Parking control method and device, electronic equipment and storage medium

Abstract

The invention relates to a parking control method and device, electronic equipment and a storage medium. The method comprises the following steps: screening a target parking space area from a plurality of charging pile parking space areas through vehicle model information, a current position and residual electric quantity of a target vehicle; according to a first virtual parking space image corresponding to a used adjacent parking space of a target parking space contained in the target parking space area and the vehicle size of the target vehicle, a second virtual parking space image matched with the target vehicle can be determined; after the target vehicle is controlled to be parked in the second virtual parking area, a target distance is determined according to the vehicle body height, the first correction height and the focal length of the image acquisition device; and matching the target distance of the target vehicle with a preset distance range, and determining that the target vehicle is parked accurately under the condition of successful matching. Therefore, whether the target vehicle is parked accurately or not can be accurately determined, and interference caused by inaccurate parking of the target vehicle to the parked vehicle in the adjacent parking space is reduced.

Description

[0001] This application is a divisional application of the invention patent application with the application date of August 9, 2024, application number 202411093827.1, and invention name "Charging pile parking space control method, device, electronic device and storage medium". Technical Field

[0002] The present application relates to the technical field of Internet of Things, and in particular to a parking control method, device, electronic device and storage medium. Background Art

[0003] With the development of science and technology and the progress of society, parking spaces for new energy vehicles and charging piles are becoming more and more popular. However, there are many parking and charging areas for charging piles, and it is difficult for users to choose a specific parking and charging area when they want to charge their vehicles. In addition, most of the existing parking spaces are divided into fixed parking spaces of the same size with relatively large sizes. On the one hand, it is difficult to meet the charging needs when the vehicle size is large; on the other hand, when the vehicle size is small, the parking space will be wasted and the parking space cannot be effectively utilized.

[0004] Therefore, how to select a parking charging area and effectively utilize parking spaces is an urgent problem that needs to be solved. Summary of the invention

[0005] Based on this, it is necessary to provide a parking control method, device, electronic device and storage medium to address the above technical problems.

[0006] In a first aspect, the present application provides a parking control method, the method comprising:

[0007] In response to receiving a reservation instruction for a target vehicle to reserve a charging pile parking space, obtaining vehicle model information, current location, remaining power, and a charging pile parking space area within a preset range of the target vehicle; the vehicle model information at least includes vehicle configuration; the vehicle configuration at least includes vehicle size; the vehicle size includes vehicle height;

[0008] A target parking area is selected from the charging pile parking area according to the vehicle model information, the current location and the remaining power of the target vehicle; the target parking area includes a target parking space for the target vehicle to reserve and lock in advance;

[0009] Acquire a first virtual parking space image corresponding to a used adjacent parking space of the target parking space; wherein the first virtual parking space image includes a first virtual parking area;

[0010] Determine a second virtual parking space image of the target parking space according to the first virtual parking space image and the vehicle size; wherein the second virtual parking space image includes a second virtual parking area; the distance between the first long side of the first virtual parking area and the second long side of the second virtual parking area is a fixed distance; the first long side and the second long side of the same virtual parking area are located on two adjacent sides;

[0011] After controlling the target vehicle to park in the second virtual parking area, acquiring an image of the target vehicle through an image acquisition device;

[0012] Determine a first candidate height of the target vehicle on the image according to feature information of the target vehicle on the image; the feature information includes at least one of position information, color information and texture information;

[0013] Correcting the first candidate height of the target vehicle according to a target correction amount to obtain a first corrected height;

[0014] Determining the target distance according to the vehicle body height, the first corrected height and the focal length of the image acquisition device;

[0015] The target distance of the target vehicle is matched with a preset distance range, and if the match is successful, it is determined that the target vehicle is accurately parked; the accurate parking of the target vehicle indicates that the target vehicle is located in the second virtual parking area in the second virtual parking space image.

[0016] In one embodiment, the vehicle model information further includes a first license plate character; and the method further includes:

[0017] In response to the distance between the candidate vehicle and the charging pile being greater than a first threshold distance and less than or equal to a second threshold distance, obtaining identification information of the candidate vehicle through the image acquisition device; the identification information includes at least one of a second license plate character and an exhaust volume;

[0018] Determine that the alternative vehicle whose identification information satisfies a third preset condition is the target vehicle; the target vehicle is a new energy vehicle; the third preset condition includes: the second license plate character is consistent with the first license plate character, the first license plate character indicates that the target vehicle is the new energy vehicle, and the exhaust volume is zero.

[0019] In one embodiment, before controlling the target vehicle to park in the second virtual parking area, the method further includes:

[0020] After determining that the candidate vehicle whose identification information satisfies the third preset condition is the target vehicle, controlling the parking lock in the target parking space to unlock;

[0021] The second virtual parking space image is displayed on the display interface of the target vehicle or the display interface of the charging software, so that the target vehicle drives to the second virtual parking area in the second virtual parking space image for parking.

[0022] In one embodiment, the method for determining the target correction amount includes:

[0023] Acquire a training sample set; the training sample set includes N frames of first sample images with the vehicle height and the target distance marked; N is a positive integer;

[0024] Inputting N frames of the first sample images into an initialization model to obtain a first two-dimensional coordinate of the first vehicle in the first sample images;

[0025] determining a first three-dimensional coordinate of the first vehicle according to the first two-dimensional coordinate of the first vehicle in the first sample image and a permutation matrix;

[0026] Determining a target height of the first vehicle according to the first three-dimensional coordinates; the target height is used to represent an actual predicted height of the first vehicle;

[0027] Determine an error offset of the first sample image in the first frame according to a target height of the first vehicle and a vehicle height of the first vehicle in the first sample image in the first frame;

[0028] The error correction amount is iterated until the difference between the error offset of the first sample image in the 1+ith frame and the error correction amount meets the convergence condition, and the error correction amount obtained in the current iteration is determined as the target correction amount; i is a positive integer; 1+i is less than or equal to N.

[0029] In one embodiment, the step of correcting the first candidate height of the target vehicle according to the target correction amount to obtain a first corrected height includes:

[0030] Determining a corrected target height according to the target correction amount and the target height;

[0031] Determine the second three-dimensional coordinate according to the corrected target height;

[0032] determining a second two-dimensional coordinate according to the second three-dimensional coordinate and the permutation matrix;

[0033] The first corrected height is determined according to the second two-dimensional coordinate.

[0034] In one embodiment, the method further comprises:

[0035] In the case of a matching failure, it is determined that the target vehicle has failed to park and a warning message is output; the warning message is used to remind the user to adjust the parking position of the target vehicle.

[0036] In a second aspect, the present application further provides a parking control device, the device comprising:

[0037] An acquisition module, in response to receiving a reservation instruction for a target vehicle to reserve a charging pile parking space, acquires the vehicle model information, current location, remaining power, and a charging pile parking space area within a preset range of the target vehicle; the vehicle model information at least includes vehicle configuration; the vehicle configuration at least includes vehicle size; the vehicle size includes vehicle height;

[0038] A processing module, configured to filter out a target parking area from the charging pile parking area according to the vehicle model information, the current location and the remaining power of the target vehicle; the target parking area includes a target parking space for the target vehicle to reserve and lock in advance;

[0039] The acquisition module is used to acquire a first virtual parking space image corresponding to a used adjacent parking space of the target parking space; wherein the first virtual parking space image includes a first virtual parking area;

[0040] a determination module, configured to determine a second virtual parking space image of the target parking space according to the first virtual parking space image and the vehicle size; wherein the second virtual parking space image includes a second virtual parking area; the distance between the first long side of the first virtual parking area and the second long side of the second virtual parking area is a fixed distance; the first long side and the second long side of the same virtual parking area are located on two adjacent sides;

[0041] The control module is used to perform the following steps:

[0042] After controlling the target vehicle to park in the second virtual parking area, acquiring an image of the target vehicle through an image acquisition device;

[0043] Determine a first candidate height of the target vehicle on the image according to feature information of the target vehicle on the image; the feature information includes at least one of position information, color information and texture information;

[0044] Correcting the first candidate height of the target vehicle according to a target correction amount to obtain a first corrected height;

[0045] Determining the target distance according to the vehicle body height, the first corrected height and the focal length of the image acquisition device;

[0046] The target distance of the target vehicle is matched with a preset distance range, and if the match is successful, it is determined that the target vehicle is accurately parked; the accurate parking of the target vehicle indicates that the target vehicle is located in the second virtual parking area in the second virtual parking space image.

[0047] In a third aspect, the present application also provides an electronic device, comprising a processor and a memory for storing processor executable instructions; wherein the processor is configured to implement the parking control method described in any embodiment of the present application when the processor is configured to execute the computer program.

[0048] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the parking control method described in any embodiment of the present application is implemented.

[0049] The parking control method, device, electronic device and storage medium can filter out the target parking area from multiple charging pile parking areas through the vehicle model information, current location and remaining power of the target vehicle, and can easily and quickly determine a relatively suitable parking and charging area. In addition, according to the first virtual parking space image corresponding to the used adjacent parking space of the target parking space contained in the target parking area, and the vehicle size of the target vehicle, a second virtual parking space image suitable for the target vehicle can be determined. On the one hand, the parking and charging needs of vehicles of different sizes can be met. Compared with fixed parking spaces, each reservation can be made according to the use of the charging piles on both sides of the target parking space and the parking situation of the vehicle, and the size information of the target parking space can be dynamically adjusted; the effective use of parking space is achieved, so that the charging pile revenue can be improved, and the use of the charging piles and the parking situation of the vehicles in each charging pile parking area can be accurately determined. In addition, the target distance of the target vehicle is matched with the preset distance range. If the match is successful, it is determined that the target vehicle is parked accurately, and it can be accurately determined whether the target vehicle is parked accurately, reducing the interference caused by the inaccurate parking of the target vehicle to the parked vehicles in the adjacent parking spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a flow chart of a method for controlling a parking space of a charging pile according to an exemplary embodiment;

[0051] Figure 2 is a schematic diagram showing a display of a virtual parking space according to an exemplary embodiment;

[0052] Figure 3is a schematic diagram showing a display of a virtual parking space according to an exemplary embodiment;

[0053] Figure 4 is a flow chart of a method for controlling a parking space of a charging pile according to an exemplary embodiment;

[0054] Figure 5 is a structural block diagram of a charging pile parking space control device according to an exemplary embodiment;

[0055] Figure 6 It is a diagram showing the internal structure of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] The terms "first", "second" and "third" in the embodiments of the present application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second" and "third" may explicitly or implicitly include at least one of the features. In the description of the present application, "at least one" is used to indicate one or more; "multiple" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, device, product or equipment that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or equipment.

[0058] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0059] In some embodiments, the charging pile parking space control method can be applied to electronic devices. The electronic device can be any mobile terminal or fixed terminal. The terminal can be a device that provides voice and / or data connectivity to the user. Exemplarily, the terminal can be an Internet of Things terminal, such as a sensor device, a mobile phone (or a "cellular" phone, and a computer with an Internet of Things terminal, for example, it can be a fixed, portable, pocket-sized, handheld, computer-built-in or vehicle-mounted device. Among them, the portable device can be a smart watch, a smart bracelet, a head-mounted device, etc. Alternatively, the terminal can also be a device of an unmanned aerial vehicle. Alternatively, the terminal can also be a vehicle-mounted device, for example, it can be a driving computer with wireless communication function, or a wireless terminal of an external driving computer. Alternatively, the terminal can also be a roadside device, for example, it can be a charging pile with wireless communication function, a parking space lock, etc.

[0060] In some embodiments, Figure 1 As shown, a charging pile parking space control method is provided, comprising the following steps:

[0061] S101, in response to receiving a reservation instruction for a target vehicle to reserve a charging pile parking space, obtaining the vehicle model information, current location, remaining power and charging pile parking space area within a preset range of the target vehicle; the vehicle model information at least includes the vehicle configuration; the vehicle configuration at least includes the vehicle size.

[0062] In the embodiment of the present application, the vehicle model information may include but is not limited to at least one of the manufacturer, vehicle type, first license plate character, product serial number and vehicle configuration.

[0063] In the embodiment of the present application, the vehicle configuration may include but is not limited to at least one of vehicle size and drive mode.

[0064] In the embodiment of the present application, the vehicle size may include but is not limited to at least one of body length, body width, body height, wheelbase and track.

[0065] In the embodiment of the present application, the current location and the starting location in the following embodiments may include at least one of geographical location information and longitude and latitude information. For example, the current location may be subway station C, street B, city A; or the current location may be 50°N, 15°E.

[0066] In some embodiments, the preset range can be determined according to the current location of the target vehicle. For example, with the current location as the center, the preset range can be within four kilometers around the center.

[0067] In some embodiments, the method further comprises:

[0068] Determine whether the target vehicle is a new energy vehicle according to the vehicle model information of the target vehicle;

[0069] When it is determined that the target vehicle is a new energy vehicle, the target parking area is selected from the charging pile parking area according to the vehicle model information, current location and remaining power of the target vehicle.

[0070] In the embodiment of the present application, the new energy vehicle may include but is not limited to at least one of a hybrid electric vehicle, a pure electric vehicle and a fuel cell electric vehicle.

[0071] In some embodiments, whether the target vehicle is a new energy vehicle is determined by determining the number of digits of the first license plate character, whether the third letter is "D" or "F", whether the background color of the first license plate character is green, etc.

[0072] In some embodiments, the first license plate characters are classified and recognized through a classification model, a segmentation model, etc. to determine whether the candidate vehicle is a new energy vehicle.

[0073] S102, filtering out a target parking area from the charging pile parking area according to the vehicle model information, the current location and the remaining power of the target vehicle; the target parking area includes a target parking space for the target vehicle to reserve and lock in advance.

[0074] In some embodiments, based on the vehicle size in the vehicle model information, an alternative parking area with sufficient remaining space to accommodate the target vehicle can be screened out from the charging pile parking area; based on the remaining power of the target vehicle, a target parking area with sufficient remaining power to accommodate the target vehicle can be screened out from the alternative parking area.

[0075] S103: Acquire a first virtual parking space image corresponding to a used adjacent parking space of the target parking space.

[0076] In some embodiments, the target parking space area may include the 1st to Kth virtual parking spaces; K is a positive integer and K is greater than 1. The target parking space is the jth virtual parking space, and the adjacent parking spaces are the j-1th virtual parking space and / or the j+1th virtual parking space; j is a positive integer.

[0077] In the embodiment of the present application, the virtual parking space image refers to a parking space image output on a display interface of an electronic device and / or a software application. For example, the virtual parking space image is displayed on a display interface of a central control screen of a target vehicle or a display interface of a user's mobile terminal.

[0078] For example, Figure 2 As shown, virtual parking space images of different parking areas are displayed on the display interface of the first charging software.

[0079] S104: Determine a second virtual parking space image of the target parking space according to the first virtual parking space image and the vehicle size.

[0080] In some embodiments, the first virtual parking space image includes a first virtual parking area; the second virtual parking space image includes a second virtual parking area; the distance between the first long side of the first virtual parking area and the second long side of the second virtual parking area is a fixed distance; the first long side and the second long side of the same virtual parking area are located on two adjacent sides.

[0081] In this way, on the one hand, the parking space of the charging pile can be used accurately and the space utilization rate can be improved; on the other hand, by setting a fixed distance between the long sides of adjacent virtual parking areas, space for users to get on and off the vehicle can be guaranteed, making it easier for the target vehicle to enter / exit the charging pile parking space, and reducing the possibility of friction and collision between different vehicles.

[0082] In the embodiment of the present application, the virtual parking area includes two long sides and two short sides.

[0083] For example, Figure 2 As shown, a first long side of the first virtual parking area is spaced a fixed distance from a second long side of the second virtual parking area.

[0084] In some embodiments, the size of the second virtual parking area of ​​the target parking space is consistent with the vehicle size of the target vehicle, or is increased by a preset value based on the vehicle size.

[0085] S105: Control the target vehicle to park according to the second virtual parking space image.

[0086] In an embodiment of the present application, the target parking area can be screened out from multiple charging pile parking areas through the vehicle model information, current location and remaining power of the target vehicle, so that a relatively suitable parking and charging area can be determined conveniently and quickly. In addition, according to the first virtual parking space image corresponding to the used adjacent parking space of the target parking space contained in the target parking area, and the vehicle size of the target vehicle, a second virtual parking space image suitable for the target vehicle can be determined. On the one hand, it can meet the parking and charging needs of vehicles of different sizes. Compared with fixed parking spaces, each reservation can dynamically adjust the size information of the target parking space according to the usage of the charging piles on both sides of the target parking space and the parking situation of the vehicle; realize the effective use of parking space, thereby improving the revenue of charging piles, and accurately determining the usage of charging piles and vehicle parking conditions in each charging pile parking area.

[0087] In some embodiments, the step of filtering out a target parking space area from the charging pile parking space area according to the vehicle model information, the current location, and the remaining power of the target vehicle includes:

[0088] Get the starting position of the start time within the preset time window;

[0089] Inputting the path information from the starting position to the current position into a prediction model to obtain at least one target predicted position at the next time corresponding to the current time of the current position;

[0090] Filtering a first area set from the charging pile parking area according to at least one of the target predicted positions; the first area set includes at least one first area;

[0091] Filtering a second area set that meets a first preset condition from the first area set according to the remaining power and / or the vehicle size; the second area set includes at least one second area;

[0092] The second area in the second area set that meets a second preset condition is determined as the target parking space area.

[0093] In the embodiment of the present application, the preset time window can be a time window with any historical time as the start time and the next time after the current time as the end time. For example, the current time is t m , the start time of the preset time window is t1 and the end time is t m+1 ; m is a positive integer and m is greater than 1.

[0094] Exemplarily, the current time is 8:20 am, and the time interval is 10 minutes; the start time of the preset time window may be 7:20, and the end time may be 8:30, and the time length of the preset time window is 1 hour.

[0095] In the embodiment of the present application, the path information may include but is not limited to the identification information, location information and time information of the target vehicle.

[0096] Exemplarily, the path information includes at least two locations. For example, the path information may be from the user's home (first moment) to subway station A (second moment), and then from subway station A (second moment) to company C (third moment). Alternatively, the path may be from 40°N north latitude and 10°E east longitude (first moment) to 50°N north latitude and 15°E east longitude (second moment).

[0097] In an embodiment of the present application, the prediction model may include but is not limited to recurrent neural networks (RNN), long short-term memory networks (LSTM) and gated recurrent units (GRU).

[0098] In some embodiments, the step of inputting the path information from the starting position to the current position into a prediction model to obtain at least one predicted target position at a next time corresponding to the current time of the current position includes:

[0099] Input the path information from the starting position to the current position into the prediction model to obtain the predicted position and probability value;

[0100] According to the probability value corresponding to at least one predicted position, the predicted position corresponding to the probability value that meets the fourth preset condition is determined as the target predicted position.

[0101] In the embodiment of the present application, the probability value indicates the possibility of the target vehicle arriving at the predicted position.

[0102] In the embodiment of the present application, the fourth preset condition may be that the probability value is greater than or equal to a preset threshold. For example, the preset threshold may be 0.6, 0.7, etc.

[0103] In some embodiments, a first set of areas whose distances to the target predicted position are less than a first distance are screened out from the charging pile parking space area.

[0104] Exemplarily, the charging pile parking area includes area A, area B, area C and area D. The distances between the four areas and the target predicted position are 1 km, 1.5 km, 2 km and 4 km respectively. The first distance is 2 km, so it is determined that area A, area B and area C belong to the first area set.

[0105] In the embodiment of the present application, the distance may include a straight-line distance and / or a distance along a route.

[0106] In some embodiments, the first preset condition includes:

[0107] The power consumed by the target vehicle from the current position to the first area is less than the remaining power and the remaining area in the first area is greater than or equal to at least one of the vehicle size.

[0108] In the embodiment of the present application, the remaining area indicates the total area of ​​the non-parking area in the first area.

[0109] For example, the area of ​​the parked area in the first area A is S1, the area of ​​the unparked area is S2, and the body area is S3 determined according to the vehicle size. If S2 is greater than S3 and other preset conditions are met, it is determined that the first area A belongs to the second area set.

[0110] In the embodiment of the present application, the influence of the historical position on the target predicted position can be considered to improve the accuracy and effectiveness of the target predicted position; and the target predicted position that the target user wants to go to in the future time period can be predicted based on the historical path, so as to select the charging pile parking area between the current position and the target predicted position as the first area set, reduce driving to the charging pile parking area in the opposite direction of the target predicted position for charging, and thus save energy and time consumption. In addition, the second area set is screened out according to the remaining power and / or vehicle size, and a relatively more suitable charging pile parking space can be selected nearby; finally, the second area that meets the second preset condition is selected as the target parking area, realizing the intelligent selection of charging pile parking spaces and improving the user experience.

[0111] In some embodiments, determining the second area in the second area set that meets the second preset condition as the target parking space area includes:

[0112] Determining at least one predicted path according to the current location and at least one predicted target location;

[0113] According to the similarities between the predicted path and at least one historical path, a maximum similarity is determined as a target similarity of the predicted path;

[0114] Determine the predicted path with the greatest target similarity as the target path;

[0115] The second area corresponding to the target predicted position in the target path is determined as the target parking space area.

[0116] In some embodiments, the similarity between the predicted path and the historical path can be determined based on at least one of Dynamic Time Warping (DTW), Longest Common Sub-Sequence (LCSS), One Way Distance (OWD) and Edit Distance (ED).

[0117] In some embodiments, the predicted path includes a positions, the historical path includes b positions, the number of different positions between the predicted path and the historical path is g, and the similarity may be d=(ag) / b.

[0118] In some embodiments, L predicted paths are determined based on the current position and L target predicted positions, and there are P historical paths; the maximum similarity among the similarities between the first predicted path and the P historical paths is taken as the target similarity; the predicted path corresponding to the maximum target similarity among the L target similarities is taken as the target path; and the second area closest to the target predicted position in the target path is determined as the target parking space area.

[0119] In the embodiment of the present application, since there may be multiple second areas in the second area set that can be used for parking and charging, by selecting the predicted path with the largest target similarity as the target path, the error can be further reduced and the accuracy and reliability of the target path can be improved.

[0120] In some embodiments, the vehicle model information further includes a first license plate character; the method further includes:

[0121] In response to the distance between the candidate vehicle and the charging pile being greater than a first threshold distance and less than or equal to a second threshold distance, obtaining identification information of the candidate vehicle through an image acquisition device; the identification information includes at least one of a second license plate character and an exhaust volume;

[0122] Determine that the alternative vehicle whose identification information satisfies a third preset condition is the target vehicle; the target vehicle is a new energy vehicle; the third preset condition includes: the first license plate character is consistent with the second license plate character, the first license plate character indicates that the target vehicle is the new energy vehicle, and the exhaust volume is zero.

[0123] In some embodiments, the first threshold distance and the second threshold distance may be determined according to the length of the second virtual parking space image. For example, if the length of the second virtual parking space image is 5.5 m, the first threshold distance may be 5.5 m, and the second threshold distance may be 6 m.

[0124] For example, Figure 3 As shown, when the distance between the alternative vehicle and the charging pile is greater than the first threshold distance and less than or equal to the second threshold distance, that is, the alternative vehicle is close to the second virtual parking space but has not entered the second virtual parking space, the identification information of the alternative vehicle is obtained through the image acquisition device.

[0125] In some embodiments, controlling the target vehicle to park according to the second virtual parking space image includes:

[0126] After determining that the candidate vehicle whose identification information satisfies the third preset condition is the target vehicle, controlling the parking lock in the target parking space to unlock;

[0127] The second virtual parking space image is displayed on the display interface of the target vehicle or the display interface of the charging software, so that the target vehicle drives to the second virtual parking area in the second virtual parking space image for parking.

[0128] Exemplarily, the display interface of the target vehicle may be a central control screen interface; the charging software may be located on the central control screen interface of the target vehicle, or may be located on the screen interface of the user's mobile terminal.

[0129] In the embodiment of the present application, when the candidate vehicle is determined to be the target vehicle (new energy vehicle) and is a reserved vehicle, the parking space lock is controlled to be unlocked and released to prevent non-new energy vehicles such as fuel vehicles from occupying the target parking space.

[0130] In some embodiments, the vehicle size includes a vehicle body height; and controlling the target vehicle to park according to the second virtual parking space image includes:

[0131] After controlling the target vehicle to park in the second virtual parking area, acquiring an image of the target vehicle;

[0132] Determine a first candidate height of the target vehicle on the image according to feature information of the target vehicle on the image; the feature information includes at least one of position information, color information and texture information;

[0133] Determine the target distance between the center position of the target vehicle and the image acquisition device according to the vehicle body height, the first candidate height and the focal length of the image acquisition device;

[0134] The target distance of the target vehicle is matched with a preset distance range, and if the match is successful, it is determined that the target vehicle is accurately parked; the accurate parking of the target vehicle indicates that the target vehicle is located in the second virtual parking area in the second virtual parking space image.

[0135] In some embodiments, the image acquisition device may be located on the charging pile, or the image acquisition device may be wirelessly connected to the charging pile.

[0136] In the embodiment of the present application, the alternative height indicates the two-dimensional height of the target vehicle on the image.

[0137] In the embodiment of the present application, the vehicle body height indicates the three-dimensional height of the target vehicle.

[0138] In some embodiments, Figure 2 As shown, after the target vehicle stops at the second virtual parking area, an image of the target vehicle is captured by an image acquisition device; the image is input into a three-dimensional model to obtain a first alternative height of the target vehicle on the image; and the pinhole imaging principle is used to determine the target distance between the center position of the target vehicle and the image acquisition device according to the vehicle height, the first alternative height and the focal length of the target vehicle.

[0139] In some embodiments, the position information includes the first two-dimensional coordinates of the center position; and determining the candidate height of the target vehicle on the image according to the feature information of the target vehicle on the image includes:

[0140] The candidate height is determined according to the first two-dimensional coordinates.

[0141] Exemplarily, one way to determine the target distance is Wherein, f indicates focal length; h1 indicates the first candidate height; h2 indicates vehicle height; S t Indicates the target distance.

[0142] In some embodiments, the method further comprises:

[0143] In the event of a matching failure, it is determined that the target vehicle has failed to park and a warning message is output; the warning message is used to remind the user to adjust the parking position of the target vehicle.

[0144] In some embodiments, when the matching is successful, determining that the target vehicle is parked accurately includes:

[0145] Output reminder information; the reminder information is used to remind the user to dock correctly for charging.

[0146] In some embodiments, the method further comprises:

[0147] A virtual parking space page is displayed; the virtual parking space page includes a parking space display area and a reminder display area; the parking space display area is used to display the first virtual parking space image and / or the second virtual parking space image; the reminder display area is used to display warning information or reminder information.

[0148] Exemplarily, the virtual parking space page may be a display interface of the target vehicle or a display interface of the charging software.

[0149] In the embodiment of the present application, through the pinhole imaging principle, using the alternative height (two-dimensional height) and vehicle height (three-dimensional height) of the target vehicle on the image, the target distance between the center position of the target vehicle and the image acquisition device can be obtained more accurately.

[0150] In some embodiments, the training method of the three-dimensional model includes:

[0151] Obtain a training sample set; the training sample set includes N frames of first sample images with vehicle height and target distance annotated; N is a positive integer;

[0152] Inputting N frames of first sample images into the initialization model to obtain the first two-dimensional coordinates of the first vehicle in the first sample image;

[0153] Determine a first three-dimensional coordinate of the first vehicle according to the first two-dimensional coordinate of the first vehicle in the first sample image and the permutation matrix;

[0154] Determining a target height of the first vehicle according to the first three-dimensional coordinates; the target height is used to characterize an actual predicted height of the first vehicle;

[0155] Determine the error offset of the first frame of sample image according to the target height of the first vehicle and the vehicle height of the first vehicle in the first frame of sample image;

[0156] The error correction amount is iterated until the difference between the error offset and the error correction amount of the 1+i-th frame sample image meets the convergence condition, the error correction amount obtained in the iteration is determined as the target correction amount and the trained initialization model is obtained; i is a positive integer; 1+i is less than or equal to N.

[0157] In some embodiments, the image acquisition device is a camera, the two-dimensional coordinates indicate the coordinates of the pixels at the center position of the vehicle in the pixel coordinate system, and the three-dimensional coordinates indicate the coordinates of the center position of the vehicle in the camera coordinate system; the camera coordinate system indicates a three-dimensional rectangular coordinate system established with the focusing center of the image acquisition device as the origin and the optical axis as the z-axis.

[0158] In the embodiment of the present application, the error correction value indicates a preset initial value of the error between the target height and the vehicle body height.

[0159] In the embodiment of the present application, the error offset indicates the actual error value between the target height and the vehicle body height.

[0160] In some embodiments, the three-dimensional model processes the image to obtain the candidate height and target height of the target vehicle. Since the three-dimensional model itself has errors, the determined candidate height and target height will also have errors, which in turn leads to errors in the target distance obtained according to the first candidate height. Therefore, the error correction amount can be iterated in the process of training the three-dimensional model so that the error correction amount is as close to the actual error value as possible.

[0161] Exemplarily, the target height of the first frame image is 4, the vehicle body height is 5, the error offset is 1, the error correction amount is 0.2, the difference between the error offset and the error correction amount is 0.8, and the three-dimensional model iterates the error correction amount for the first time; then the error offset of the second frame image is 0.8, the error correction amount is 0.3, and the three-dimensional model iterates the error correction amount for the second time; and so on, until the error offset of the i+1 frame image is close to 0 as the difference with the error correction amount and cannot be further reduced, the sum of the target height of the target vehicle and the error correction amount is close to the vehicle body height, and it is determined that the convergence condition is met and the error correction amount of the i+1 frame image is the target correction amount.

[0162] In some embodiments, the method further comprises:

[0163] Acquire a verification sample set; the verification sample set includes P frames of second sample images with vehicle height and target distance annotated; P is a positive integer;

[0164] Inputting the second sample image into the trained initialization model to obtain the first two-dimensional coordinates of the second vehicle in the second sample image;

[0165] determining a first three-dimensional coordinate of the second vehicle according to the first two-dimensional coordinate of the second vehicle in the second sample image and the permutation matrix;

[0166] determining a target height of a second vehicle based on the first three-dimensional coordinate;

[0167] Determine the sum of the target height of the second vehicle and the target correction amount, and determine the corrected target height of the second vehicle;

[0168] When it is determined that the difference between the corrected target height and the vehicle height is within an expected range, the trained initialization model is determined to be a three-dimensional model.

[0169] In some embodiments, determining the target distance between the center position of the target vehicle and the image acquisition device according to the vehicle body height, the first candidate height and the focal length includes:

[0170] Correcting the first candidate height of the target vehicle according to the target correction amount to obtain a first corrected height;

[0171] The target distance is determined according to the vehicle body height, the first corrected height and the focal length.

[0172] In some embodiments, the step of correcting the first candidate height of the target vehicle according to the target correction amount to obtain a first corrected height includes:

[0173] Determine the corrected target height according to the target correction amount and the target height;

[0174] Determine the second three-dimensional coordinate according to the corrected target height;

[0175] determining a second two-dimensional coordinate according to the second three-dimensional coordinate and the permutation matrix;

[0176] A first corrected height is determined based on the second two-dimensional coordinate.

[0177] In an embodiment of the present application, by iterating the error correction amount, the sum of the obtained error correction amount and the target height is close to the actual body height of the target vehicle, and then the error of the alternative height obtained according to the three-dimensional model can be corrected, thereby reducing the interference caused by the error and improving the accuracy of the target distance.

[0178] The following provides specific examples in combination with any of the above embodiments:

[0179] Specific example 1: Figure 4 A charging pile parking space control method is shown as an example; Figure 4 As shown, the charging pile parking space control method is executed by an electronic device, and the charging pile parking space control method includes:

[0180] S401, in response to receiving a reservation instruction for a target vehicle to reserve a charging pile parking space, obtaining vehicle model information, current location, remaining power, and a charging pile parking space area within a preset range of the target vehicle.

[0181] In an optional embodiment, the vehicle model information includes at least the vehicle configuration; the vehicle configuration includes at least the vehicle size. Determine whether the target vehicle is a new energy vehicle based on the first license plate character in the vehicle model, if so, proceed to S402; if not, output the reservation result as reservation failure and stop the reservation operation.

[0182] S402: Filter out a target parking space from the charging pile parking space according to the vehicle model information, current location and remaining power of the target vehicle.

[0183] In an optional embodiment, a starting position at a starting time within a preset time window is obtained; path information from the starting position to the current position is input into a prediction model to obtain a target predicted position for the next time corresponding to at least one current position; a first area set is filtered out from the charging pile parking area according to the at least one target predicted position; a second area set is filtered out from the first area set according to the remaining power and / or vehicle size; and a target parking area is filtered out from the second area set.

[0184] S403: Acquire a first virtual parking space image corresponding to a used adjacent parking space of the target parking space.

[0185] S404: Determine a second virtual parking space image of the target parking space according to the first virtual parking space image and the vehicle size.

[0186] S405: In response to the distance between the candidate vehicle and the charging pile being greater than a first threshold distance and less than or equal to a second threshold distance, obtaining identification information of the candidate vehicle through an image acquisition device.

[0187] In an optional embodiment, the identification information includes at least one of a second license plate character and an exhaust volume.

[0188] S406, determining whether the candidate vehicle is the target vehicle.

[0189] In an optional embodiment, if the second license plate character of the alternative license plate is consistent with the first license plate character of the target vehicle, at this time the first license plate character can represent that the target vehicle is a new energy vehicle and the alternative vehicle is the target vehicle that has been successfully reserved, then the alternative vehicle is determined to be the target vehicle; if so, enter S407; if not, enter S413.

[0190] S407, controlling the parking lock in the target parking space to unlock.

[0191] S408: Displaying a second virtual parking space image on a display interface of the target vehicle or a display interface of the charging software, so that the target vehicle drives to a second virtual parking area in the second virtual parking space image for parking.

[0192] S409, after controlling the target vehicle to park in the second virtual parking area, acquiring an image of the target vehicle.

[0193] S410, determining a target distance between a center position of the target vehicle and an image acquisition device according to the image of the target vehicle.

[0194] In an optional embodiment, a first alternative height of the target vehicle in the image is determined based on feature information of the target vehicle in the image; and a target distance between the center position of the target vehicle and the image acquisition device is determined based on the vehicle body height, the first alternative height and the focal length of the image acquisition device.

[0195] S411, matching the target distance of the target vehicle with a preset distance range to determine whether the match is successful.

[0196] In an optional embodiment, if the target distance is within a preset distance range, it is determined that the match is successful. If so, proceed to S412; if not, adjust the parking position of the target vehicle and proceed to S409.

[0197] S412, determining whether the target vehicle is parked accurately.

[0198] In an optional embodiment, if it is determined that the target vehicle is parked accurately, it is determined that the target vehicle can be charged using the charging pile.

[0199] S413, determining that the candidate vehicle is not the target vehicle.

[0200] In an optional embodiment, it is determined that the candidate vehicle is not the target vehicle, that is, the candidate vehicle is not the reserved target vehicle, and other candidate vehicles are waiting to approach. When the next candidate vehicle is detected, the process proceeds to S406.

[0201] The above-mentioned charging pile parking space control method, device, electronic device and storage medium can screen out the target parking space area from multiple charging pile parking space areas through the vehicle model information, current location and remaining power of the target vehicle, and can easily and quickly determine a relatively suitable parking and charging area. In addition, according to the first virtual parking space image corresponding to the used adjacent parking space of the target parking space contained in the target parking space area, and the vehicle size of the target vehicle, a second virtual parking space image suitable for the target vehicle can be determined. On the one hand, it can meet the parking and charging needs of vehicles of different sizes. Compared with fixed parking spaces, each reservation can dynamically adjust the size information of the target parking space according to the usage of the charging piles on both sides of the target parking space and the parking situation of the vehicle; realize the effective use of parking space, thereby improving the revenue of charging piles, and accurately determining the usage of charging piles and the parking situation of vehicles in each charging pile parking space area.

[0202] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0203] Based on the same inventive concept, the embodiment of the present application also provides a charging pile parking space control device for implementing the above-mentioned charging pile parking space control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more charging pile parking space control device embodiments provided below can refer to the limitations of the charging pile parking space control method above, and will not be repeated here.

[0204] In some embodiments, Figure 5 As shown, a charging pile parking space control device is provided, and the device includes:

[0205] The acquisition module 510 is used to obtain the vehicle model information, current location, remaining power and charging pile parking area within a preset range of the target vehicle in response to receiving the reservation instruction of the target vehicle to reserve a charging pile parking space; the vehicle model information at least includes the vehicle configuration; the vehicle configuration at least includes the vehicle size;

[0206] The first processing module 520 is used to filter out a target parking area from the charging pile parking area according to the vehicle model information, the current location and the remaining power of the target vehicle; the target parking area includes a target parking space for the target vehicle to reserve and lock in advance;

[0207] The acquisition module 510 is used to acquire a first virtual parking space image corresponding to a used adjacent parking space of the target parking space;

[0208] A determination module 530, configured to determine a second virtual parking space image of the target parking space according to the first virtual parking space image and the vehicle size;

[0209] The control module 540 is used to control the target vehicle to park according to the second virtual parking space image.

[0210] In some embodiments, the first processing module includes:

[0211] A first acquisition unit, used to acquire a starting position of a start time within a preset time window;

[0212] A prediction unit, used to input the path information from the starting position to the current position into a prediction model to obtain at least one target predicted position at a next time corresponding to the current time of the current position;

[0213] A processing unit, configured to select a first area set from the charging pile parking space area according to at least one of the target predicted positions; the first area set includes at least one first area;

[0214] The processing unit is configured to select a second area set satisfying a first preset condition from the first area set according to the remaining power and / or the vehicle size; the second area set includes at least one second area;

[0215] The processing unit is configured to determine the second area in the second area set that meets a second preset condition as the target parking space area.

[0216] In some embodiments, the first preset condition includes:

[0217] The power consumed by the target vehicle from the current position to the first area is less than the remaining power and the remaining area in the first area is greater than or equal to at least one of the vehicle size.

[0218] In some embodiments, the processing unit is configured to perform the following steps:

[0219] Determining at least one predicted path according to the current location and at least one predicted target location;

[0220] According to the similarities between the predicted path and at least one historical path, a maximum similarity is determined as a target similarity of the predicted path;

[0221] Determine the predicted path with the greatest target similarity as the target path;

[0222] The second area corresponding to the target predicted position in the target path is determined as the target parking space area.

[0223] In some embodiments, the first virtual parking space image includes a first virtual parking area; the second virtual parking space image includes a second virtual parking area; the distance between the first long side of the first virtual parking area and the second long side of the second virtual parking area is a fixed distance; the first long side and the second long side of the same virtual parking area are located on two adjacent sides.

[0224] In some embodiments, the vehicle model information further includes a first license plate character; and the device further includes:

[0225] The acquisition module is used to acquire identification information of the candidate vehicle through an image acquisition device in response to the distance between the candidate vehicle and the charging pile being less than a threshold distance; the identification information includes at least one of a second license plate character and an exhaust volume;

[0226] The second processing module is used to determine that the alternative vehicle whose identification information meets the third preset condition is the target vehicle; the target vehicle is a new energy vehicle; the third preset condition includes: the first license plate character is consistent with the second license plate character, the first license plate character indicates that the target vehicle is the new energy vehicle and the exhaust volume is zero.

[0227] In some embodiments, the control module is used to perform the following steps:

[0228] After determining that the candidate vehicle whose identification information satisfies the third preset condition is the target vehicle, controlling the parking lock in the target parking space to unlock;

[0229] The second virtual parking space image is displayed on the display interface of the target vehicle or the display interface of the charging software, so that the target vehicle drives to the second virtual parking area in the second virtual parking space image for parking.

[0230] In some embodiments, the vehicle size includes a vehicle height; and the control module includes:

[0231] A second acquisition unit, configured to acquire an image of the target vehicle after controlling the target vehicle to park in the second virtual parking area;

[0232] A determination unit, configured to determine a first candidate height of the target vehicle on the image according to feature information of the target vehicle on the image; the feature information includes at least one of position information, color information and texture information;

[0233] The determining unit is used to determine the target distance between the center position of the target vehicle and the image acquisition device according to the vehicle body height, the first candidate height and the focal length of the image acquisition device;

[0234] The determination unit is used to match the target distance of the target vehicle with a preset distance range, and if the match is successful, determine that the target vehicle is accurately parked; the accurate parking of the target vehicle indicates that the target vehicle is located in the second virtual parking area in the second virtual parking space image.

[0235] In some embodiments, the determining unit is configured to perform the following steps:

[0236] Correcting the first candidate height of the target vehicle according to the target correction amount to obtain a first corrected height;

[0237] The target distance is determined according to the vehicle body height, the first corrected height and the focal length.

[0238] Each module in the above-mentioned charging pile parking space control device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the electronic device of the sample processing device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules. In one embodiment, an electronic device is provided, which can be a terminal, and its internal structure diagram can be as follows: Figure 6As shown. The electronic device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the electronic device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a charging pile parking space control method is implemented. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covered on the display screen, or a button, trackball or touchpad provided on the housing of the electronic device, or an external keyboard, touchpad or mouse.

[0239] Those skilled in the art will understand that Figure 6 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0240] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0241] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and / or features involved in this application are all information, data and / or features authorized by the user or fully authorized by all parties.

[0242] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0243] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0244] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A parking control method, characterized in that: The method comprises: In response to receiving a reservation instruction for a target vehicle to reserve a charging pile parking space, obtaining vehicle model information, current location, remaining power, and a charging pile parking space area within a preset range of the target vehicle; the vehicle model information at least includes vehicle configuration; the vehicle configuration at least includes vehicle size; the vehicle size includes vehicle height; A target parking area is selected from the charging pile parking area according to the vehicle model information, the current location and the remaining power of the target vehicle; the target parking area includes a target parking space for the target vehicle to reserve and lock in advance; Acquire a first virtual parking space image corresponding to a used adjacent parking space of the target parking space; wherein the first virtual parking space image includes a first virtual parking area; Determine a second virtual parking space image of the target parking space according to the first virtual parking space image and the vehicle size; wherein the second virtual parking space image includes a second virtual parking area; the distance between the first long side of the first virtual parking area and the second long side of the second virtual parking area is a fixed distance; the first long side and the second long side of the same virtual parking area are located on two adjacent sides; After controlling the target vehicle to park in the second virtual parking area, acquiring an image of the target vehicle through an image acquisition device; Determine a first candidate height of the target vehicle on the image according to feature information of the target vehicle on the image; the feature information includes at least one of position information, color information and texture information; Correcting the first candidate height of the target vehicle according to a target correction amount to obtain a first corrected height; Determining the target distance according to the vehicle body height, the first corrected height and the focal length of the image acquisition device; The target distance of the target vehicle is matched with a preset distance range, and if the match is successful, it is determined that the target vehicle is accurately parked; the accurate parking of the target vehicle indicates that the target vehicle is located in the second virtual parking area in the second virtual parking space image.

2. The method according to claim 1, characterized in that The vehicle model information also includes a first license plate character; the method also includes: In response to the distance between the candidate vehicle and the charging pile being greater than a first threshold distance and less than or equal to a second threshold distance, obtaining identification information of the candidate vehicle through the image acquisition device; the identification information includes at least one of a second license plate character and an exhaust volume; Determine that the alternative vehicle whose identification information satisfies a third preset condition is the target vehicle; the target vehicle is a new energy vehicle; the third preset condition includes: the second license plate character is consistent with the first license plate character, the first license plate character indicates that the target vehicle is the new energy vehicle, and the exhaust volume is zero.

3. The method according to claim 2, characterized in that Before controlling the target vehicle to park in the second virtual parking area, the method further includes: After determining that the candidate vehicle whose identification information satisfies the third preset condition is the target vehicle, controlling the parking lock in the target parking space to unlock; The second virtual parking space image is displayed on the display interface of the target vehicle or the display interface of the charging software, so that the target vehicle drives to the second virtual parking area in the second virtual parking space image for parking.

4. The method according to claim 1, characterized in that: The method for determining the target correction amount includes: Acquire a training sample set; the training sample set includes N frames of first sample images with the vehicle height and the target distance marked; N is a positive integer; Inputting N frames of the first sample images into an initialization model to obtain a first two-dimensional coordinate of the first vehicle in the first sample images; determining a first three-dimensional coordinate of the first vehicle according to the first two-dimensional coordinate of the first vehicle in the first sample image and a permutation matrix; Determining a target height of the first vehicle according to the first three-dimensional coordinates; the target height is used to represent an actual predicted height of the first vehicle; Determine an error offset of the first sample image in the first frame according to a target height of the first vehicle and a vehicle height of the first vehicle in the first sample image in the first frame; The error correction amount is iterated until the difference between the error offset of the first sample image in the 1+ith frame and the error correction amount meets the convergence condition, and the error correction amount obtained in the current iteration is determined as the target correction amount; i is a positive integer; 1+i is less than or equal to N.

5. The method according to claim 4, characterized in that The step of correcting the first candidate height of the target vehicle according to the target correction amount to obtain a first corrected height includes: Determining a corrected target height according to the target correction amount and the target height; Determine the second three-dimensional coordinate according to the corrected target height; determining a second two-dimensional coordinate according to the second three-dimensional coordinate and the permutation matrix; The first corrected height is determined according to the second two-dimensional coordinate.

6. The method according to claim 1, characterized in that The method further comprises: In the event of a matching failure, it is determined that the target vehicle has failed to park and a warning message is output; the warning message is used to remind the user to adjust the parking position of the target vehicle.

7. A parking control device, characterized in that: The device comprises: An acquisition module, in response to receiving a reservation instruction for a target vehicle to reserve a charging pile parking space, acquires the vehicle model information, current location, remaining power, and a charging pile parking space area within a preset range of the target vehicle; the vehicle model information at least includes vehicle configuration; the vehicle configuration at least includes vehicle size; the vehicle size includes vehicle height; A processing module, configured to filter out a target parking area from the charging pile parking area according to the vehicle model information, the current location and the remaining power of the target vehicle; the target parking area includes a target parking space for the target vehicle to reserve and lock in advance; The acquisition module is used to acquire a first virtual parking space image corresponding to a used adjacent parking space of the target parking space; wherein the first virtual parking space image includes a first virtual parking area; a determination module, configured to determine a second virtual parking space image of the target parking space according to the first virtual parking space image and the vehicle size; wherein the second virtual parking space image includes a second virtual parking area; the distance between the first long side of the first virtual parking area and the second long side of the second virtual parking area is a fixed distance; the first long side and the second long side of the same virtual parking area are located on two adjacent sides; The control module is used to perform the following steps: After controlling the target vehicle to park in the second virtual parking area, acquiring an image of the target vehicle through an image acquisition device; Determine a first candidate height of the target vehicle on the image according to feature information of the target vehicle on the image; the feature information includes at least one of position information, color information and texture information; Correcting the first candidate height of the target vehicle according to a target correction amount to obtain a first corrected height; Determining the target distance according to the vehicle body height, the first corrected height and the focal length of the image acquisition device; The target distance of the target vehicle is matched with a preset distance range, and if the match is successful, it is determined that the target vehicle is accurately parked; the accurate parking of the target vehicle indicates that the target vehicle is located in the second virtual parking area in the second virtual parking space image.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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