Parking prompting method and device, vehicle, medium and program product

Abstract

The invention relates to a parking prompting method and device, a vehicle, a medium and a program product in the technical field of automatic driving, and the method comprises the steps: responding to a parking operation, and determining the size of a parking space to be parked and occupied information; determining parking information of the to-be-parked parking space according to the size of the parking space and the occupied information; and according to the parking information, parking is prompted. In this way, whether the parking space meets the parking condition or not is judged by detecting and analyzing the size of the parking space to be parked and the occupied information, whether the parking space is suitable for parking or not can be quickly judged, the time for finding the proper parking space is shortened, the parking efficiency is improved, the size of the parking space and the occupied condition can be accurately judged, and the parking space is more convenient to park. According to the technical scheme, the vehicle scraping or collision accident caused by misjudgment is avoided, the parking safety is enhanced, the user experience is improved, the parking efficiency is improved, and the parking safety is enhanced.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and in particular to a parking prompt method, device, vehicle, medium, and program product. Background Technology

[0002] Automated Parking Assistant (APA) is a smart parking assistance system based on onboard sensors and computer control technology. It uses devices such as onboard cameras, ultrasonic sensors, and lidar to perceive real-time environmental information around the vehicle, then processes this information through computer algorithms to automatically control the vehicle's steering, acceleration, deceleration, and other operations, enabling automatic parking and retrieval. Summary of the Invention

[0003] To overcome the problems existing in related technologies, this disclosure provides a parking guidance method, device, vehicle, medium, and program product.

[0004] According to a first aspect of the present disclosure, a parking guidance method is provided, comprising: In response to parking operations, determine the dimensions of the parking space to be parked and information on whether it has been occupied; Based on the storage space dimensions and the encroachment information, the parking information of the parking space to be parked is determined; Based on the parking information, prompt the driver to park.

[0005] According to a second aspect of the present disclosure, a parking guidance device is provided, comprising: The first determining module is configured to determine the size of the parking space to be parked and the information on whether it has been occupied in response to a parking operation. The second determining module is configured to determine the parking information of the parking space to be parked based on the storage space size and the encroachment information; The prompting module is configured to prompt parking based on the parking information.

[0006] According to a third aspect of the present disclosure, a vehicle is provided, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to execute the executable instructions stored in the memory to implement the method described in any one of the first aspects.

[0007] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0008] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0009] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: In response to parking operations, the system determines the dimensions of the parking space and information on whether it is occupied. Based on these dimensions and occupancy information, it determines the parking space's entry requirements. Based on the entry requirements, it provides parking suggestions. By detecting and analyzing the dimensions and occupancy information of the parking space, the system determines whether the space meets the parking conditions. This not only quickly assesses whether a space is suitable, reducing the time spent searching for a suitable space and improving parking efficiency, but also accurately judges the size of the space and the occupancy status, preventing vehicle scratches or collisions due to misjudgment, thus enhancing parking safety, improving user experience, and increasing parking efficiency and security.

[0010] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0011] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0012] Figure 1 This is a flowchart illustrating a parking prompting method according to an exemplary embodiment.

[0013] Figure 2 This is an implementation illustrated according to an exemplary embodiment. Figure 1 The flowchart for step S12.

[0014] Figure 3 This is an implementation illustrated according to an exemplary embodiment. Figure 2 The flowchart for step S122.

[0015] Figure 4 This is a schematic diagram illustrating various parking spaces being occupied according to an exemplary embodiment.

[0016] Figure 5 This is a flowchart illustrating another parking prompting method according to an exemplary embodiment.

[0017] Figure 6 This is a block diagram illustrating a parking guidance device according to an exemplary embodiment.

[0018] Figure 7 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0019] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0020] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0021] Before introducing the parking guidance method, device, vehicle, medium, and program products provided in this disclosure, let's first introduce the relevant scenario. APA achieves automated and intelligent vehicle parking and exiting through sensors, cameras, lidar, etc., which not only reduces waiting time when parking and reduces the risk of scratches caused by human operation, but also improves parking efficiency and ensures the safety of vehicles and people during the parking process, achieving more accurate and efficient parking and retrieval operations.

[0022] In a relevant scenario, parking space release is determined through the following steps: Step 1, obtain the relative angle and lateral distance between the vehicle waiting to park and the obstacle; Step 2, in the environment of Step 1, establish a coordinate system with the sensor closest to the rear of the vehicle waiting to park as the origin; Step 3, using the relative angle and lateral distance between the vehicle waiting to park and the obstacle, obtain the motion trajectory of the sensor array on the vehicle waiting to park in this coordinate system, and then obtain the coordinate values ​​of the obstacle contour points, and fit the obstacle contour; Step 4, based on the obtained obstacle contour, determine the length and width of the detected parking space; Step 5, compare the length and width of the detected parking space with the length, width, and turning radius of the vehicle waiting to park to determine whether the parking space is available. This method can only be achieved using ultrasonic waves or radar. However, ultrasonic waves or radar have difficulty identifying various types of obstacles, such as trash cans of different heights, shapes, and materials, as well as objects that are similar in color to the ground or have irregular shapes.

[0023] In another relevant scenario, APA primarily relies on ultrasonic and visual recognition to identify parking spaces. Ultrasonic technology measures the distance between obstacles and detects spatial depth to determine whether the space can be released. Alternatively, it may rely on surround-view cameras to take pictures of the environment around the vehicle to determine whether there are parking lines and whether there are obstructing vehicles or obstacles in the parking space, thereby determining whether the parking space can be released.

[0024] For example, the parking space detection device of an intelligent parking system includes: a sensor unit: comprising cameras and ranging sensors located on the vehicle body. For instance, the sensor unit includes four wide-angle cameras located at the front, rear, left, and right sides of the vehicle, and ultrasonic ranging sensors located on both sides of the vehicle. The installation positions of the four cameras should ensure that the images captured by the four cameras cover a 360-degree area around the vehicle, and that the images captured by adjacent cameras have overlapping areas; a signal processing unit: comprising a surround view generation module and a parking space detection module; and a human-machine interface: an output module for displaying the surround view and detected parking spaces, and an input module for accepting various commands from the driver. For example, the human-machine interface output module overlays the detected parking spaces onto the surround view. If the detected parking space is incorrect or does not meet the driver's expectations, the driver can adjust the position and direction of the parking space through the input module. After the driver changes the position and direction of the parking space, the coordinates of the four corner points of the new parking space are output to the intelligent parking system's path planning module.

[0025] The parking space detection module includes a parking space line detection submodule, an obstacle vehicle detection submodule, and a parking space output submodule. The parking space line detection submodule uses ground parking space lines to detect parking spaces. For example, the parking space line detection submodule determines parking spaces by the following steps: (1) image preprocessing; (2) extracting straight lines from the panoramic view; (3) post-processing the straight lines to retain the line segments corresponding to the ground parking space lines and delete other messy line segments; (4) obtaining a rectangular parking space. The obstacle vehicle detection submodule uses obstacle vehicles to detect parking spaces. For example, the obstacle vehicle detection submodule determines parking spaces by the following steps: determining parking spaces based on the position of the front and rear outlines of the obstacle vehicle. The position of the front profile of the first obstacle vehicle in the global coordinate system is determined by the following method: (1) Using the distance value obtained by the ultrasonic ranging sensor and the vehicle pose information, a straight line corresponding to the side profile of the obstacle vehicle is fitted; (2) When the distance value of the ultrasonic ranging sensor changes positively, the toroidal view at this moment is stored; (3) A region of interest (ROI) is set in the toroidal view so that the front profile of the obstacle vehicle is located in the ROI; (4) The image of the ROI is grayscaled and edge detection is performed to obtain the coordinates of the most protruding point (foremost point) of the front profile of the obstacle vehicle; (5) A perpendicular line is drawn from the foremost point to the fitted straight line to determine the position of the front profile of the obstacle vehicle in the global coordinate system.

[0026] If there are two obstacle vehicles, the position of the rear profile of the second obstacle vehicle in the global coordinate system is determined by the following method: (1) Using the distance value obtained by the ultrasonic ranging sensor and the vehicle pose information, a straight line corresponding to the side profile of the obstacle vehicle is fitted; (2) When the distance value of the ultrasonic ranging sensor undergoes a negative jump, the toroidal view at this moment is stored; (3) A region of interest is set in the toroidal view so that the rear profile of the obstacle vehicle is located in the region of interest; (4) The image of the region of interest is grayscaled and edge detection is performed to obtain the coordinates of the most protruding point of the front profile of the obstacle vehicle, i.e., the last point; (5) A perpendicular line is drawn from the last point to the fitted straight line to determine the position of the rear profile of the obstacle vehicle in the global coordinate system.

[0027] Then, the parking space output submodule determines the parking space based on the detection results from the parking space line detection submodule and the obstacle vehicle detection submodule. However, all qualified parking spaces will be released, and when a vehicle occupies the space, there is a risk that the vehicle may cross the parking space line after parking, affecting other vehicles from parking.

[0028] Figure 1 This is a flowchart illustrating a parking suggestion method according to an exemplary embodiment, such as... Figure 1 As shown, it includes the following steps.

[0029] In step S11, in response to the parking operation, the size of the parking space to be parked and the information on whether it has been occupied are determined; Parking operations can be initiated via the vehicle's control panel, smartphone app, or voice commands to activate the vehicle's parking assistance functions. Parking space dimensions can include the physical dimensions of the space, such as its length and width. Encroachment information indicates whether other vehicles, obstacles, or improperly parked portions of the space exist, preventing the space from being fully utilized.

[0030] In this embodiment of the disclosure, when a parking operation command is received, the vehicle's parking assistance begins to operate. First, the vehicle's sensors (such as cameras, ultrasonic sensors, and lidar) are used to scan the surrounding environment. These sensors can capture images and distance data around the parking space in real time, and through image processing algorithms and data analysis techniques, extract information about the parking space dimensions and whether the space has been encroached upon.

[0031] For example, suppose a user is looking for a parking space and activates the parking assist function via the vehicle's central control screen. Once activated, the camera begins capturing an image of the area in front of the vehicle and displays it on the screen in real time. Simultaneously, ultrasonic sensors begin measuring the distance between the vehicle and the boundary of the parking space. Through image processing and distance data analysis, the length and width of the parking space are determined, and it is found that there are no other vehicles or obstacles within the space. Therefore, the parking space is deemed to meet the basic parking requirements.

[0032] In step S12, the parking information of the parking space to be parked is determined based on the size of the parking space and the encroachment information. The parking information can be whether the parking space meets the parking conditions. The parking conditions can be a series of pre-set constraints that enable a vehicle to park smoothly in the parking space. For example, the size, shape, orientation of the parking space and whether there are obstacles in the parking space can be included.

[0033] In this embodiment, after obtaining the parking space dimensions and information on encroachment, this data is compared with the vehicle's dimensions and parking capacity. Based on parameters such as the vehicle's length, width, and turning radius, it is calculated whether the vehicle can park in the parking space at a suitable angle and direction. Simultaneously, whether there is encroachment within the parking space is also considered to determine parking information.

[0034] Continuing with the example above, we've determined the length and width of the parking space ahead and found no other vehicles or obstacles within it. Next, we compare the vehicle's dimensions (such as length and width) with the parking space dimensions. Let's assume the vehicle is 4.5 meters long and 1.8 meters wide, while the parking space is 5 meters long and 2.4 meters wide. In this case, the vehicle's dimensions are smaller than the parking space's dimensions, therefore it's assumed the vehicle can park smoothly in the space.

[0035] In step S13, parking is prompted based on the parking information.

[0036] Among them, parking reminders can be issued by means of, for example, playing parking reminder sounds, activating lights, or displaying information on a screen, indicating whether the vehicle can be parked in a parking space.

[0037] In this embodiment of the disclosure, after determining whether the parking space meets the parking conditions, a corresponding parking prompt is issued to the user based on the result. If the parking space meets the parking conditions, the user is informed that the vehicle can be parked in the parking space through sound prompts (such as a beeping sound), light prompts (such as flashing indicator lights), or display prompts (such as displaying the words "Parking Available"). If the parking space does not meet the parking conditions, the parking space is not released, and a warning prompt is issued, such as displaying "Parking Space Unavailable" or emitting a continuous beeping sound, to remind the user to find another parking space.

[0038] In the example above, it has been determined that the parking space ahead meets the parking requirements. Therefore, the vehicle's central control screen displays "Parking Available," and an audible notification informs the user that the vehicle has found a suitable parking space. Simultaneously, the vehicle's parking assist system activates, guiding the vehicle to automatically park in the space.

[0039] The aforementioned technical solution responds to parking operations by determining the dimensions of the parking space to be parked and information on any encroachment; based on these dimensions and encroachment information, it determines the parking entry information for the parking space; and based on the parking entry information, it provides parking guidance. In this way, by detecting and analyzing the dimensions of the parking space to be parked and information on any encroachment, it determines whether the parking space meets the parking entry conditions. This not only allows for a quick assessment of whether a parking space is suitable, reducing the time spent searching for a suitable space and improving parking efficiency, but also accurately determines the dimensions of the parking space and the extent of encroachment, avoiding vehicle scratches or collisions caused by misjudgments, thus enhancing parking safety, improving user experience, and increasing parking efficiency and safety.

[0040] Optionally, see Figure 2 As shown, in step S12, determining the parking information of the parking space to be parked based on the space size and the occupancy information includes: In step S121, the permitted parking information of the parking space to be parked is determined according to the size of the parking space; Among them, the permitted parking information can be whether the size of the parking space meets the preset size conditions. The preset size conditions are based on the vehicle size and parking safety margin and are used to determine whether the parking space is large enough to accommodate the vehicle to be parked.

[0041] In this embodiment of the disclosure, the size information of the vehicle to be parked is first obtained (usually through a vehicle database or user input), and then compared with the preset parking space size conditions. The preset size conditions usually take into account the minimum parking space requirements of the vehicle and a certain safety margin (such as additional space in front, behind, left, and right) to ensure that the vehicle can be parked smoothly and avoid scratches.

[0042] For example, suppose the length of the vehicle to be parked is 4.8 meters and the width is 1.8 meters. The preset size conditions might be set to a length of at least 5 meters and a width of at least 2.4 meters (including safety margin). In this case, since the length and width of the vehicle to be parked are both less than the preset conditions, it can be determined that the parking space does not meet the preset size conditions, and the evaluation for further parking operations will be suspended.

[0043] In step S122, if the permitted parking information indicates that parking is permitted, then the parking information of the parking space to be parked is determined based on the occupied information.

[0044] In this embodiment of the disclosure, after confirming that the parking space meets the basic size requirements, it can be checked whether the parking space is occupied by other objects. For example, this can be achieved by using sensors (such as cameras, ultrasonic sensors, radar, etc.) to obtain the status information of the parking space in real time. If the parking space is partially or completely occupied, it will be assessed whether the occupation affects the parking operation of the vehicle. For example, if the occupation only occurs at one end of the parking space and does not affect the vehicle's entry and exit path, it may still be determined that the parking conditions are met.

[0045] Continuing with the example above, suppose the parking space meets the preset size requirements. However, the front of the space is slightly encroached upon by a temporarily parked vehicle, with the encroachment not exceeding half of the space required in front of the vehicle. If the assessment determines that this encroachment will not hinder the smooth parking of the vehicle (e.g., through precise calculation of the parking path and the positional relationship of the encroaching object), the parking space may still be deemed to meet the parking requirements, and the subsequent parking operation can proceed. Conversely, if the encroachment is severe, preventing the vehicle from entering smoothly or potentially posing a collision risk, the parking requirements will be deemed not met, and the parking process will be terminated.

[0046] The aforementioned technical solution, by comparing the dimensions of the vehicle to be parked with the preset parking space dimensions, can accurately filter out parking spaces that physically meet the vehicle's parking requirements. This effectively avoids parking failures or vehicle scratches caused by insufficient parking space dimensions, thereby improving parking success rate and safety. Furthermore, by preemptively eliminating parking spaces that do not meet the size requirements, unnecessary parking attempts are reduced, thus optimizing the parking process, shortening the time users spend finding suitable parking spaces, and improving parking efficiency. Further considering whether the parking space is occupied by other objects, it can dynamically assess the actual availability of the parking space, preventing parking failures due to space encroachment even when the space dimensions meet the requirements.

[0047] Optionally, see Figure 3 As shown, in step S122, determining the parking information of the parking space to be parked based on the occupancy information includes: In step S1221, the occupancy information of the parking space to be parked is determined based on the occupancy information. Among them, the information on encroachment can be data on the current status and occupancy of parking spaces by other objects (such as other vehicles, obstacles, etc.).

[0048] In this embodiment of the disclosure, after determining that the size of the parking space meets the preset conditions, it is necessary to further determine whether the parking space is truly usable based on whether it has been occupied. This step involves obtaining occupancy information and analyzing the current occupancy status of the parking space to determine whether a vehicle can be parked smoothly.

[0049] Therefore, the current occupancy status of parking spaces can be obtained through sensors (such as cameras and radar) or vehicle-to-everything (V2X) technology to determine whether the parking space has been occupied by other objects. For example, an image of the parking space area can be captured by a camera and analyzed. If the outlines of other vehicles or obstacles are found in the image, and these outlines overlap with the parking space area, then it can be determined that the parking space has been occupied.

[0050] For example, suppose a parking space measuring 5 meters by 2.5 meters is detected, which meets the parking needs of a small car. However, upon further analysis of the occupancy information, it is found that the front of the parking space is occupied by a parked vehicle, which occupies 0.5 meters, leaving a remaining usable length of 4.5 meters. In this case, if the length of the vehicle waiting to be parked exceeds 4.5 meters, then the parking space will no longer meet the parking requirements.

[0051] In step S1222, if the encroachment information indicates that there is encroachment, then the parking information of the parking space to be parked is determined according to the parking space type and the encroachment size.

[0052] The parking space type can be classified into different types based on factors such as the size, shape, and location of the parking space, such as perpendicular parking spaces, angled parking spaces, and lateral parking spaces. The encroached size can be the size of the parking space currently occupied by other objects (such as vehicles, obstacles, etc.), which may include length, width, or a combination of both.

[0053] In this embodiment of the disclosure, after confirming that a parking space has been encroached upon, the size of the encroachment and the type of the parking space to be used are further analyzed to determine whether the parking space still meets the parking conditions. The tolerance for encroachment may differ for different types of parking spaces. For example, parallel parking spaces may have a higher tolerance for encroachment, while perpendicular parking spaces may require stricter occupancy control.

[0054] For example, suppose the parking space is a standard space measuring 5 meters by 2.5 meters, and a parked vehicle occupies 0.5 meters of that space. If the vehicle is a small sedan with a length of 4.8 meters, the remaining 4.5 meters might still be sufficient for parking in the standard space. However, if the vehicle is a large SUV with a length of 5.2 meters, then the parking space would not meet the requirements for parking.

[0055] The above technical solution provides more accurate and reliable parking prompts by acquiring information on encroachment, determining whether a parking space has been encroached upon, and analyzing factors such as the size of the encroachment and the type of parking space.

[0056] Optionally, in step S1222, determining the parking information of the parking space to be parked based on the parking space type and the encroached size includes: Based on the parking space type, determine the target threshold for size comparison; The target threshold can be determined for each parking space type, thus setting a size limit or safety margin threshold to assess whether a vehicle can successfully park.

[0057] In this embodiment of the disclosure, after confirming that a parking space to be parked is occupied, a target threshold for size comparison can be determined based on the type of parking space. The target threshold is selected based on the physical size of the parking space, the expected vehicle size, and the type of parking space. For example, if the parking space type is a side parking space, and the parking space is occupied in the length direction (by other vehicles or obstacles), the target threshold can be a first threshold based on the length direction; if the parking space is occupied in the width direction (by other vehicles or obstacles), the target threshold can be a second threshold based on the width direction. If the parking space is occupied in both the length and width directions (by other vehicles or obstacles), the target threshold can be a first threshold based on the length direction and a second threshold based on the width direction.

[0058] The parking information of the parking space to be parked is determined based on the target size of the parking space, the encroached size, and the target threshold, wherein the target size is the same as the dimension of the target threshold.

[0059] In this embodiment of the disclosure, when it is detected that a parking space is being occupied, it is possible to assess whether the parking space still meets the parking conditions for a vehicle. This includes the target size of the parking space, the size of the occupied space, and a target threshold set for the target parking space type.

[0060] Specifically, the actual parking space size can be obtained by subtracting the encroached size from the target size in the parking space dimensions. The actual parking space size is then compared with a target threshold to determine if the parking space meets the parking conditions. For example, if the parking space is a perpendicular parking space and another vehicle is parked on the left side, the encroached size can be determined using radar, cameras, etc. Then, the encroached size is subtracted from the width of the parking space, and this subtraction is compared with the second threshold in the aforementioned embodiment to determine if the parking space meets the parking conditions. Other encroachment situations are similar and will not be elaborated here.

[0061] The aforementioned technical solutions ensure that vehicles are parked in safe and suitable spaces, preventing accidents such as scratches and collisions. Furthermore, by accurately assessing parking space availability, they improve parking efficiency and user experience, reducing the time and effort users spend searching for suitable parking spaces.

[0062] Optionally, determining the target threshold for size comparison based on the parking space type includes: When the parking space type is vertical or diagonal, a preset width threshold is determined as the target threshold for size comparison. The preset width threshold is a width size limit set for perpendicular or angled parking spaces to determine whether a vehicle can be parked smoothly.

[0063] In this embodiment, the type of parking space to be evaluated is first identified, such as perpendicular, angled, or lateral parking. This can be achieved using hardware devices such as cameras or sensors. The parking space type is determined by analyzing images or data of the parking space and its surrounding environment.

[0064] Furthermore, for perpendicular or angled parking spaces, vehicle parking is primarily limited by the width of the parking space. Therefore, a width threshold can be preset as a target threshold based on the characteristics of these parking space types. This width threshold takes into account the width space required for vehicle parking and the safety margin.

[0065] For example, suppose the preset threshold for the width of a perpendicular parking space is 2.4 meters. When the actual width of a perpendicular parking space (after deducting any possible obstructions) is detected to be greater than or equal to 2.4 meters, the parking space is determined to meet the parking conditions; otherwise, it is determined not to meet the conditions.

[0066] When the parking space type is side parking, the preset length threshold is determined as the target threshold for size comparison.

[0067] Among them, the preset length threshold is a preset length size limit for side parking spaces, used to determine whether a vehicle can be parked smoothly.

[0068] In this embodiment of the disclosure, for side parking spaces, vehicle parking is primarily limited by the length of the parking space. Therefore, based on the characteristics of these parking space types, a preset length threshold is used as a target threshold. This length threshold takes into account the length space required for vehicle parking and the safety margin.

[0069] For example, suppose the preset threshold for the length of a side parking space is 6 meters. When the actual length of a side parking space (after deducting any possible obstructions) is greater than or equal to 6 meters, the parking space is determined to meet the parking conditions; otherwise, it is determined not to meet the conditions.

[0070] The above technical solution determines the target threshold for size comparison based on the type of parking space, and judges whether the parking space meets the parking conditions accordingly. It can intelligently identify parking spaces that meet the parking conditions and provide users with more convenient and efficient parking prompts.

[0071] Optionally, before determining the parking information of the parking space to be parked based on the parking space type and the size of the encroachment if the encroachment information indicates that encroachment exists, the method further includes: It has been determined that there are no adjacent vacant parking spaces for the parking space to be used; Among them, adjacent vacant parking spaces can be parking spaces that are adjacent to the vacant parking space and are currently vacant. These adjacent vacant parking spaces can be adjacent parking spaces that are not occupied by other vehicles or obstacles, or parking spaces that are not occupied by other vehicles or obstacles and are separated by one or more parking spaces. As long as the parking space information can be collected by radar or cameras, it can be included in the scope of adjacent parking spaces.

[0072] In this embodiment of the disclosure, when a user selects a parking space, if the space is already occupied, the system first checks if there are any vacant parking spaces around that space. This optimizes the utilization of parking resources; if there are vacant parking spaces around the selected space, these spaces are prioritized, reducing wasted space when vehicles are parked and improving the overall parking efficiency of the parking lot.

[0073] For example, suppose a user selects a perpendicular parking space in a corner of a parking lot as their parking space, and the right side of this parking space is occupied by other parked vehicles. Using hardware devices such as cameras or sensors, the system scans and identifies the parking space status around this parking space. If it finds vacant parking spaces next to or near this one (i.e., these spaces are not currently occupied by any object), it is considered that there are adjacent vacant parking spaces for the user to park in.

[0074] The method further includes: If there is an adjacent vacant parking space for the parking space to be parked, the system will prompt the user to use that adjacent vacant parking space as the target parking space.

[0075] In this embodiment of the disclosure, when it is determined that there is an adjacent vacant parking space, a prompt can be issued to the user, suggesting that the user choose the adjacent vacant parking space as the target parking space. This can guide users to make more rational use of parking space, while reducing the time and effort users spend searching for suitable parking spaces, thereby optimizing the utilization of parking resources and improving the user parking experience.

[0076] Continuing with the previous example, if an available parking space is found next to the one you are looking for, the system can display a message to the user via the in-car display or a mobile application: "There is an available parking space next to the one you selected. We suggest you choose this available space to park." The system can also provide detailed information such as the available parking space number and location so that the user can quickly find and park their vehicle.

[0077] In this disclosure embodiment, see Figure 4 As shown, if a parking space is occupied, radar or cameras can be used to determine the obstacle information in all directions of the parking space. For example, radar can identify the outline and position of obstacles, and then the actual space size of the current parking space can be determined using, for example, echo distance values. Figure 4 The parking space width W and parking space length L shown are compared with the target threshold to determine whether the parking space meets the parking conditions.

[0078] The above technical solution determines whether there are any vacant parking spaces nearby and prompts the user to choose an vacant parking space when one is available. This allows for more rational use of parking resources, improves the overall parking efficiency of the parking lot, and provides users with a more convenient and efficient parking prompt service.

[0079] Optionally, the method further includes: If the invaded information indicates that there is no invasion, then the berthing information is determined to meet the berthing conditions.

[0080] In this embodiment of the disclosure, when it is detected that the parking space selected by the user is not occupied by other objects (such as vehicles, obstacles, etc.), the parking space is considered to be completely vacant and available for the user to park their vehicle. Therefore, it can be determined that the parking space meets the parking conditions, meaning that the user can safely and smoothly park their vehicle in the parking space.

[0081] For example, suppose a user selects a parking space in the center of a parking lot through the smart parking interface. Hardware devices such as cameras or sensors monitor the status of this parking space in real time. If the space is detected to be completely vacant and not occupied by any object, the system automatically determines that the parking space meets the parking requirements and prepares to guide the user to the next parking step.

[0082] Optionally, the method further includes: If the allowed berthing information indicates that berthing is not allowed, then the berthing information is determined to be unsatisfactory.

[0083] In this embodiment of the disclosure, the dimensions of the parking space are verified by pre-setting a series of vehicle size conditions, including vehicle length and width, to ensure that the vehicle can be safely parked in the parking space. When it is detected that the dimensions of the parking space to be parked do not meet the preset vehicle size conditions, it can be determined that the parking space cannot meet the user's parking needs, and therefore it will be judged that the parking space to be parked does not meet the parking conditions.

[0084] For example, suppose a user is driving a large SUV, and the parking space they select is a small one. Using cameras or sensors, the dimensions of the parking space are monitored and calculated in real time. If it's found that the space's dimensions are insufficient for a large SUV (e.g., the space's length is less than the SUV's length), then the parking space is deemed unsuitable, and the user is prompted to choose another suitable space.

[0085] Optionally, prompting parking based on the parking information includes: If the parking information meets the parking conditions, then the system will prompt the user to select the parking space to be used as the target parking space.

[0086] In this embodiment of the disclosure, after detecting and verifying the dimensions of the parking space to be parked, a parking prompt can be issued to the user based on the judgment result. If the parking space to be parked meets the parking conditions, the user is prompted to use that parking space as the target parking space, and parking guidance services, such as route planning and parking assistance, may be provided. If the parking space to be parked does not meet the parking conditions, the user is prompted to select another parking space, and parking space recommendation services may be provided.

[0087] For example, assuming the parking space selected by the user meets the parking requirements after detection, a parking prompt can be issued to the user through the in-vehicle display or the user interface of a mobile phone (application, APP): "The parking space you selected meets the parking requirements. Please park according to the prompts." Simultaneously, functions such as parking route planning and parking assist lines can be provided to help users park their vehicles more safely and smoothly. If the parking space does not meet the parking requirements, the user is prompted: "The parking space you selected does not meet the parking requirements. Please select another parking space." Recommendations for nearby available parking spaces may also be provided.

[0088] Optionally, the method further includes: If the information indicating that the parking space has been occupied is displayed, a message will be displayed indicating that the vehicle will exceed the parking space frame after parking.

[0089] In this embodiment of the disclosure, after a user selects a parking space, the status information of the parking space is acquired in real time through hardware devices such as cameras and sensors, including whether the parking space is occupied, the degree of occupation, and the specific location of the occupation. If it is detected that the parking space is occupied, that is, other objects (such as vehicles, obstacles, etc.) have occupied part of the space, but a vehicle can still be parked, then it can be further determined whether the user's vehicle will exceed the range of the parking space frame if parked in the space.

[0090] First, real-time information about the parking space frame is acquired using devices such as cameras or sensors, including the length, width, location, and boundaries of the parking space frame. Image processing or data analysis algorithms are then used to detect any encroachment within the parking space, determining the size, location, and extent of the encroachment. Based on the acquired parking space information and detected encroachments, the minimum parking space required for a user's vehicle to be parked in that space is calculated. This typically requires considering the vehicle's dimensions (length, width, height, etc.), the size of the parking space frame, and the extent to which the encroaching object occupies the space.

[0091] Then, the calculated minimum parking space is compared with the actual space of the parking space frame to determine whether the user's vehicle can be safely and smoothly parked within the parking space without exceeding the frame's boundaries. If it is determined that the vehicle will exceed the frame's boundaries after parking, a notification message can be sent to the user via the in-vehicle display screen, voice prompts, or other means to inform the user that the parking space has been occupied and to remind the user to pay attention to parking safety.

[0092] Optionally, the step of prompting a vehicle to exceed the parking space frame after parking if the occupancy information indicates occupancy includes: If the occupancy information indicates that occupancy exists, determine the distance between the obstacle intruding into the parking space and the parking space. In this embodiment of the disclosure, when an encroachment on a parking space is detected, the specific distance between the encroaching obstacle (such as a vehicle, pedestrian, or object) and the parking space boundary can be determined. This can be achieved, for example, using high-precision sensors (such as ultrasonic sensors, lidar, or cameras) and advanced image processing or data analysis algorithms. Image processing or machine learning algorithms are used to identify the encroaching obstacle from images or data captured by the sensors, and determine its position, shape, and size. Based on the obstacle's position and shape, the minimum distance between it and the parking space boundary is calculated.

[0093] Based on the distance and the vehicle's dimensions in the dimension corresponding to the distance, the excess information in that dimension after the vehicle is parked is determined. The excess information is used to indicate that the vehicle exceeds the parking space frame of the parking space to be parked. In this implementation, after determining the distance between the obstacle intruding into the parking space and the parking space boundary, it is necessary to further consider the dimensions of the user's vehicle (especially its length and width) to determine whether the vehicle will exceed the parking space frame after parking. For example, the dimensions of the user's vehicle can be obtained through user input or vehicle recognition technology (such as license plate recognition, vehicle model recognition, etc.). Based on the distance between the obstacle and the parking space boundary and the vehicle dimensions, the minimum space required for the vehicle to park is calculated. This calculation process needs to consider factors such as the vehicle's driving path, turning radius, and parking accuracy. The calculated minimum parking space is compared with the actual space of the parking space to determine whether the vehicle can be safely and smoothly parked within the parking space without exceeding the parking space frame.

[0094] Based on the information indicating that the vehicle exceeds the parking space frame, the system prompts the vehicle to park in a space that exceeds the designated parking space.

[0095] In this embodiment of the disclosure, when it is determined that a vehicle will exceed the parking space frame after parking, a prompt message can be issued to the user to remind them to pay attention to parking safety. For example, based on the determination result, a corresponding prompt message can be generated. The prompt message should be clear, accurate, and easy to understand so that the user can quickly understand the parking space encroachment and parking risks. The generated prompt message is displayed to the user through the vehicle's display screen, voice prompts, or other means. The user interface should be designed to be intuitive, simple, and easy to operate so that the user can quickly obtain the prompt message and make corresponding decisions.

[0096] The aforementioned technical solution enables real-time monitoring and assessment of the status of parking spaces, and provides accurate alerts to users when a space is occupied. This not only improves the convenience and safety of parking for users but also effectively prevents vehicle damage or traffic accidents caused by parking space encroachment.

[0097] Optionally, prompting parking based on the parking information includes: If the parking information does not meet the parking conditions, a prompt will be made to find a parking space again.

[0098] In this embodiment of the disclosure, after determining whether the parking space meets the parking conditions, a corresponding prompt message is sent to the user based on the determination result. If the result indicates that the parking space does not meet the parking conditions (e.g., the parking space is occupied, the size of the parking space does not meet the vehicle size requirements, or there are obstacles around the parking space affecting parking), the user can be guided to find a suitable parking space for parking.

[0099] For example, the system first analyzes whether the parking space meets the parking conditions. This analysis might be based on an internal algorithm that calculates the result using sensor data, vehicle dimensions, parking space dimensions, and the surrounding environment. If the result indicates that the parking space does not meet the conditions, a corresponding prompt message can be generated according to preset rules. Furthermore, the prompt message should be clear and unambiguous, accurately reflecting the reason why the parking space does not meet the conditions, so that the user can quickly understand and make an appropriate decision.

[0100] Furthermore, the generated prompts will be displayed to the user through in-vehicle displays, voice prompts, and other means. The user interface should be designed to be intuitive and simple, ensuring that the user can quickly obtain the prompts and respond accordingly.

[0101] Furthermore, the notification message can also inform the user that the current parking space is unavailable and suggest that the user find a suitable parking space elsewhere. To enhance the user experience, recommendations for nearby available parking spaces or navigation guidance can also be provided to help users quickly find available parking spaces.

[0102] The aforementioned technical solution can promptly notify users when it determines that a parking space does not meet the parking requirements, and guide them to find a suitable parking space. This not only improves the convenience and safety of parking but also effectively avoids problems such as parking failures or vehicle damage caused by unsuitable parking spaces. Furthermore, by providing recommendations for nearby available parking spaces or navigation guidance, the user's parking experience can be further enhanced.

[0103] Optionally, in step S11, determining the dimensions of the parking space to be used includes: Obtain the parking space frame information of the parking space to be parked; The parking space frame information can be obtained through hardware devices such as cameras, LiDAR, and ultrasonic sensors installed on the vehicle. Images or data of the parking space and its surrounding environment are captured in real time, and the boundary information of the parking space frame is extracted using image processing and data analysis algorithms.

[0104] Based on the parking space frame information, determine the parking space depth and the intersection of the parking space lines of the parking space to be parked; In this embodiment of the disclosure, after obtaining the parking space frame information, this information can be used to determine the depth of the parking space and the intersection of the parking space lines. The parking space depth can be obtained by calculating the distance between the front and rear boundaries of the parking space. The intersection of the parking space lines is the intersection of the parking space boundary lines, used to determine the precise location and boundary of the parking space.

[0105] The dimensions of the parking space to be parked are determined based on the intersection of the parking space depth and the parking space line.

[0106] In this embodiment of the disclosure, after determining the depth of the parking space and the intersection of the parking lines, the dimensions of the parking space to be parked can be determined based on this information. The dimensions of the parking space typically include the length (i.e., depth) and width (which can be calculated from the intersection of the parking lines).

[0107] The aforementioned technical solution can accurately determine the dimensions of parking spaces, providing crucial information for subsequent parking planning and execution. This not only improves parking accuracy and safety but also enhances the user's parking experience.

[0108] See Figure 5 As shown, the parking suggestion method of this disclosure is illustrated by way of a complete and detailed embodiment: S101, in response to parking operation, obtains the parking space line information of the parking space to be parked, and determines the parking space size (i.e., parking space dimensions) based on the parking space line information.

[0109] S102, determine whether the size of the parking space meets the parking space release conditions, wherein the parking space release conditions can be preset according to the vehicle type, size and parking method.

[0110] S103: If the parking space size does not meet the parking space release conditions, the parking space will not be released, and the user will be prompted to continue searching for parking spaces. Here, "releasing" can be understood as using the parking space to be parked as the target parking space. Therefore, "not releasing" means not using the parking space to be parked as the target parking space.

[0111] S104. If the size of the parking space meets the conditions for releasing the parking space, determine whether the parking space to be parked has been occupied. For example, this can be done by integrating ultrasonic information.

[0112] S105 If the parking space is not occupied, it can be determined that the parking space is suitable for parking, and the parking space can be released to prompt the user to park.

[0113] S106 If the parking space to be parked is occupied, determine whether there is an empty parking space in the adjacent parking space.

[0114] S107 If there is an available parking space nearby, the parking space to be parked will not be released. Instead, the available parking space nearby will be released as the target parking space, prompting the user to park.

[0115] S108 If there are no vacant parking spaces nearby, determine whether the actual space of the parking space to be parked meets the release conditions.

[0116] S109 If the actual space of the parking space to be parked meets the release conditions, the parking space is released, and a prompt can be made that the vehicle will exceed the parking space frame after parking.

[0117] S110 If the actual space of the parking space to be parked does not meet the release conditions, the parking space will not be released, and a prompt will be made to find a parking space again.

[0118] Figure 6 This is a block diagram illustrating a parking guidance device according to an exemplary embodiment. (Refer to...) Figure 6 The device includes a first determining module 1110, a second determining module 1120, and a prompting module 1130.

[0119] The first determining module 1110 is configured to determine the size of the parking space to be parked and information on whether it has been occupied in response to a parking operation. The second determining module 1120 is configured to determine the parking information of the parking space to be parked based on the storage space size and the encroachment information; The prompt module 1130 is configured to prompt parking based on the parking information.

[0120] Optionally, the second determining module 1120 is configured to: Based on the dimensions of the parking space, determine the permitted parking information for the parking space to be parked; If the permitted parking information indicates that parking is permitted, then the parking information of the parking space to be parked is determined based on the occupied information.

[0121] Optionally, the second determining module 1120 is configured to: Based on the information of encroachment, the information of encroachment on the parking space to be parked is determined; If the encroachment information indicates that the parking space has been encroached upon, then the parking information of the parking space to be parked is determined according to the parking space type and the encroached size.

[0122] Optionally, the second determining module 1120 is configured to: Based on the parking space type, determine the target threshold for size comparison; The parking information of the parking space to be parked is determined based on the target size of the parking space, the encroached size, and the target threshold, wherein the target size is the same as the dimension of the target threshold.

[0123] Optionally, the second determining module 1120 is configured to: When the parking space type is vertical or diagonal, a preset width threshold is determined as the target threshold for size comparison. When the parking space type is side parking, the preset length threshold is determined as the target threshold for size comparison.

[0124] Optionally, the second determining module 1120 is configured to: determine that there are no adjacent vacant parking spaces for the parking space to be parked before determining the parking information of the parking space to be parked based on the parking space type and the size of the encroachment if the encroachment information indicates that there is encroachment; If there is an adjacent vacant parking space for the parking space to be parked, the system will prompt the user to use that adjacent vacant parking space as the target parking space.

[0125] Optionally, the second determining module 1120 is configured to: If the invaded information indicates that there is no invasion, then the berthing information is determined to meet the berthing conditions.

[0126] Optionally, the second determining module 1120 is configured to: If the allowed berthing information indicates that berthing is not allowed, then the berthing information is determined to be unsatisfactory.

[0127] Optionally, the prompting module 1130 is configured to: If the parking information meets the parking conditions, then the system will prompt the user to select the parking space to be used as the target parking space.

[0128] Optionally, the prompting module 1130 is configured to: If the information indicating that the parking space has been occupied is displayed, a message will be displayed indicating that the vehicle will exceed the parking space frame after parking.

[0129] Optionally, the prompting module 1130 is configured to: If the occupancy information indicates that occupancy exists, determine the distance between the obstacle intruding into the parking space and the parking space. Based on the distance and the vehicle's dimensions in the dimension corresponding to the distance, the excess information in that dimension after the vehicle is parked is determined. The excess information is used to indicate that the vehicle exceeds the parking space frame of the parking space to be parked. Based on the information indicating that the vehicle exceeds the parking space frame, the system prompts the vehicle to park in a space that exceeds the designated parking space.

[0130] Optionally, the prompting module 1130 is configured to: If the parking information does not meet the parking conditions, a prompt will be made to find a parking space again.

[0131] Optionally, the first determining module 1110 is configured to: Obtain the parking space frame information of the parking space to be parked; Based on the parking space frame information, determine the parking space depth and the intersection of the parking space lines of the parking space to be parked; The dimensions of the parking space to be parked are determined based on the intersection of the parking space depth and the parking space line.

[0132] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0133] According to embodiments of this disclosure, a vehicle is also provided, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to execute the executable instructions stored in the memory to implement the method described in any of the foregoing embodiments.

[0134] According to embodiments of this disclosure, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps of any of the methods described in the foregoing embodiments.

[0135] According to embodiments of this disclosure, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps of the method described in any of the foregoing embodiments.

[0136] Figure 7 This is a block diagram illustrating a vehicle 600 according to an exemplary embodiment. For example, vehicle 600 can be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 600 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0137] Reference Figure 7 The vehicle 600 may include various sub-components, such as infotainment 610, perception 620, decision control 630, drive 640, and computing platform 650. The vehicle 600 may also include more or fewer sub-components, and each sub-component may include multiple components. Furthermore, each sub-component and each component of the vehicle 600 can be interconnected via wired or wireless means.

[0138] In some embodiments, infotainment 610 may include communication, entertainment, and navigation, etc.

[0139] The perception 620 may include several types of sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception 620 may include a global positioning system (GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0140] The decision control 630 may include calculation, vehicle controller, steering, throttle, and braking.

[0141] Drive 640 may include components that provide powered motion to vehicle 600. In one embodiment, drive 640 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0142] Some or all of the functions of vehicle 600 are controlled by computing platform 650. Computing platform 650 may include at least one processor 651 and memory 652, processor 651 can execute instructions 653 stored in memory 652.

[0143] Processor 651 can be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0144] The memory 652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0145] In addition to instruction 653, memory 652 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 652 can be used by computing platform 650.

[0146] In this embodiment of the disclosure, the processor 651 may execute instruction 653 to complete all or part of the steps of the parking prompt method described above.

[0147] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0148] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A parking reminder method, characterized in that: include: In response to the parking operation, determining the parking space size and occupation information of the parking space to be parked; Determining parking information of the parking space to be parked according to the parking space size and the occupation information; Parking is prompted according to the parking information.

2. The method according to claim 1, characterized in that The determining, according to the parking space size and the occupation information, the parking information of the parking space to be parked includes: Determining the parking permission information of the parking space to be parked according to the size of the parking space; If the parking permission information indicates that parking is permitted, the parking information of the parking space to be parked is determined according to the occupied information.

3. The method according to claim 2, characterized in that The step of determining the parking information of the parking space to be parked according to the occupied information includes: Determining the occupation information of the parking space to be parked according to the occupation information; If the occupation information indicates that the parking space is occupied, the parking information of the parking space is determined according to the parking space type and the occupied size of the parking space.

4. The method according to claim 3, characterized in that The determining the parking information of the parking space to be parked according to the parking space type and the occupied size of the parking space to be parked includes: Determining a target threshold for size comparison according to the parking space type; The parking information of the parking space to be parked is determined according to the target size of the storage space size, the occupied size and the target threshold, wherein the target size is the same size as the target threshold dimension.

5. The method according to claim 4, characterized in that Determining a target threshold for size comparison according to the parking space type includes: In the case where the parking space type is vertical or diagonal, determining a preset width threshold as a target threshold for size comparison; In the case that the parking space type is side-by-side, a preset length threshold is determined as a target threshold for size comparison.

6. The method according to claim 3, characterized in that If the occupation information indicates that the parking space is occupied, before determining the parking information of the parking space to be parked according to the parking space type and the occupied size of the parking space to be parked, the method further includes: Determining that there is no adjacent vacant parking space to be parked; The method further comprises: If there is an adjacent vacant parking space to the parking space to be parked, a prompt is given to use the adjacent vacant parking space as the target parking space for parking.

7. The method according to claim 3, characterized in that The method further comprises: If the occupied information indicates that there is no occupation, it is determined that the parked information satisfies the parked condition.

8. The method according to claim 2, characterized in that: The method further comprises: If the parking permission information indicates that parking is not allowed, it is determined that the parking information does not meet the parking condition.

9. The method according to any one of claims 1 to 8, characterized in that The step of prompting the vehicle to park according to the parking information includes: If the parking information satisfies the parking condition, a prompt is given to use the parking space to be parked as a target parking space for parking.

10. The method according to claim 9, characterized in that The method further comprises: If the occupied information indicates that the parking space is occupied, it will prompt that the vehicle will exceed the parking space frame of the parking space to be parked after being parked.

11. The method according to claim 10, characterized in that If the occupation information indicates that the parking space is occupied, then prompting the vehicle will exceed the parking space frame of the parking space to be parked after parking, including: If the occupation information indicates that the parking space is occupied, determining the distance between the obstacle invading the parking space and the parking space; Determine, according to the distance and the size of the vehicle in the dimension corresponding to the distance, the excess information of the vehicle in the dimension after being parked, wherein the excess information is used to indicate that the vehicle exceeds the parking space frame of the parking space to be parked; According to the exceeding information, the vehicle is prompted to park in a parking space frame exceeding the parking space to be parked.

12. The method according to any one of claims 1 to 8, characterized in that The step of prompting the vehicle to park according to the parking information includes: If the parking information indicates that the parking condition is not met, a prompt is given to find a parking space again.

13. The method according to any one of claims 1 to 8, characterized in that Determine the dimensions of the parking space to be parked, including: Obtaining parking space frame information of the parking space to be parked; Determine the parking space depth and the parking space line intersection of the parking space to be parked according to the parking space frame information; The parking space size of the parking space to be parked is determined according to the parking space depth and the intersection of the parking space lines.

14. A parking reminder device, characterized in that: include: A first determination module is configured to determine the parking space size and occupation information of the parking space to be parked in response to the parking operation; A second determination module is configured to determine the parking information of the parking space to be parked according to the storage space size and the occupation information; The prompt module is configured to prompt parking according to the parking information.

15. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the executable instructions stored in the memory to implement the method according to any one of claims 1 to 13.

16. 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 13 are implemented.

17. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 13.

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