Silent parking vehicle positioning switching method, device and equipment and storage medium

Abstract

The invention discloses a silent parking vehicle positioning switching method, device and equipment and a storage medium, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining image information and positioning information collected by a vehicle, and determining the position information of the vehicle according to the image information and the positioning information, establishing a parking map according to the position information and the image information of the vehicle, determining a current scene according to the position information of the vehicle when the vehicle enters a driving and parking integrated function, switching a positioning mode according to the current scene, and establishing corresponding association of the driving and parking map by using an automatic switching strategy of a silent driving and parking vehicle positioning function and using an association area. Parking lot scenes are subdivided by using parking lot characteristics, according to different types of scenes where vehicles are located, software automatically switches a parking vehicle positioning function, and observation information weights, sensing element types and weight strategies of a GNSS are changed accordingly, so that the vehicle positioning precision and robustness in a parking and driving integrated scene are improved, and the positioning accuracy of the vehicles is improved. And the comfort of user experience is also improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method, device, equipment and storage medium for switching the positioning of a silent parking vehicle. Background Art

[0002] With the continuous development of autonomous driving technology, the driving and parking technology is gradually being recognized by the industry and will become an important competitive advantage for car companies in the next stage. In particular, consumers' demand for intelligent posture functions is growing, especially the automatic parking function, which has also promoted the development and application of driving and parking technology. However, in the driving and parking intelligent driving system, the current method is to control the vehicle according to the interaction results through the interaction between the user and the vehicle, or lack of a processing mechanism for abnormal scenes during the driving and parking connection process. Therefore, it is very important to find a method that can automatically switch the positioning mode in different driving scenarios to ensure the precise control and safety of the vehicle, that is, a silent driving and parking vehicle positioning switching technology, which is an urgent problem to be solved.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present application is to provide a silent parking vehicle positioning switching method, device, equipment and storage medium, aiming to solve the technical problems in the prior art of the inability to automatically switch scenes during parking switching and abnormal problems during switching.

[0005] To achieve the above-mentioned purpose, the present application proposes a silent parking vehicle positioning switching method, the silent parking vehicle positioning switching method comprising:

[0006] Obtain image information and positioning information collected by the vehicle;

[0007] Determine the position information of the vehicle according to the image information and the positioning information;

[0008] Creating a parking map based on the location information of the vehicle and the image information;

[0009] When the vehicle enters the parking and driving function, the current scene is determined according to the position information of the vehicle, and the positioning mode is switched according to the current scene.

[0010] In one embodiment, the step of obtaining image information and positioning information collected by the vehicle includes:

[0011] Obtain vehicle sensor data, image perception information, and satellite positioning information of the vehicle;

[0012] respectively verifying the validity of the acquisition time of the vehicle sensor data, the image perception information, and the satellite positioning information to obtain a validity verification result;

[0013] When the validity verification result is valid, the vehicle sensor data, the image perception information and the satellite positioning information are cleaned in data format to obtain the image information and positioning information of the vehicle.

[0014] In one embodiment, after the step of respectively verifying the validity of the collection time of the vehicle sensor data, the image perception information, and the satellite positioning information to obtain the validity verification result, the step further includes:

[0015] When the validity verification result is invalid, updating the invalid record continuity data;

[0016] When the invalid record continuity data is greater than a preset upper limit value, the silent parking vehicle positioning switching function is exited and a fault report is generated to the vehicle system.

[0017] In one embodiment, the step of determining the position information of the vehicle according to the image information and the positioning information comprises:

[0018] Loading regional map data according to the positioning information;

[0019] Determine the position and posture of the vehicle according to the positioning information, and obtain lane lines, ground markings and pole sign information according to the image information;

[0020] The location information of the vehicle is determined according to the lane line, the ground marking, the pole sign information and the regional map data.

[0021] In one embodiment, the step of creating a parking map according to the location information of the vehicle and the image information includes:

[0022] Determine the lifting behavior of the parking lot barrier according to the image information;

[0023] Determine the parking lot type according to the barrier lifting behavior, and generate marking information according to the parking lot type;

[0024] A parking map is created according to the location information of the vehicle and the marking information.

[0025] In one embodiment, when the vehicle enters the parking and driving function, the step of determining the current scene according to the position information of the vehicle, and switching the positioning mode according to the current scene includes:

[0026] When the vehicle enters the parking and driving function, determining the current scene according to the position information of the vehicle;

[0027] When in the current scene target driving area, switching to driving positioning mode;

[0028] When the current scene is a target parking area, the mode is switched to parking positioning mode.

[0029] In one embodiment, when the current scene is a target parking area, the step of switching to the parking positioning mode includes:

[0030] When the target parking area is a first target parking area, obtaining visual features in the image information, performing matching based on the visual features, and switching to a parking positioning mode;

[0031] When the target parking area is a second target parking area, a positional relationship between the vehicle and the target parking area is determined, a matching weight is updated according to the positional relationship, and the parking positioning mode is switched based on the matching weight.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a silent parking vehicle positioning switching device, the silent parking vehicle positioning switching device comprising:

[0033] An information collection module is used to obtain image information and positioning information collected by the vehicle;

[0034] A vehicle positioning module, used to determine the position information of the vehicle according to the image information and the positioning information;

[0035] A map creation module, used to create a parking map according to the position information of the vehicle and the image information;

[0036] The mode switching module is used to determine the current scene according to the position information of the vehicle when the vehicle enters the driving and parking integrated function, and switch the positioning mode according to the current scene.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a silent parking vehicle positioning switching device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the silent parking vehicle positioning switching method as described above.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the silent parking vehicle positioning switching method as described above are implemented.

[0039] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the silent parking vehicle positioning switching method as described above are implemented.

[0040] One or more technical solutions proposed in the present application have at least the following technical effects: acquiring image information and positioning information collected by the vehicle; determining the location information of the vehicle based on the image information and the positioning information; creating a parking map based on the location information of the vehicle and the image information; when the vehicle enters the driving and parking integrated function, determining the current scene based on the location information of the vehicle, switching the positioning mode based on the current scene, using the automatic switching strategy of the silent driving and parking vehicle positioning function, using the associated areas to establish corresponding associations between the driving and parking maps, and using the parking lot characteristics to subdivide the parking lot scene. According to the different types of scenes in which the vehicle is located, the software automatically switches the driving and parking vehicle positioning function, and changes the observation information weights, perception element types and weight strategies of the GNSS accordingly, which not only improves the vehicle positioning accuracy and robustness in the driving and parking integrated scene, but also improves the comfort of the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 A flowchart diagram of the first embodiment of the method for switching the positioning of a silent parking vehicle provided in the present application;

[0044] Figure 2 This is a schematic diagram of the module structure of the silent parking vehicle positioning switching device according to an embodiment of the present application;

[0045] Figure 3 Schematic diagram of the device structure of the hardware operating environment involved in the silent parking vehicle positioning switching method in the embodiment of the present application.

[0046] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0048] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0049] The main solution of the embodiment of the present application is: obtaining image information and positioning information collected by the vehicle; determining the position information of the vehicle based on the image information and the positioning information; creating a parking map based on the position information of the vehicle and the image information; when the vehicle enters the driving and parking integrated function, determining the current scene based on the position information of the vehicle, and switching the positioning mode according to the current scene.

[0050] In this embodiment, for the convenience of description, the following description is made by taking the identification of the silent parking vehicle positioning switching device as the execution subject.

[0051] In the prior art, in the parking scenario, parking space recognition is performed, and the recognized parking space information is displayed and set to a selectable state for the user to select a parking space; vehicle control planning is performed based on the user's parking space selection and the planned trajectory is displayed, which requires the driver to interact and confirm, and the scene switching cannot be completed automatically.

[0052] The present application provides a solution, which includes acquiring image information and positioning information collected by the vehicle; determining the vehicle's position information based on the image information and the positioning information; creating a parking map based on the vehicle's position information and the image information; and when the vehicle enters the driving and parking integrated function, determining the current scene based on the vehicle's position information, switching the positioning mode based on the current scene, using an automatic switching strategy for the silent driving and parking vehicle positioning function, using associated areas to establish corresponding associations between the driving and parking maps, and using parking lot characteristics to subdivide parking lot scenes. According to the different types of scenes in which the vehicle is located, the software automatically switches the driving and parking vehicle positioning function, and changes the GNSS observation information weights and perception element types and weight strategies accordingly, which not only improves the vehicle positioning accuracy and robustness in the driving and parking integrated scene, but also improves the comfort of the user experience.

[0053] It can be seen from the above embodiments that the present application obtains image information and positioning information collected by the vehicle; determines the location information of the vehicle based on the image information and the positioning information; creates a parking map based on the location information of the vehicle and the image information; when the vehicle enters the parking and driving function, determines the current scene based on the location information of the vehicle, switches the positioning mode based on the current scene, uses the automatic switching strategy of the silent parking and driving vehicle positioning function, uses the associated areas to establish corresponding associations between the parking and driving maps, and uses the parking lot characteristics to subdivide the parking lot scene. According to the different types of scenes in which the vehicle is located, the software automatically switches the parking and driving vehicle positioning function, and changes the GNSS observation information weights and perception element types and weight strategies accordingly, which not only improves the vehicle positioning accuracy and robustness in the parking and driving scene, but also improves the comfort of the user experience.

[0054] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a silent parking vehicle positioning switching device, etc. The following takes the silent parking vehicle positioning switching device as an example to illustrate this embodiment and the following embodiments.

[0055] Based on this, the embodiment of the present application provides a silent parking vehicle positioning switching method, referring to Figure 1 , Figure 1 This is a flow chart of a first embodiment of a silent parking vehicle positioning switching method of the present application.

[0056] In this embodiment, the silent parking vehicle positioning switching method includes steps S10 to S40:

[0057] Step S10, obtaining image information and positioning information collected by the vehicle.

[0058] It should be noted that the image information and positioning information collected by the vehicle are collected through the vehicle's camera or obtained through the vehicle's positioning sensor. The image information includes lane line information, road sign information, etc. on the road, and the positioning information describes the vehicle's current vehicle position.

[0059] In a feasible implementation manner, the step of obtaining image information and positioning information collected by the vehicle includes:

[0060] Obtain vehicle sensor data, image perception information, and satellite positioning information of the vehicle;

[0061] respectively verifying the validity of the acquisition time of the vehicle sensor data, the image perception information, and the satellite positioning information to obtain a validity verification result;

[0062] When the validity verification result is valid, the vehicle sensor data, the image perception information and the satellite positioning information are cleaned in data format to obtain the image information and positioning information of the vehicle.

[0063] It should be noted that vehicle sensor data includes vehicle speed information and IMU (Inertial Measurement Unit) information obtained from the vehicle's underlying sensors. Image perception information refers to the perceived and identified parking space status information, and satellite positioning information refers to GNSS (Global Navigation Satellite System) information.

[0064] In the specific implementation, after obtaining the vehicle sensor data, image perception information and satellite positioning information, the validity of these information can be verified. Since the data will be affected by the system time, the timestamp of the collected data will flow back or jump; secondly, under the interference of the external environment, the collected data may exceed the upper and lower limits of the vehicle's theoretical output value. If the data is detected to be invalid attributes or time anomalies for a single time, the invalid attribute data will not be input into the subsequent operation; if the data is detected to be invalid attributes or time anomalies for N consecutive times (for example, N = 20), the function will be exited at this time, and the specific fault will be reported to the vehicle system, prompting the maintenance personnel to troubleshoot and repair the problem. In order to ensure the universality of the algorithm, when these data are obtained, a simple cleaning operation will be performed on the data of all sensors to ensure that the data format input into the core algorithm remains consistent, thereby improving the universality of the core algorithm.

[0065] Step S20: determining the position information of the vehicle according to the image information and the positioning information.

[0066] It should be noted that the vehicle's position information refers to the vehicle's current position, which is determined by combining positioning information with image information.

[0067] In the specific implementation, when determining the location information of the vehicle according to the image information and positioning information, the regional map data can be loaded according to the vehicle positioning information, wherein the regional map data is provided by the LD / HD map vendor, does not need to be rebuilt, and can be directly called when needed, and the GNSS data is used to give the approximate position of the vehicle, and the map data loaded with the lane line, ground signs, and pole sign information perceived by the vehicle in real time is matched to obtain the specific position information of the vehicle in the map, and the use of ground signs and lamp pole signs can reduce the risk of wrong lanes. After that, the vehicle initialization visual positioning process can be completed, the driving visual lane line matching positioning algorithm is run to ensure the real-time position of the vehicle, and the vehicle is driven to the parking lot where parking is required. At the same time, the vehicle position information and the road boundary information of the map are continuously used for geometric judgment to determine whether the vehicle is in the map. Since the parking lot may be outside the driving scene map, it is necessary to judge whether the vehicle has left the map at all times. If the vehicle is in the map, the steps of determining whether the vehicle is in the map according to the driving visual lane line matching positioning algorithm are repeated. If the vehicle leaves the map, the vehicle position at the point where it leaves the map is recorded, and the program automatically turns off the driving positioning function and starts the parking map construction.

[0068] Step S30: creating a parking map according to the location information of the vehicle and the image information.

[0069] It should be noted that the parking map refers to the map information generated when the vehicle enters the parking area, which is generated based on the vehicle's sensor signals, visual image information and other data, including the map data of the vehicle leaving the driving map area and parking in the parking space.

[0070] In a specific implementation, the lifting behavior of the parking lot is determined according to the image information, the parking lot type is determined according to the lifting behavior, the marking information is generated according to the parking lot type, and the parking map is created according to the location information of the vehicle and the marking information. Specifically, IMU, wheel speed, real-time perception (for example, lane lines, ground signs, parking spaces, etc.) and RTK can be used to construct map data from the area leaving the driving map to the parking space. Through multi-sensor fusion mapping, the main semantic and feature point map data is constructed, which is different from the driving map. When constructing the parking map, it is necessary to determine in real time whether there is a lifting of the pole. If there is a lifting of the pole, the position of the lifting of the pole needs to be recorded; if there is no lifting of the pole throughout the whole process, the user is prompted whether it is a temporary roadside parking or a free parking lot. Classification is for the subsequent algorithm to switch the logical weight. With the recorded posture information as the origin, a circle with a radius of R (R is 12m, i.e., three lanes wide) is selected as the map marking area. The above parking map, map marking area and road information at the exit of the driving map are generated with associated information, and saved locally and in the cloud to complete the binding of the driving and parking maps.

[0071] Step S40, when the vehicle enters the parking and driving function, the current scene is determined according to the position information of the vehicle, and the positioning mode is switched according to the current scene.

[0072] In a specific implementation, when the vehicle enters the driving and parking integrated function, the current scene is determined according to the position information of the vehicle; when the current scene is a target driving area, the driving positioning mode is switched to; when the target parking area is a first target parking area, the visual features in the image information are obtained, matching is performed based on the visual features, and the parking positioning mode is switched to; when the target parking area is a second target parking area, the positional relationship between the vehicle and the target parking area is determined, the matching weight is updated according to the positional relationship, and the parking positioning mode is switched based on the matching weight.

[0073] The first target parking area refers to the vehicle in the driving area, and the second target parking area refers to the vehicle in the parking lot with a lifting barrier. After completing the binding of the driving and parking map, when the vehicle enters the driving and parking integration function, the vehicle will judge the scene of the vehicle based on the GNSS posture information. If the vehicle is in the driving area, the software automatically switches to the driving positioning function, the visual lane line matching, mainly based on the visual lane line; if the vehicle is in the parking area, the software automatically switches to the parking positioning function, and judges the parking lot type. If the vehicle is temporarily parked or in a free parking lot, it is necessary to switch to the parking positioning function based on visual feature matching. A free parking lot may be on the roadside or in front of a restaurant building, and there may not be specific information such as lane lines and underground parking lots. Therefore, semantic matching cannot be used as the dominant function, and feature matching needs to be used as the dominant function. If the vehicle is in a parking lot with a lifting barrier, switch to the parking positioning function based on semantic matching. And judge whether the vehicle is inside or outside the lifting barrier. If it is outside the lifting barrier, increase the weight information of GNSS and lane line elements in the matching; if it is inside the lifting barrier, reduce the weight information of GNSS in the matching, and increase the weight information of parking space information in the matching. If the vehicle is in the driving area, during the continuous automatic driving process of the vehicle, it is determined whether the road where the vehicle is located is on the road bound to the parking map. If not, it is continuously determined whether the road where the vehicle is located is on the road bound to the parking map. If the vehicle has entered the road bound to the parking map, the driving map is released, only the current road map information is retained, and it is determined whether the vehicle has entered the marked area. The map information is released in advance to reduce memory consumption when loading the parking map information. If the vehicle has not entered the marked area, it continues to drive automatically and determines whether it has entered the marked area; if it has entered the marked area, it is necessary to determine whether M consecutive (M=8 is recommended) frames are all in the marked area. If not M consecutive frames are in the marked area, it is considered that it is not in the marked area, and the driving positioning function continues; if the continuous frame requirements are met, the current road parking map data is released, the parking map data is loaded, and the parking positioning function is switched, and the vehicle is judged in the parking area. In addition, the software automatically monitors the abnormalities that occur during the entire process, assigns different fault levels according to the severity of the abnormalities, and reports the serious fault levels to the system to ensure the safety of the system and the traceability of problems.

[0074] The present embodiment provides a method for switching the positioning of a silent parking vehicle, by acquiring image information and positioning information collected by the vehicle; determining the position information of the vehicle according to the image information and the positioning information; creating a parking map according to the position information of the vehicle and the image information; when the vehicle enters the parking and driving function, determining the current scene according to the position information of the vehicle, switching the positioning mode according to the current scene, using the automatic switching strategy of the silent parking and driving positioning function, using the associated areas to establish corresponding associations between the parking and driving maps, and using the parking lot characteristics to subdivide the parking lot scene, according to the different scene types in which the vehicle is located, the software automatically switches the parking and driving positioning function, and changes the observation information weights, perception element types and weight strategies of the GNSS accordingly, which not only improves the positioning accuracy and robustness of the vehicle in the parking and driving scene, but also improves the comfort of the user experience.

[0075] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the silent parking vehicle positioning switching method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0076] This application also provides a silent parking vehicle positioning switching device, please refer to Figure 2 The silent parking vehicle positioning switching device comprises:

[0077] The information acquisition module 10 is used to obtain image information and positioning information collected by the vehicle;

[0078] A vehicle positioning module 20, configured to determine the position information of the vehicle according to the image information and the positioning information;

[0079] A map creation module 30, configured to create a parking map according to the vehicle position information and the image information;

[0080] The mode switching module 40 is used to determine the current scene according to the position information of the vehicle when the vehicle enters the driving and parking integrated function, and switch the positioning mode according to the current scene.

[0081] In one embodiment, the information acquisition module 10 is also used to obtain vehicle sensor data, image perception information and satellite positioning information of the vehicle; respectively verify the validity of the acquisition time of the vehicle sensor data, the image perception information and the satellite positioning information to obtain a validity verification result; when the validity verification result is valid, clean the data format of the vehicle sensor data, the image perception information and the satellite positioning information to obtain the image information and positioning information of the vehicle.

[0082] In one embodiment, the information collection module 10 is further used to update the invalid record continuity data when the validity verification result is invalid; when the invalid record continuity data is greater than a preset upper limit value, exit the silent parking vehicle positioning switching function and generate a fault report to the vehicle system.

[0083] In one embodiment, the vehicle positioning module 20 is also used to load regional map data according to the positioning information; determine the vehicle's posture according to the positioning information, and obtain lane lines, ground signs and pole sign information according to the image information; determine the vehicle's location information according to the lane lines, the ground signs, the pole sign information and the regional map data.

[0084] In one embodiment, the map creation module 30 is further used to determine the barrier lifting behavior of the parking lot based on the image information; determine the parking lot type based on the barrier lifting behavior, and generate marking information based on the searched parking lot type; and create a parking map based on the vehicle location information and the marking information.

[0085] In one embodiment, the mode switching module 40 is also used to determine the current scene according to the position information of the vehicle when the vehicle enters the driving and parking integrated function; when the current scene is a target driving area, switch to the driving positioning mode; when the current scene is a target parking area, switch to the parking positioning mode.

[0086] In one embodiment, the mode switching module 40 is further used to obtain visual features in the image information when the target parking area is a first target parking area, perform matching based on the visual features, and switch to a parking positioning mode; when the target parking area is a second target parking area, determine a positional relationship between the vehicle and the target parking area, update a matching weight based on the positional relationship, and switch the parking positioning mode based on the matching weight.

[0087] The silent parking vehicle positioning switching device provided by the present application adopts the silent parking vehicle positioning switching method in the above embodiment, which can solve the technical problems in the prior art that the scene cannot be automatically switched during parking switching and the abnormal problems during switching. Compared with the prior art, the beneficial effects of the silent parking vehicle positioning switching device provided by the present application are the same as the beneficial effects of the silent parking vehicle positioning switching method provided by the above embodiment, and the other technical features of the silent parking vehicle positioning switching device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0088] The present application provides a silent parking vehicle positioning switching device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the silent parking vehicle positioning switching method in the above-mentioned embodiment one.

[0089] Reference below Figure 3 , which shows a schematic diagram of a structure of a silent parking vehicle positioning switching device suitable for implementing the embodiment of the present application. The silent parking vehicle positioning switching device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 3 The silent parking vehicle positioning switching device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0090] like Figure 3As shown, the silent parking vehicle positioning switching device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the silent parking vehicle positioning switching device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the silent parking vehicle positioning switching device to communicate with other devices wirelessly or by wire to exchange data. Although the silent parking vehicle positioning switching device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0091] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0092] The silent parking vehicle positioning switching device provided by the present application adopts the silent parking vehicle positioning switching method in the above embodiment, which can solve the technical problems in the prior art that the scene cannot be automatically switched during parking switching and the abnormal problems during switching. Compared with the prior art, the beneficial effects of the silent parking vehicle positioning switching device provided by the present application are the same as the beneficial effects of the silent parking vehicle positioning switching method provided by the above embodiment, and the other technical features of the silent parking vehicle positioning switching device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0093] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0094] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0095] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the silent parking vehicle positioning switching method in the above-mentioned embodiment.

[0096] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0097] The computer-readable storage medium may be included in the silent parking vehicle positioning switching device; or may exist independently without being assembled into the silent parking vehicle positioning switching device.

[0098] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the silent parking vehicle positioning switching device, the silent parking vehicle positioning switching device:

[0099] Obtain image information and positioning information collected by the vehicle;

[0100] Determine the position information of the vehicle according to the image information and the positioning information;

[0101] Creating a parking map based on the location information of the vehicle and the image information;

[0102] When the vehicle enters the driving and parking integrated function, the current scene is determined according to the position information of the vehicle, and the positioning mode is switched according to the current scene.

[0103] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through 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., via the Internet using an Internet service provider).

[0104] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0105] The modules involved in the embodiments of the present application may be implemented by software or hardware, wherein the name of the module does not limit the unit itself in some cases.

[0106] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned silent parking vehicle positioning switching method, and can solve the technical problems in the prior art that the scene cannot be automatically switched during parking switching and the abnormal problems during switching. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the silent parking vehicle positioning switching method provided by the above-mentioned embodiment, and will not be repeated here.

[0107] The present application also provides a computer program product, including a computer program, which implements the steps of the silent parking vehicle positioning switching method as described above when executed by a processor.

[0108] The computer program product provided by the present application can solve the technical problems in the prior art that the scene cannot be automatically switched when switching between parking and driving, and the abnormal problems during the switching. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the silent parking vehicle positioning switching method provided by the above embodiment, and will not be repeated here.

[0109] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A silent parking vehicle positioning switching method, characterized in that: The silent parking vehicle positioning switching method comprises: Obtain image information and positioning information collected by the vehicle; Determine the position information of the vehicle according to the image information and the positioning information; Creating a parking map based on the location information of the vehicle and the image information; When the vehicle enters the parking and driving function, the current scene is determined according to the position information of the vehicle, and the positioning mode is switched according to the current scene.

2. The method according to claim 1, characterized in that The step of obtaining the image information and positioning information collected by the vehicle includes: Obtain vehicle sensor data, image perception information, and satellite positioning information of the vehicle; respectively verifying the validity of the acquisition time of the vehicle sensor data, the image perception information, and the satellite positioning information to obtain a validity verification result; When the validity verification result is valid, the vehicle sensor data, the image perception information and the satellite positioning information are cleaned in data format to obtain the image information and positioning information of the vehicle.

3. The method according to claim 2, characterized in that After the step of respectively verifying the validity of the acquisition time of the vehicle sensor data, the image perception information, and the satellite positioning information to obtain the validity verification result, the method further includes: When the validity verification result is invalid, updating the invalid record continuity data; When the invalid record continuity data is greater than a preset upper limit value, the silent parking vehicle positioning switching function is exited and a fault report is generated to the vehicle system.

4. The method according to claim 1, characterized in that The step of determining the position information of the vehicle according to the image information and the positioning information comprises: Loading regional map data according to the positioning information; Determine the position and posture of the vehicle according to the positioning information, and obtain lane lines, ground markings and pole sign information according to the image information; The location information of the vehicle is determined according to the lane line, the ground marking, the pole sign information and the regional map data.

5. The method according to claim 1, characterized in that The step of creating a parking map according to the position information of the vehicle and the image information comprises: Determine the lifting behavior of the parking lot barrier according to the image information; Determine the parking lot type according to the barrier lifting behavior, and generate marking information according to the parking lot type; A parking map is created according to the location information of the vehicle and the marking information.

6. The method according to claim 1, characterized in that When the vehicle enters the parking and driving function, the step of determining the current scene according to the location information of the vehicle and switching the positioning mode according to the current scene includes: When the vehicle enters the parking and driving function, determining the current scene according to the position information of the vehicle; When in the current scene target driving area, switching to driving positioning mode; When the current scene is a target parking area, the mode is switched to parking positioning mode.

7. The method according to claim 6, characterized in that When the current scene is a target parking area, the step of switching to the parking positioning mode includes: When the target parking area is a first target parking area, obtaining visual features in the image information, performing matching based on the visual features, and switching to a parking positioning mode; When the target parking area is a second target parking area, a positional relationship between the vehicle and the target parking area is determined, a matching weight is updated according to the positional relationship, and the parking positioning mode is switched based on the matching weight.

8. A silent parking vehicle positioning switching device, characterized in that: The device comprises: An information collection module is used to obtain image information and positioning information collected by the vehicle; Vehicle positioning information, used to determine the location information of the vehicle based on the image information and the positioning information; A map creation module, used to create a parking map according to the position information of the vehicle and the image information; The mode switching module is used to determine the current scene according to the position information of the vehicle when the vehicle enters the driving and parking integrated function, and switch the positioning mode according to the current scene.

9. A silent parking vehicle positioning switching device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the silent parking vehicle positioning switching method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the silent parking vehicle positioning switching method according to any one of claims 1 to 7 are implemented.

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