancy status information is displayed in a customized manner according to the scene of the current position of the vehicle (100), including: When the vehicle (100) is currently in the aisle area (51), all parking spaces in the aisle area (51) and their corresponding occupancy status are fully displayed; and / or When the vehicle (100) is currently in the intersection area (52), only the number of vacant parking spaces and / or the number of occupied parking spaces in each aisle area (51) connected to the intersection area (52) are displayed.

5. The method according to any one of claims 1 to 4, wherein: The received parking space occupancy status information is provided in the form of a digital map, in which basic information of the parking space and the corresponding occupancy status are marked; and / or The received parking space occupancy status information is provided in the form of paired data consisting of basic information of the parking space and the occupancy status, the basic information including the location, orientation, geometric boundaries and / or unique identifier of the parking space.

6. A method for assisting a vehicle (100) in finding a parking space with the aid of another vehicle (200), the method comprising the following steps: step S10: While another vehicle (200) is driving in the parking lot, the other vehicle (200) detects parking space occupancy status information in the surrounding environment by means of its own environment sensors (203, 205); Step S12: another vehicle (200) sends parking space occupancy status information to the vehicle (100) via the communication network (30); Step S20: The vehicle (100) receives parking space occupancy status information via the communication network (30); as well as Step S22: In the vehicle (100), parking space occupancy status information is displayed in a customized manner according to the navigation destination (57) and / or the current location of the vehicle (100).

7. The method according to claim 6, wherein: The method further comprises the following steps: Another vehicle (200) continuously monitors changes in the occupancy status of parking spaces in the surrounding environment, and once changes in the occupancy status of the parking spaces are detected, updates the acquired parking space occupancy status information; Another vehicle (200) sends updated parking space occupancy status information to the vehicle (100) via a communication network (30).

8. The method according to claim 6 or 7, wherein: In step S10, another vehicle (200) detects parking space occupancy status information in the surrounding environment by means of environmental sensors (203, 205), including: Detecting basic information of the parking space by means of an environmental sensor (203, 205) of another vehicle (200), the basic information including the position, orientation, geometric boundaries and / or a unique identifier of the parking space; Identify the occupancy status of the detected parking spaces with the help of machine learning algorithms; The paired data consisting of the basic information and the occupancy status of the parking space is provided as the parking space occupancy status information, and / or the basic information and the corresponding occupancy status of the parking space are marked in a digital map carried by another vehicle (200), and the digital map is provided as the occupancy status information.

9. A device (10) for assisting a vehicle (100) in finding a parking space with the aid of another vehicle (200), the device (10) comprising: A communication interface (12), the communication interface (12) being used to receive parking space occupancy status information via a communication network (30), the parking space occupancy status information being detected by another vehicle (200) via its own environmental sensors (203, 205) while the other vehicle (200) is driving in the parking lot; and A processor (11) is used to display parking space occupancy status information in a customized manner in the vehicle (100) according to the navigation destination (57) and / or the scene of the current location of the vehicle (100). 10 . A computer program product having program code means, which are configured to cause a computer to execute the method according to claim 1 , when the computer program product is run on a computer or is stored on a computer-readable storage medium.

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