Memory parking route drawing method, electronic device and program product

Abstract

The invention provides a memory parking route drawing method, electronic equipment and a program product, and relates to the technical field of intelligent driving. The method comprises the following steps: acquiring information of parking lot environment elements collected by a target vehicle in real time along a memory parking route; and drawing a three-dimensional model of the parking lot along a memory parking route in real time according to the information of the parking lot environment elements collected in real time, obtaining a target layer parking lot which the target vehicle travels across layers when determining that the target vehicle travels across the layers, drawing a three-dimensional model of the target layer parking lot which the target vehicle travels across the layers, and storing the three-dimensional model of the target layer parking lot. A final memory parking route model is obtained until the target vehicle is parked in the target parking space; and displaying a complete recorded parking route based on the memory parking route model. The method and the device are used for solving the problem that memory parking route display is limited to single-floor local information in the prior art.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent driving technology, and in particular to a memory parking route drawing method, electronic equipment and program product. Background Art

[0002] Currently, in the scenario of multi-space and cross-floor memory parking, the projection angle of the on-board screen is mainly set to a 90° downward view to display the single-floor parking environment information from a bird's-eye view. The cross-floor ramp environment is not displayed, and only the flat-floor cruising environment is displayed. This strategy is used to adapt to the cross-floor parking environment.

[0003] It can be seen that in the traditional memory parking solution, the parking route display is limited to the local information of a single floor. Users cannot intuitively understand the specific spatial position of the vehicle when cruising, and the local view display can no longer meet user needs. Summary of the invention

[0004] In view of this, the embodiments of the present disclosure provide a method for drawing a memory parking route, an electronic device, and a program product to solve the problem in the prior art that the display of the memory parking route is limited to local information of a single floor.

[0005] In a first aspect, the present disclosure provides a method for drawing a memory parking route, comprising:

[0006] Acquire information on parking environment elements collected in real time along the memorized parking route of the target vehicle;

[0007] Based on the information of the parking lot environmental elements collected in real time, a three-dimensional model of the parking lot along the memory parking route is drawn in real time, and when it is determined that the target vehicle travels across floors, the target parking lot on the cross-layer is obtained, and a three-dimensional model of the target parking lot on the cross-layer is drawn, until the target vehicle parks in the target parking space, thereby obtaining a final memory parking route model;

[0008] The complete recorded parking route is displayed based on the memorized parking route model.

[0009] In a second aspect, the present disclosure provides an electronic device, including:

[0010] at least one processor; and

[0011] a memory communicatively connected to the at least one processor; wherein,

[0012] The memory stores at least one computer program executable by the at least one processor, and the at least one computer program is executed by the at least one processor so that the at least one processor can execute the memory parking route drawing method as described in the first aspect.

[0013] In a third aspect, the present disclosure provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed in a processor, the memory parking route drawing method described in the first aspect is implemented.

[0014] The embodiments provided by the present disclosure obtain information on parking lot environmental elements collected in real time along a memorized parking route by a target vehicle, and draw a three-dimensional model of parking lots along the memorized parking route in real time based on the information on the parking lot environmental elements collected in real time, and when it is determined that the target vehicle travels across floors, obtain the target floor parking lot to which the cross-floor travel is directed, and draw a three-dimensional model of the target floor parking lot to which the cross-floor travel is directed, until the target vehicle parks in the target parking space, to obtain a final memorized parking route model, so that the memorized parking route model includes parking lot environmental elements on the complete memorized parking route, and can display the complete recorded parking route based on the memorized parking route model. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present disclosure 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 disclosure. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0016] Figure 1 The figure is a schematic diagram of the process of the method for drawing a memory parking route in an embodiment of the present disclosure;

[0017] Figure 2 The figure shows a schematic diagram of the virtual camera visual angle configuration in an embodiment of the present disclosure;

[0018] Figure 3 Shown is a schematic diagram of an ultra-long route for continuous straight travel in an embodiment of the present disclosure;

[0019] Figure 4 Shown is a schematic diagram of a superelevation route that continuously crosses layers in an embodiment of the present disclosure;

[0020] Figure 5 Shown is a schematic diagram of creating and displaying a memory parking route in an embodiment of the present disclosure;

[0021] Figure 6 The figure is a schematic diagram of the structure of a memory parking route drawing device in an embodiment of the present disclosure;

[0022] Figure 7 FIG. 1 is a schematic diagram of the structure of an electronic device in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0024] In the absence of conflict, the various embodiments of the present disclosure and the various features therein may be combined with each other.

[0025] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0026] The terms used herein are only used to describe specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a" and "the" are also intended to include plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "including" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded. "Connected" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0027] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined as such herein.

[0028] The present disclosure provides a method for drawing a memory parking route. Figure 1 As shown, the method mainly includes the following steps:

[0029] Step 101, obtaining information on parking lot environmental elements collected in real time along a memorized parking route of a target vehicle.

[0030] In some embodiments, the parking lot environmental elements include: environmental elements at the road starting point of the memorized parking route; environmental elements at the road end point of the memorized parking route; and environmental elements on a driving route along the memorized parking route.

[0031] In an exemplary embodiment, environmental elements include parking space frames and parking lot traffic elements, and parking lot traffic elements include but are not limited to: ground, roads, pillars, walls, speed bumps, obstacles (ice cream cones, parking poles, no parking signs, standard poles, crash barrels, water barriers, elastic reflective poles, wheel chocks).

[0032] In some embodiments, the target vehicle supports a memory parking function. Before executing step 101, the target vehicle starts the memory parking function and creates a memory parking route.

[0033] Specifically, determining whether there is an available memory parking route model corresponding to the parking lot;

[0034] If there is, directly use the existing memory parking route model for memory parking, or prompt to recreate the memory parking route model of the corresponding parking lot and overwrite the original memory parking route model of the parking lot, and prompt the user to drive the target vehicle to the starting point of the memory parking route;

[0035] If not, a memory parking route model of the corresponding parking lot is created, and the user is prompted to drive the target vehicle to the starting point of the memory parking route.

[0036] In some embodiments, the information of parking lot environmental elements is collected in real time by the perception radar and camera of the Advanced Driver Assistant System (ADAS) system of the target vehicle. Among them, the image of the parking lot environmental elements collected by the camera in real time is mainly used to identify the parking lot environmental elements, and the signal collected by the perception radar in real time is mainly used to determine the relative position with the target vehicle. Of course, this is only an example, and other sensors that can detect surrounding environmental information can also be used to collect information about parking lot environmental elements, which is not limited here.

[0037] Step 102, based on the information of the parking lot environmental elements collected in real time, draw a three-dimensional model of the parking lots along the memorized parking route in real time, and when it is determined that the target vehicle travels across floors, obtain the target parking lot on the cross-layer traveled to, draw the three-dimensional model of the target parking lot on the cross-layer traveled to, until the target vehicle parks in the target parking space, and obtain the final memorized parking route model.

[0038] In some embodiments, the information of the parking lot environmental elements includes spatial position information of the parking lot environmental elements; and the real-time drawing of a three-dimensional model of the parking lot along the memorized parking route based on the information of the parking lot environmental elements collected in real time includes: real-time drawing of a three-dimensional virtual model of the parking lot environmental elements based on the spatial position information of the parking lot environmental elements collected in real time to form a three-dimensional model of the parking lot.

[0039] In some embodiments, the spatial position information of the parking lot environment element includes: a first coordinate value of the parking lot environment element on a first coordinate axis, a second coordinate value on a second coordinate axis, and a third coordinate value on a third coordinate axis; wherein the first coordinate axis is parallel to the ground and points to the front of the vehicle, the second coordinate axis is parallel to the ground and points to the left side of the driver, and the third coordinate axis passes through the center point of the rear axle of the vehicle.

[0040] For example, the X-axis is defined as the direction parallel to the ground and pointing forward to the vehicle, the Y-axis is defined as the direction parallel to the ground and pointing to the left of the driver, and the Z-axis is defined as the direction passing through the center point of the rear axle of the vehicle and pointing upward. The coordinate value of the Z-axis is 0 when the target vehicle is driving on the ground.

[0041] The spatial position information of the parking lot environment elements collected in real time is saved in sequence so as to be read in the process of drawing the three-dimensional model in real time.

[0042] In some embodiments, the determining that the target vehicle is traveling across floors includes: determining that the target vehicle is traveling across floors when a height change value of the target vehicle relative to a level-level driving state exceeds a preset threshold. Here, the height change value of the target vehicle relative to the level-level driving state can accurately identify whether cross-floor driving occurs.

[0043] Among them, the preset threshold is pre-set, and the specific value is determined according to the floor height of a single floor in a multi-story parking lot. For example, the preset threshold is equal to the floor height value of the single floor, or the preset threshold is a value whose difference with the floor height value of the single floor is within a preset range.

[0044] Assume that the preset threshold is equal to the floor height of a single floor. When the target vehicle is driving on a flat floor, the coordinate value of the Z axis is 0, that is, the height is 0; when the target vehicle is driving on a non-flat floor, the coordinate value of the Z axis is the height value relative to the flat floor, that is, the height change value. The height change value is compared with the floor height value of a single floor. If it exceeds the floor height value of a single floor, it is determined that the target vehicle is traveling across floors.

[0045] For example, the intelligent driving navigation unit (ADPU) completes the calculation of the Z-axis coordinate value based on the height value of the target vehicle. When the Z-axis coordinate value, that is, the height value, exceeds 2 meters (that is, the preset threshold), the vehicle enters the next layer from the current layer and displays the rendering screen of the next layer during rendering.

[0046] In some embodiments, the acquisition of the target parking lot on the cross-layer driving includes: acquiring the end height value of the target vehicle at the end moment of the target vehicle driving along the ramp; determining the height change value of the end height value relative to the target vehicle's level driving state; comparing the height change value with a preset floor height value, and determining the target parking lot on the cross-layer driving state of the target vehicle according to the comparison result. Here, by comparing the height change value of the target vehicle during the entire process of driving along the ramp with the preset floor height value, the target parking lot on the ramp after driving can be determined.

[0047] In an exemplary embodiment, the height change value is divided by the preset floor height value, and the integer part of the quotient is used as the number of floors crossed. The number of floors crossed is superimposed on the number of floors at the start of ramp driving to obtain the number of floors of the target parking lot.

[0048] In an exemplary embodiment, the target vehicle's driving slope value is compared with a preset slope value, and whether the target vehicle is driving on a slope is determined based on the comparison result. The preset slope value is a common slope value of a pre-configured parking lot ramp, for example, the preset slope value is 15°, and when the target vehicle's driving slope value is greater than 15°, it is determined that the target vehicle is driving along a ramp.

[0049] In an exemplary embodiment, in order to prevent data jitter and ensure the accuracy of the three-dimensional model, when the target vehicle completes cross-layer driving, that is, the slope is greater than 15°, the ADAS ramp anti-shake algorithm will perform denoising on the Z-axis coordinate value of the target vehicle. The coordinate values ​​that jump in the continuously collected Z-axis coordinate value sequence are filtered out. By filtering the interference values ​​in the Z-axis coordinate value, the true cross-layer information is retained to the greatest extent.

[0050] Among them, when the target vehicle is driving on the same level, the coordinate value of the Z axis will be fixed to 0. When the target vehicle is driving across floors, the ADAS system records the coordinate value of the real Z axis. When the target vehicle is driving on the same level, the ADAS system will perform denoising and fixing processing on the spatial Z value. The specific process of denoising and fixing processing is: a small number of non-zero Z axis coordinate values ​​are collected during driving on the same level as noise removal.

[0051] The target vehicle is parked in the target parking space, and the memory parking route reaches the end point, completing the collection of parking environment elements. Based on the information of the parking environment elements of the entire memory parking route collected, the entire memory parking route model is constructed and stored. The construction method of the memory parking route model has no requirements for the parking environment, and can be used on the site after completing a route learning. Once learned, it can be used for life.

[0052] Step 103: displaying the complete recorded parking route based on the memorized parking route model.

[0053] In some embodiments, displaying the complete recorded parking route based on the memory parking route model includes: when the target vehicle starts memory parking, obtaining a virtual camera visual angle of view; rendering and displaying a picture of the memory parking route within the visual range of the virtual camera according to the virtual camera visual angle of view and the constructed memory parking route model, and displaying the complete memory parking route.

[0054] In an exemplary embodiment, the corresponding virtual camera visual angles are configured in advance for different driving states of the target vehicle, or the same virtual camera visual angles are configured in advance for different driving states of the target vehicle. Figure 2 As shown in the figure, when the target vehicle is in the initial state or cruising state, the virtual camera's visible angle of view is 45° behind the vehicle; when the target vehicle is in the mapping driving state, the virtual camera's visible angle of view is 45° to the right rear of the vehicle; when the target vehicle is in the parking or interrupted driving state, the virtual camera's visible angle of view is 75° behind the vehicle; when the target vehicle is in the automatic parking driving state, the virtual camera's visible angle of view is 90° to the front of the vehicle; in the parking route overview state, the virtual camera's visible angle of view is 60° for the entire map; when the target vehicle is in the cross-layer driving state, the virtual camera's visible angle of view is 45° or -45° behind the vehicle.

[0055] Based on this, obtaining the visual angle of view of the virtual camera includes: according to the driving state of the target vehicle, obtaining the visual angle of view corresponding to the driving state.

[0056] Exemplarily, after the target vehicle drives to the target parking space and completes route learning, the ADAS system transmits the denoised real coordinates to the vehicle computer domain control in the cockpit. The vehicle computer maps the real coordinates to the restored world coordinate model for rendering, and confirms the virtual camera's visible viewing angle based on the restored world coordinates, which is not limited to the top-down viewing angle, and is rendered and displayed on the vehicle computer interface.

[0057] In some embodiments, according to the visual angle of the virtual camera and the constructed memory parking route model, rendering and displaying a picture of the memory parking route within the visual range of the virtual camera, and displaying the complete memory parking route, includes: when the picture field cannot display the complete memory parking route, scaling the constructed memory parking route model, rendering and displaying a picture of the memory parking route within the visual range of the virtual camera according to the visual angle of the virtual camera and the scaled memory parking route model, so as to display the complete memory parking route.

[0058] When the vehicle computer renders and displays, for routes beyond the visual range, including Figure 3 The very long straight line shown in the figure and the Figure 4The continuous cross-layer superelevation route shown will dynamically scale the route screen field of view to ensure that the complete memorized parking route is displayed on the screen, thereby helping users to quickly preview the parking environment information of the target vehicle in complex scenes to ensure that global information is not missed.

[0059] In some embodiments, it also includes: performing at least one of the following operations on the displayed three-dimensional view through the vehicle interface: dragging, rotating, zooming in, zooming out, etc.

[0060] In an exemplary embodiment, Figure 5 As shown, the process of creating and displaying a memory parking route is as follows: after the user clicks on the memory parking application, it is determined whether there is a memory route in the parking environment. If so, it is prompted to overwrite the route and recreate the route. If not, it starts to create a memory parking route; through spatial modeling, the coordinates of the collected real parking environment elements are mapped and recorded to the three-dimensional model, and in the process of building the three-dimensional model, it is determined whether a ramp is passed across layers; if it is a cross-layer ramp, the ADPU completes the calculation of the Z-axis coordinate value of the vehicle at the spatial height, denoises it through the ramp anti-shake model, and updates and records the coordinates of the real parking environment elements in real time; the denoised coordinates of the real parking environment elements are mapped to the three-dimensional model; it is determined whether the three-dimensional model exceeds the visible range. If so, after scaling the three-dimensional model, the memory parking route is rendered and displayed according to the restored world coordinates in the three-dimensional model and the visible angle of view of the virtual camera.

[0061] The embodiments provided by the present disclosure obtain information on parking lot environmental elements collected in real time along a memorized parking route by a target vehicle, and draw a three-dimensional model of parking lots along the memorized parking route in real time based on the information on the parking lot environmental elements collected in real time, and when it is determined that the target vehicle travels across floors, obtain the target floor parking lot to which the cross-floor travel is directed, and draw a three-dimensional model of the target floor parking lot to which the cross-floor travel is directed, until the target vehicle parks in the target parking space, to obtain a final memorized parking route model, so that the memorized parking route model includes parking lot environmental elements on the complete memorized parking route, and can display the complete recorded parking route based on the memorized parking route model.

[0062] The embodiments provided by the present disclosure can solve the problem of real-time positioning and rendering display of multiple spaces and multiple floors during memory parking cruise. During the process of learning the memory parking route, the vehicle identifies the surrounding environment through multiple sensors and records the environmental data of multiple spaces and across floors, completing the mapping from the real environment to the three-dimensional model, thereby displaying the vehicle's position and cross-layer global information in real time when cruising the memory parking route, so as to adapt to the needs of complex scenarios and improve user experience.

[0063] It can be understood that the above-mentioned various method embodiments mentioned in the present disclosure can be combined with each other to form a combined embodiment without violating the principle logic. Due to space limitations, the present disclosure will not repeat them. It can be understood by those skilled in the art that in the above-mentioned method of the specific implementation, the specific execution order of each step should be determined by its function and possible internal logic, and the execution order between the steps is not limited to being implemented according to the step number.

[0064] In addition, the present disclosure also provides a memory parking route drawing device, an electronic device, and a computer program product, all of which can be used to implement any memory parking route drawing method provided by the present disclosure. The corresponding technical solutions and descriptions are referred to in the corresponding records of the method part and will not be repeated here.

[0065] Figure 6 This is a block diagram of a memory parking route drawing device provided by an embodiment of the present disclosure. The model matching device mainly includes:

[0066] An acquisition module 601 is used to acquire information of parking environment elements collected in real time along a memorized parking route of a target vehicle;

[0067] The construction module 602 is used to draw the three-dimensional model of the parking lot along the memory parking route in real time according to the information of the parking lot environmental elements collected in real time, and when it is determined that the target vehicle travels across floors, obtain the parking lot on the target floor to which the cross-layer travel is directed, draw the three-dimensional model of the parking lot on the target floor to which the cross-layer travel is directed, until the target vehicle parks in the target parking space, and obtain the final memory parking route model;

[0068] The display module 603 is used to display the complete recorded parking route based on the memorized parking route model.

[0069] Each module in the above-mentioned model matching device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0070] Figure 7 A block diagram of an electronic device provided in an embodiment of the present disclosure.

[0071] Reference Figure 7An embodiment of the present disclosure provides an electronic device, which includes: at least one processor 701; at least one memory 702, and one or more I / O interfaces 703, connected between the processor 701 and the memory 702; wherein the memory 702 stores one or more computer programs that can be executed by the at least one processor 701, and the one or more computer programs are executed by the at least one processor 701, so that the at least one processor 701 can execute the above-mentioned memory parking route drawing method.

[0072] Each module in the above electronic device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0073] The embodiment of the present disclosure further provides a computer program product, including a computer program, which implements the above-mentioned memory parking route drawing method when executed in a processor.

[0074] The computer program may be stored in a readable storage medium of a computer device or in the cloud; the processor of the computer device reads the computer program from the readable storage medium or in the cloud.

[0075] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is implemented as a computer storage medium. In another optional embodiment, the computer program product is implemented as a software product, such as a software development kit (SDK).

[0076] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable storage medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium).

[0077] As is known to those of ordinary skill in the art, the term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable program instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technology, portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. In addition, it is known to those of ordinary skill in the art that communication media typically contain computer-readable program instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and may include any information delivery medium.

[0078] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0079] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0080] The computer program product described herein may be implemented in hardware, software, or a combination thereof. In one optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK), etc.

[0081] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0082] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0083] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0084] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0085] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for drawing a memory parking route, characterized in that: include: Acquire information on parking environment elements collected in real time along the memorized parking route of the target vehicle; Based on the information of the parking lot environmental elements collected in real time, a three-dimensional model of the parking lot along the memory parking route is drawn in real time, and when it is determined that the target vehicle travels across floors, the target parking lot on the cross-layer is obtained, and a three-dimensional model of the target parking lot on the cross-layer is drawn, until the target vehicle parks in the target parking space, thereby obtaining a final memory parking route model; The complete recorded parking route is displayed based on the memorized parking route model.

2. The method according to claim 1, characterized in that The information of the parking lot environment element includes the spatial position information of the parking lot environment element; The method of drawing a three-dimensional model of parking lots along the memory parking route in real time based on the information of the parking lot environmental elements collected in real time includes: According to the spatial position information of the parking lot environmental elements collected in real time, a three-dimensional virtual model of the parking lot environmental elements is drawn in real time to form a three-dimensional model of the parking lot.

3. The method according to claim 2, characterized in that The spatial position information of the parking lot environment element includes: a first coordinate value of the parking lot environment element on a first coordinate axis, a second coordinate value on a second coordinate axis, and a third coordinate value on a third coordinate axis; The first coordinate axis is parallel to the ground and points to the front of the vehicle, the second coordinate axis is parallel to the ground and points to the left side of the driver, and the third coordinate axis passes through the center point of the rear axle of the vehicle.

4. The method according to claim 2, characterized in that: The step of determining that the target vehicle is traveling across floors includes: When the height change value of the target vehicle relative to the level-floor driving state exceeds a preset threshold, it is determined that the target vehicle is traveling across floors.

5. The method according to claim 4, characterized in that The method of obtaining the target parking lot for cross-floor driving includes: At the end moment of the target vehicle traveling along the ramp, obtaining the end height value of the target vehicle; Determine a height change value of the end height value relative to the level driving state of the target vehicle; The height change value is compared with a preset floor height value, and the target floor parking lot to which the target vehicle travels across floors is determined according to the comparison result.

6. The method according to claim 1, characterized in that The parking lot environmental elements include: environmental elements at the road starting point of the memory parking route; environmental elements at the road end point of the memory parking route; and environmental elements on the driving route along the memory parking route.

7. The method according to claim 1, characterized in that The displaying of a complete recorded parking route based on the memorized parking route model includes: When the target vehicle starts memory parking, obtaining a virtual camera visual angle of view; According to the visual angle of the virtual camera and the constructed memory parking route model, a picture of the memory parking route within the visual range of the virtual camera is rendered and displayed, and the complete memory parking route is displayed.

8. The method according to claim 7, characterized in that According to the visual angle of the virtual camera and the constructed memory parking route model, a picture of the memory parking route within the visual range of the virtual camera is rendered and displayed, and the complete memory parking route is displayed, including: When the picture field of view cannot display the complete memorized parking route, the constructed memorized parking route model is scaled, and according to the visual angle of the virtual camera and the scaled memorized parking route model, the picture of the memorized parking route within the visual range of the virtual camera is rendered and displayed, so that the complete memorized parking route is displayed.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores at least one computer program executable by the at least one processor, and the at least one computer program is executed by the at least one processor so that the at least one processor can execute the memory parking route drawing method according to any one of claims 1 to 8.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed in a processor, the memory parking route drawing method according to any one of claims 1 to 8 is implemented.

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