Vehicle parking method, device, equipment and medium

Abstract

The invention discloses a vehicle parking method, device and equipment and a medium, and relates to the field of automatic driving, and the method comprises the steps: judging whether a target parking space is a vertical parking space or not according to the length and width information of a parking space line; if the target parking space is the vertical parking space, matching the target parking space with preset child-mother parking space features, and judging whether the target parking space is a child-mother parking space or not according to a matching result; if the target parking space is a child-mother parking space, whether the child-mother parking space meets parking conditions or not is judged according to the current parking space depth and the current parking space width of the child-mother parking space and the information of obstacles in the parking space; and if the child-mother parking space meets the parking condition, displaying the child-mother parking space through a vehicle-mounted display interface based on the release priority so as to release the child-mother parking space, and filling the parking space information of the child-mother parking space into a vehicle-mounted navigation system so as to mark the child-mother parking space. Release of the mother parking space and the son parking space is supported, marking of the mother parking space and the son parking space is achieved, the parking space capable of being parked is fully utilized, and the parking scene is more generalized.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle parking method, device, equipment and medium. Background Art

[0002] In the current perception and parking solutions, when a parent-child parking space is identified, only the parent parking space is released, and the parent-child parking space is not released, and the vehicle type is not marked as a parent-child parking space, so that the driver cannot park in the parent-child parking space, wasting parking space resources and failing to meet the driver's parking needs.

[0003] Therefore, the above technical problems need to be solved by those skilled in the art. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a vehicle parking method, device, equipment and medium, which can support the release of parent parking spaces and sub-parent parking spaces, and realize the marking of sub-parent parking spaces, so as to make full use of the available parking spaces and make the parking scene more generalized. The specific scheme is as follows:

[0005] In a first aspect, the present application discloses a vehicle parking method, comprising:

[0006] Determine whether the corresponding target parking space is a vertical parking space according to the length and width information of the parking space line;

[0007] If the target parking space is the vertical parking space, the target parking space is matched with the preset parent-child parking space feature, and whether the target parking space is a parent-child parking space is determined according to the matching result;

[0008] If the target parking space is the parent-child parking space, judging whether the parent-child parking space meets the parking condition according to the current parking space depth, current parking space width and obstacle information in the parking space;

[0009] If the parent-child parking space meets the parking condition, the parent-child parking space is displayed based on the release priority to release the parent-child parking space, and the parking space information of the parent-child parking space is filled into the vehicle navigation system to mark the parent-child parking space.

[0010] Optionally, matching the target parking space with preset parent-child parking space features includes:

[0011] Determining whether a first target position of the target parking space includes the parking space line, and determining whether a second target position of the target parking space includes a first obstacle;

[0012] Correspondingly, judging whether the target parking space is a parent-child parking space according to the matching result includes:

[0013] If the first target position of the target parking space includes the parking space line, and the second target position of the target parking space includes the first obstacle, then the target parking space is determined to be the parent-child parking space.

[0014] Optionally, the first target position is a middle position of the target parking space, and the second target position is a distal position of the target parking space, and the distance between the distal position and the current vehicle is greater than a preset distance.

[0015] Optionally, the parking condition includes a first condition related to the current parking space depth and the current parking space width and a second condition related to obstacle information in the parking space, and judging whether the parent-child parking space meets the parking condition according to the current parking space depth, the current parking space width and the obstacle information in the parking space includes:

[0016] Determine whether the current parking depth of the parent-child parking space is greater than a preset depth, and determine whether the current parking width of the parent-child parking space is greater than a preset width; wherein the preset depth is obtained based on the vehicle length of the current vehicle, and the preset width is obtained based on the vehicle width of the current vehicle;

[0017] If the current parking depth of the parent-child parking space is greater than the preset depth, and the current parking width of the parent-child parking space is greater than the preset width, it is determined that the parent-child parking space meets the first condition;

[0018] The current parking space depth and the current parking space width are determined according to a parking range, and the parking range is determined according to position information of obstacles within a preset range outside the parent-child parking space;

[0019] Determining whether a second obstacle is included in a preset range within the parent-child parking space;

[0020] If the second obstacle is not included in the preset range of the parent-child parking space, it is determined that the parent-child parking space meets the second condition.

[0021] Optionally, filling the parking space information of the parent-child parking space into a vehicle navigation system so as to mark the parent-child parking space includes:

[0022] The corner point coordinates of the parent-child parking space, the parking space type and the current parking space width are filled into the vehicle navigation system to realize the marking of the parent-child parking space.

[0023] Optionally, the displaying the parent-child parking spaces based on the release priority so as to release the parent-child parking spaces includes:

[0024] The child parking spaces in the parent-child parking spaces are displayed based on a first brightness, and the mother parking spaces in the parent-child parking spaces are displayed based on a second brightness, so as to release the parent-child parking spaces; wherein the brightness value of the first brightness is greater than the brightness value of the second brightness.

[0025] Optionally, the vehicle parking method further includes:

[0026] If the sub-parking space in the parent-child parking space meets the parking condition, and the parent-child parking space in the parent-child parking space does not meet the parking condition, the sub-parking space is prohibited from being released;

[0027] If the child parking space in the parent-child parking space does not meet the parking condition, and the mother parking space in the parent-child parking space meets the parking condition, the mother parking space is released.

[0028] In a second aspect, the present application discloses a vehicle parking device, comprising:

[0029] A vertical parking space determination module is used to determine whether the corresponding target parking space is a vertical parking space according to the length and width information of the parking space line;

[0030] A parent-child parking space matching module is used to match the target parking space with a preset parent-child parking space feature if the target parking space is the vertical parking space, and determine whether the target parking space is a parent-child parking space according to the matching result;

[0031] A parking condition judgment module, for judging whether the parent-child parking space satisfies the parking condition according to the current parking depth, current parking width and obstacle information in the parent-child parking space if the target parking space is the parent-child parking space;

[0032] A marking and releasing module is used to display the parent-child parking space based on the release priority if the parent-child parking space meets the parking condition so as to release the parent-child parking space, and fill the parking space information of the parent-child parking space into the vehicle navigation system so as to mark the parent-child parking space.

[0033] In a third aspect, the present application discloses an electronic device, including:

[0034] Memory, used to store computer programs;

[0035] The processor is used to execute the computer program to implement the vehicle parking method disclosed above.

[0036] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the vehicle parking method disclosed above is implemented.

[0037] It can be seen that the present application proposes a vehicle parking method, including: judging whether the corresponding target parking space is a vertical parking space according to the length and width information of the parking space line; if the target parking space is the vertical parking space, matching the target parking space with the preset parent-child parking space feature, and judging whether the target parking space is a parent-child parking space according to the matching result; if the target parking space is the parent-child parking space, judging whether the parent-child parking space meets the parking condition according to the current parking space depth, current parking space width and obstacle information in the parking space of the parent-child parking space; if the parent-child parking space meets the parking condition, displaying the parent-child parking space based on the release priority so as to realize the release of the parent-child parking space, and filling the parking space information of the parent-child parking space into the vehicle navigation system so as to realize the marking of the parent-child parking space. It can be seen that after the present application determines that the target parking space is a parent-child parking space according to the preset parent-child parking space characteristics, it further determines whether the parent-child parking space meets the parking conditions according to the current parking space depth, current parking space width and obstacle information in the parking space of the parent-child parking space. If the parent-child parking space meets the parking conditions, the parent-child parking space is released based on the release priority, and the parking space information of the parent-child parking space is filled into the vehicle navigation system to realize the marking of the parent-child parking space. It can be seen that the present application optimizes the release logic of the parent-child parking space, supports the release of the mother parking space and the child parking space, and supports the release of the child parking space and the mother parking space based on different release priorities. At the same time, the marking of the parent-child parking space is realized for the driver to choose a suitable parking space for parking, which makes full use of the available parking spaces, improves the driver's driving experience, and makes the parking scene more generalized. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0039] Figure 1 A flow chart of a vehicle parking method disclosed in this application;

[0040] Figure 2 A schematic diagram of a parking space disclosed in this application;

[0041] Figure 3 A specific vehicle parking method flow chart disclosed in this application;

[0042] Figure 4 This is a schematic diagram of the structure of a vehicle parking device disclosed in this application;

[0043] Figure 5 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] In the current perception and parking solutions, when a parent-child parking space is identified, only the parent parking space is released, and the parent-child parking space is not released, and the vehicle type is not marked as a parent-child parking space, so that the driver cannot park in the parent-child parking space, wasting parking space resources and failing to meet the driver's parking needs.

[0046] To this end, the embodiment of the present application proposes a vehicle parking solution that supports the release of parent parking spaces and child parking spaces, realizes the marking of parent and child parking spaces, fully utilizes the available parking spaces, and makes the parking scene more generalized.

[0047] The present application embodiment discloses a vehicle parking method, see Figure 1 As shown, the method includes:

[0048] Step S11: judging whether the corresponding target parking space is a vertical parking space according to the length and width information of the parking space line.

[0049] In this embodiment, the length and width information of the parking space line output by the perception system is obtained, and the corresponding target parking space is determined to be a vertical parking space according to the length and width information of the parking space line. Specifically, it is determined whether the difference between the length and width of the parking space line is greater than a preset difference threshold. If the difference between the length and width of the parking space line is greater than the preset difference threshold, the corresponding target parking space is determined to be a vertical parking space. In a specific implementation, if the length of the parking space line is 11m and the width is 2.4m, the corresponding target parking space is a vertical parking space.

[0050] Step S12: if the target parking space is the vertical parking space, the target parking space is matched with a preset parent-child parking space feature, and whether the target parking space is a parent-child parking space is determined according to the matching result.

[0051] In this embodiment, it is determined whether the first target position of the target parking space contains the parking space line, and whether the second target position of the target parking space contains the first obstacle. Further, if the first target position of the target parking space contains the parking space line, and the second target position of the target parking space contains the first obstacle, the target parking space is determined to be the parent-child parking space, and the first obstacle includes a limiter wheel stopper and a wall. That is to say, if the first target position contains the parking space line, the target parking space can be determined to be the parent-child parking space when the second target position contains the limiter wheel stopper or the second target position contains a wall. The first target position is the middle position of the target parking space, and the second target position is the far end position of the target parking space; the far end position is a position whose distance from the current vehicle is greater than a preset distance.

[0052] See also Figure 2 As shown, in this embodiment, it is determined whether the first target position of the target parking space contains the parking space line and whether the second target position of the target parking space contains the first obstacle, in order to exclude Figure 2 As shown in the example of parking spaces b and c, parking space b shows that the first target position includes the parking space line, but the second target position does not include the first obstacle, so it does not belong to the parent-child parking space. As shown in the example of parking space c, the second target position includes the first obstacle, but the first target position does not include the parking space line, so it does not belong to the parent-child parking space. As shown in the example of parking space a, the first target position includes both the parking space line and the second target position includes the first obstacle, so it belongs to the parent-child parking space.

[0053] Step S13: If the target parking space is a parent-child parking space, whether the parent-child parking space meets the parking condition is determined according to the current parking space depth, current parking space width and obstacle information in the parent-child parking space.

[0054] In this embodiment, the parking condition includes a first condition related to the current parking space depth and the current parking space width and a second condition related to obstacle information in the parking space.

[0055] In a first specific implementation, whether the parent-child parking space meets the parking conditions is determined based on the current parking depth of the parent-child parking space, the current parking width and the obstacle information in the parking space, including: determining whether the current parking depth of the parent-child parking space is greater than a preset depth; wherein the preset depth is obtained based on the vehicle length of the current vehicle; determining whether the current parking width of the parent-child parking space is greater than a preset width, wherein the preset width is obtained based on the vehicle width of the current vehicle; if the current parking depth of the parent-child parking space is greater than the preset depth, and the current parking width of the parent-child parking space is greater than the preset width, then it is determined that the parent-child parking space meets the first condition.

[0056] For example, if the current parking space depth is greater than the vehicle length + 60cm, then the current parking space depth of the parent-child parking space is determined to be greater than the preset depth; if the current parking space width is greater than the vehicle length + 40cm, then the current parking space width of the parent-child parking space is determined to be greater than the preset width; if both of the above two conditions are met, then the child parking space is determined to meet the first condition. It should be pointed out that the preset depth and the preset width may have different values ​​in different implementation scenarios, and this embodiment does not make specific restrictions here.

[0057] The current parking space depth and current parking space width in this embodiment need to be obtained in combination with the position information of obstacles within the preset range outside the parent-child parking space. When there are obstacles on both sides of the target parking space, the actual parking space depth and actual parking space width will be affected, including but not limited to changes in the parking space depth and parking space width caused by irregularly parked vehicles in other parking spaces invading the current parking space. Therefore, this embodiment requires the perception system to obtain the position information of obstacles within the preset range outside the parent-child parking space, and determine the parking range of the parent-child parking space based on the position information of obstacles within the preset range outside the parent-child parking space, and then determine the current parking space depth and current parking space width based on the parking range, so as to determine whether the parent-child parking space meets the first condition based on the current parking space depth and current parking space width of the parent-child parking space.

[0058] In a second specific implementation, judging whether the parent-child parking space meets the parking condition is based on the current parking depth, current parking width and obstacle information in the parent-child parking space, including: judging whether the parent-child parking space contains a second obstacle within a preset range, and if the parent-child parking space does not contain the second obstacle within the preset range, judging that the parent-child parking space meets the second condition. That is to say, after determining that the current parking width and current parking depth meet the requirements, it is also necessary to judge whether the parent-child parking space contains an obstacle, and if the parent-child parking space does not contain an obstacle, it is judged that there is no parking risk, and parking can be performed.

[0059] Step S14: If the parent-child parking space meets the parking condition, the parent-child parking space is displayed through the vehicle display interface to release the parent-child parking space, and the parking space information of the parent-child parking space is filled into the vehicle navigation system to mark the parent-child parking space.

[0060] If the parent-child parking space meets the preset parking conditions, the parent-child parking space will be displayed through the vehicle display interface based on the release priority to realize the release of the parent-child parking space, and the corner point coordinates, parking space type and current parking space width of the parent-child parking space will be filled into the vehicle navigation system to realize the marking of the parent-child parking space. In this way, the driver can choose a suitable parking space to park, making full use of the available parking spaces, improving the driver's driving experience, and making the parking scene more generalized.

[0061] In this embodiment, releasing the parent-child parking spaces based on the release priority includes: displaying the child parking spaces in the parent-child parking spaces based on the first brightness, and displaying the parent parking spaces in the parent-child parking spaces based on the second brightness, so as to realize the release of the parent-child parking spaces; wherein the brightness value of the first brightness is greater than the brightness value of the second brightness, the first brightness display can be a high brightness display, and the second brightness display can be a low brightness display. It can be seen that when both the child parking space and the parent parking space meet the parking conditions, the child parking space is released first and then the parent parking space. For the current vehicle, the child parking space is a far-end parking space and the parent parking space is a near-end parking space. In this way, the available parking spaces can be used more reasonably and fully.

[0062] Furthermore, if the child parking space in the parent-child parking space meets the parking condition, and the mother parking space in the parent-child parking space does not meet the parking condition, the child parking space is prohibited from being released; if the child parking space in the parent-child parking space does not meet the parking condition, and the mother parking space in the parent-child parking space meets the parking condition, the mother parking space is released. In other words, if the child parking space at the far end meets the parking condition, and the mother parking space at the near end does not meet the parking condition, then the current vehicle cannot pass through the mother parking space and park in the child parking space, so the child parking space is not released; if the child parking space at the far end does not meet the parking condition, and the mother parking space at the near end meets the parking condition, then the current vehicle can directly park in the mother parking space, so only the mother parking space is released.

[0063] Figure 3 A specific vehicle parking method is disclosed, see Figure 3 As shown, the length and width information of the parking space line and the position information of the obstacle are obtained from the perception system, and the corresponding target parking space is judged to be a parallel parking space or a vertical parking space according to the length and width information of the parking space line. If the target parking space is a vertical parking space, the vertical parking space is matched with the parent-child feature. If the vertical parking space matches the parent-child feature successfully, the current parking space depth and the current parking space width of the parking space are confirmed, and when the current parking space depth, the current parking space width and the obstacle information in the parking space meet the relevant requirements, the parking space information is filled in to realize the marking of the parent-child parking space, and the parent-child parking space is displayed through the vehicle display interface to realize the release of the parent-child parking space.

[0064] Exemplarily, the length and width information of the parking space line are detected by a surround fisheye camera. Assuming that the length of the parking space is 11m and the width is 2.4m, it is judged to be a vertical parking space. After confirming that the vertical parking space meets the characteristics of a parent-child parking space, it is judged whether the depth and width of the parking space meet the relevant requirements. Here, it is necessary to combine the real-time perception results of the own vehicle to correct the perceived parking space information to avoid the parking space depth or width being insufficient for the own vehicle to park due to the intrusion of vehicles or other obstacles in adjacent parking spaces. If the parking space depth and width meet the relevant requirements, the parent-child parking spaces are marked and released for the user to choose to park. If the parking space depth and width meet irrelevant requirements, the parent-child parking spaces are marked and not released for the user to choose to park.

[0065] It can be seen that the present application proposes a vehicle parking method, including: judging whether the corresponding target parking space is a vertical parking space according to the length and width information of the parking space line; if the target parking space is the vertical parking space, matching the target parking space with the preset parent-child parking space feature, and judging whether the target parking space is a parent-child parking space according to the matching result; if the target parking space is the parent-child parking space, judging whether the parent-child parking space meets the parking condition according to the current parking space depth, current parking space width and obstacle information in the parking space of the parent-child parking space; if the parent-child parking space meets the parking condition, displaying the parent-child parking space based on the release priority so as to realize the release of the parent-child parking space, and filling the parking space information of the parent-child parking space into the vehicle navigation system so as to realize the marking of the parent-child parking space. It can be seen that after the present application determines that the target parking space is a parent-child parking space according to the preset parent-child parking space characteristics, it further determines whether the parent-child parking space meets the parking conditions according to the current parking space depth, current parking space width and obstacle information in the parking space of the parent-child parking space. If the parent-child parking space meets the parking conditions, the parent-child parking space is released based on the release priority, and the parking space information of the parent-child parking space is filled into the vehicle navigation system to realize the marking of the parent-child parking space. It can be seen that the present application optimizes the release logic of the parent-child parking space, supports the release of the mother parking space and the child parking space, and supports the release of the child parking space and the mother parking space based on different release priorities. At the same time, the marking of the parent-child parking space is realized for the driver to choose a suitable parking space for parking, which makes full use of the available parking spaces, improves the driver's driving experience, and makes the parking scene more generalized.

[0066] Correspondingly, the present application also discloses a vehicle parking device, see Figure 4 As shown, the device comprises:

[0067] A vertical parking space determination module 11 is used to determine whether the corresponding target parking space is a vertical parking space according to the length and width information of the parking space line;

[0068] The parent-child parking space matching module 12 is used for matching the target parking space with a preset parent-child parking space feature if the target parking space is the vertical parking space, and judging whether the target parking space is a parent-child parking space according to the matching result;

[0069] The parking condition judgment module 13 is used to judge whether the parent-child parking space meets the parking condition according to the current parking depth, current parking width and obstacle information of the parent-child parking space if the target parking space is the parent-child parking space;

[0070] The marking and releasing module 14 is used to display the parent-child parking space based on the release priority to release the parent-child parking space if the parent-child parking space meets the parking condition, and fill the parking space information of the parent-child parking space into the vehicle navigation system to mark the parent-child parking space.

[0071] Among them, for more specific working processes of the above-mentioned modules, please refer to the corresponding contents disclosed in the aforementioned embodiments, which will not be repeated here.

[0072] It can be seen that the present application proposes a vehicle parking method, including: judging whether the corresponding target parking space is a vertical parking space according to the length and width information of the parking space line; if the target parking space is the vertical parking space, matching the target parking space with the preset parent-child parking space feature, and judging whether the target parking space is a parent-child parking space according to the matching result; if the target parking space is the parent-child parking space, judging whether the parent-child parking space meets the parking condition according to the current parking space depth, current parking space width and obstacle information in the parking space of the parent-child parking space; if the parent-child parking space meets the parking condition, displaying the parent-child parking space based on the release priority so as to realize the release of the parent-child parking space, and filling the parking space information of the parent-child parking space into the vehicle navigation system so as to realize the marking of the parent-child parking space. It can be seen that after the present application determines that the target parking space is a parent-child parking space according to the preset parent-child parking space characteristics, it further determines whether the parent-child parking space meets the parking conditions according to the current parking space depth, current parking space width and obstacle information in the parking space of the parent-child parking space. If the parent-child parking space meets the parking conditions, the parent-child parking space is released based on the release priority, and the parking space information of the parent-child parking space is filled into the vehicle navigation system to realize the marking of the parent-child parking space. It can be seen that the present application optimizes the release logic of the parent-child parking space, supports the release of the mother parking space and the child parking space, and supports the release of the child parking space and the mother parking space based on different release priorities. At the same time, the marking of the parent-child parking space is realized for the driver to choose a suitable parking space for parking, which makes full use of the available parking spaces, improves the driver's driving experience, and makes the parking scene more generalized.

[0073] Furthermore, an embodiment of the present application also provides an electronic device. Figure 5This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be considered as any limitation on the scope of use of the present application.

[0074] Figure 5 The present invention provides a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may include: at least one processor 21, at least one memory 22, a display screen 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the following steps:

[0075] Determine whether the corresponding target parking space is a vertical parking space according to the length and width information of the parking space line;

[0076] If the target parking space is the vertical parking space, the target parking space is matched with the preset parent-child parking space feature, and whether the target parking space is a parent-child parking space is determined according to the matching result;

[0077] If the target parking space is the parent-child parking space, judging whether the parent-child parking space meets the parking condition according to the current parking space depth, current parking space width and obstacle information in the parking space;

[0078] If the parent-child parking space meets the parking condition, the parent-child parking space is displayed based on the release priority to release the parent-child parking space, and the parking space information of the parent-child parking space is filled into the vehicle navigation system to mark the parent-child parking space.

[0079] In some specific implementations, the processor can implement the following steps by executing the computer program stored in the memory:

[0080] Determining whether a first target position of the target parking space includes the parking space line, and determining whether a second target position of the target parking space includes a first obstacle;

[0081] Correspondingly, judging whether the target parking space is a parent-child parking space according to the matching result includes:

[0082] If the first target position of the target parking space includes the parking space line, and the second target position of the target parking space includes the first obstacle, then the target parking space is determined to be the parent-child parking space.

[0083] In some specific implementations, the processor can implement the following steps by executing the computer program stored in the memory:

[0084] The first target position is a middle position of the target parking space, and the second target position is a far end position of the target parking space, and the distance between the far end position and the current vehicle is greater than a preset distance.

[0085] In some specific implementations, the processor can implement the following steps by executing the computer program stored in the memory:

[0086] The parking condition includes a first condition related to the current parking space depth and the current parking space width and a second condition related to the obstacle information in the parking space. The judging whether the parent-child parking space meets the parking condition according to the current parking space depth, the current parking space width and the obstacle information in the parking space includes:

[0087] Determine whether the current parking depth of the parent-child parking space is greater than a preset depth, and determine whether the current parking width of the parent-child parking space is greater than a preset width; wherein the preset depth is obtained based on the vehicle length of the current vehicle, and the preset width is obtained based on the vehicle width of the current vehicle;

[0088] If the current parking depth of the parent-child parking space is greater than the preset depth, and the current parking width of the parent-child parking space is greater than the preset width, it is determined that the parent-child parking space meets the first condition;

[0089] The current parking space depth and the current parking space width are determined according to a parking range, and the parking range is determined according to position information of obstacles within a preset range outside the parent-child parking space;

[0090] Determining whether a second obstacle is included in a preset range within the parent-child parking space;

[0091] If the second obstacle is not included in the preset range of the parent-child parking space, it is determined that the parent-child parking space meets the second condition.

[0092] In some specific implementations, the processor can implement the following steps by executing the computer program stored in the memory:

[0093] The corner point coordinates of the parent-child parking space, the parking space type and the current parking space width are filled into the vehicle navigation system to realize the marking of the parent-child parking space.

[0094] In some specific implementations, the processor can implement the following steps by executing the computer program stored in the memory:

[0095] The child parking spaces in the parent-child parking spaces are displayed based on a first brightness, and the mother parking spaces in the parent-child parking spaces are displayed based on a second brightness, so as to release the parent-child parking spaces; wherein the brightness value of the first brightness is greater than the brightness value of the second brightness.

[0096] In some specific implementations, the processor may further implement the following steps by executing the computer program stored in the memory:

[0097] If the sub-parking space in the parent-child parking space meets the parking condition, and the parent-child parking space in the parent-child parking space does not meet the parking condition, the sub-parking space is prohibited from being released;

[0098] If the child parking space in the parent-child parking space does not meet the parking condition, and the mother parking space in the parent-child parking space meets the parking condition, the mother parking space is released.

[0099] In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0100] In this embodiment, the power supply 26 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 25 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 24 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0101] In addition, the memory 22, as a carrier for storing resources, may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include a computer program 221, and the storage method may be temporary storage or permanent storage. In addition to including a computer program that can be used to complete the vehicle parking method executed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 221 may further include a computer program that can be used to complete other specific tasks.

[0102] Furthermore, an embodiment of the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the vehicle parking method disclosed above is implemented.

[0103] For the specific steps of the method, reference may be made to the corresponding contents disclosed in the aforementioned embodiments, which will not be described in detail here.

[0104] The various embodiments in this application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0105] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0106] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0107] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0108] The above is a detailed introduction to a vehicle parking method, device, equipment, and storage medium provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for a person skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle parking method, characterized in that: include: Determine whether the corresponding target parking space is a vertical parking space according to the length and width information of the parking space line; If the target parking space is the vertical parking space, the target parking space is matched with the preset parent-child parking space feature, and whether the target parking space is a parent-child parking space is determined according to the matching result; If the target parking space is the parent-child parking space, judging whether the parent-child parking space meets the parking condition according to the current parking space depth, current parking space width and obstacle information in the parking space; If the parent-child parking space meets the parking condition, the parent-child parking space is displayed based on the release priority to release the parent-child parking space, and the parking space information of the parent-child parking space is filled into the vehicle navigation system to mark the parent-child parking space.

2. The vehicle parking method according to claim 1, characterized in that: The matching of the target parking space with the preset parent-child parking space features includes: Determining whether a first target position of the target parking space includes the parking space line, and determining whether a second target position of the target parking space includes a first obstacle; Correspondingly, judging whether the target parking space is a parent-child parking space according to the matching result includes: If the first target position of the target parking space includes the parking space line, and the second target position of the target parking space includes the first obstacle, then the target parking space is determined to be the parent-child parking space.

3. The vehicle parking method according to claim 2, characterized in that: The first target position is a middle position of the target parking space, and the second target position is a far end position of the target parking space, and the distance between the far end position and the current vehicle is greater than a preset distance.

4. The vehicle parking method according to claim 1, characterized in that: The parking condition includes a first condition related to the current parking space depth and the current parking space width and a second condition related to the obstacle information in the parking space. The judging whether the parent-child parking space meets the parking condition according to the current parking space depth, the current parking space width and the obstacle information in the parking space includes: Determine whether the current parking depth of the parent-child parking space is greater than a preset depth, and determine whether the current parking width of the parent-child parking space is greater than a preset width; wherein the preset depth is obtained based on the vehicle length of the current vehicle, and the preset width is obtained based on the vehicle width of the current vehicle; If the current parking depth of the parent-child parking space is greater than the preset depth, and the current parking width of the parent-child parking space is greater than the preset width, it is determined that the parent-child parking space meets the first condition; The current parking space depth and the current parking space width are determined according to a parking range, and the parking range is determined according to position information of obstacles within a preset range outside the parent-child parking space; Determining whether a second obstacle is included in a preset range within the parent-child parking space; If the second obstacle is not included in the preset range of the parent-child parking space, it is determined that the parent-child parking space meets the second condition.

5. The vehicle parking method according to claim 4, characterized in that: The step of filling the parking space information of the parent-child parking space into the vehicle navigation system so as to mark the parent-child parking space includes: The corner point coordinates of the parent-child parking space, the parking space type and the current parking space width are filled into the vehicle navigation system to realize the marking of the parent-child parking space.

6. The vehicle parking method according to claim 1, characterized in that: The displaying of the parent-child parking spaces based on the release priority so as to release the parent-child parking spaces includes: The child parking spaces in the parent-child parking spaces are displayed based on a first brightness, and the mother parking spaces in the parent-child parking spaces are displayed based on a second brightness, so as to release the parent-child parking spaces; wherein the brightness value of the first brightness is greater than the brightness value of the second brightness.

7. The vehicle parking method according to claim 1, characterized in that: Also includes: If the sub-parking space in the parent-child parking space meets the parking condition, and the parent-parking space in the parent-child parking space does not meet the parking condition, the sub-parking space is prohibited from being released; If the child parking space in the parent-child parking space does not meet the parking condition, and the mother parking space in the parent-child parking space meets the parking condition, the mother parking space is released.

8. A vehicle parking device, characterized in that: include: A vertical parking space determination module is used to determine whether the corresponding target parking space is a vertical parking space according to the length and width information of the parking space line; A parent-child parking space matching module is used to match the target parking space with a preset parent-child parking space feature if the target parking space is the vertical parking space, and determine whether the target parking space is a parent-child parking space according to the matching result; A parking condition judgment module, for judging whether the parent-child parking space satisfies the parking condition according to the current parking depth, current parking width and obstacle information in the parent-child parking space if the target parking space is the parent-child parking space; A marking and releasing module is used to display the parent-child parking space based on the release priority if the parent-child parking space meets the parking condition so as to release the parent-child parking space, and fill the parking space information of the parent-child parking space into the vehicle navigation system so as to mark the parent-child parking space.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the vehicle parking method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program; wherein, when the computer program is executed by a processor, the vehicle parking method according to any one of claims 1 to 7 is implemented.

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