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

Abstract

The application discloses a silent driving and parking vehicle positioning switching method and device, equipment and a storage medium, and relates to the technical field of intelligent driving. The application comprises the following steps: acquiring image information and positioning information collected by a vehicle, determining 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, 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, using an automatic switching strategy of a silent driving and parking vehicle positioning function, establishing corresponding correlations of driving and parking maps by using a correlation area, subdividing a parking lot scene by using parking lot characteristics, automatically switching the driving and parking vehicle positioning function by software according to different scene types in which the vehicle is located, and changing observation information weight of a global navigation satellite system (GNSS), perception element types and weight strategies, so that the vehicle positioning accuracy and robustness in a driving and parking integrated scene are improved, and the comfort of user experience is improved.

Description

Technical Field

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

[0002] With the continuous development of autonomous driving technology, integrated driving and parking technology is gradually gaining industry recognition and will become an important competitive advantage for automakers in the next stage. This is especially true given the growing consumer demand for intelligent driving functions, particularly automatic parking, which is driving the development and application of integrated driving and parking technology. However, current intelligent driving systems using integrated driving and parking rely on user-vehicle interaction for vehicle control, or lack mechanisms to handle abnormal scenarios during the driving and parking transition. Therefore, finding a method that can automatically switch positioning modes in different driving scenarios to ensure precise vehicle control and safety is crucial. A silent driving and parking vehicle positioning switching technology is a problem that urgently needs to be solved.

[0003] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

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

[0005] To achieve the above objectives, this application proposes a silent parking vehicle positioning switching method, which includes:

[0006] Acquire image and location information collected by the vehicle;

[0007] The vehicle's location information is determined based on the image information and the positioning information;

[0008] A parking map is created based on the vehicle's location information and the image information;

[0009] When a vehicle enters the integrated driving and parking function, the current scene is determined based on the vehicle's location information, and the positioning mode is switched according to the current scene.

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

[0011] Acquire vehicle sensor data, image perception information, and satellite positioning information;

[0012] The validity of the acquisition time of the vehicle sensor data, the image perception information, and the satellite positioning information is verified respectively to obtain the validity verification results.

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

[0014] In one embodiment, after the step of validating 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:

[0015] If the validity verification result is invalid, update the continuity data of the invalid records;

[0016] When the number of invalid records exceeds a preset upper limit, the silent parking vehicle positioning switching function is exited, and a fault report is generated and sent to the vehicle system.

[0017] In one embodiment, the step of determining the vehicle's location information based on the image information and the positioning information includes:

[0018] Load the area map data based on the location information;

[0019] The vehicle's position is determined based on the positioning information, and lane lines, ground markings, and pole sign information are obtained based on the image information.

[0020] The vehicle's location information is determined based on the lane lines, ground markings, pole sign information, and area map data.

[0021] In one embodiment, the step of creating a parking map based on the vehicle's location information and the image information includes:

[0022] The gate-raising behavior of the parking lot is determined based on the image information;

[0023] The parking lot type is determined based on the barrier lifting behavior, and marking information is generated based on the book search parking lot type;

[0024] A parking map is created based on the vehicle's location information and the marking information.

[0025] In one embodiment, the step of determining the current scene based on the vehicle's location information and switching the positioning mode based on the current scene when the vehicle enters the integrated driving and parking function includes:

[0026] When a vehicle enters the integrated driving and parking function, the current scene is determined based on the vehicle's location information;

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

[0028] When the current scenario is the target parking area, switch to parking location mode.

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

[0030] When the target parking area is the first target parking area, visual features in the image information are acquired, matching is performed based on the visual features, and the parking positioning mode is switched.

[0031] When the target parking area is the 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.

[0032] Furthermore, to achieve the above objectives, this application also proposes a silent parking vehicle positioning switching device, which includes:

[0033] The information acquisition module is used to acquire image and location information collected by the vehicle;

[0034] The vehicle positioning module is used to determine the vehicle's location information based on the image information and the positioning information;

[0035] The map creation module is used to create a parking map based on the vehicle's location information and the image information.

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

[0037] In addition, to achieve the above objectives, this application also proposes a silent parking vehicle positioning switching device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the silent parking vehicle positioning switching method described above.

[0038] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the silent parking vehicle positioning switching method described above.

[0039] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the silent parking vehicle positioning switching method described above.

[0040] One or more technical solutions proposed in this application have at least the following technical effects: 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; when the vehicle enters the integrated driving and parking 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 silent driving and parking vehicle positioning function, establishing corresponding associations for the driving and parking map using associated areas, and subdividing the parking scene using parking lot characteristics; automatically switching the driving and parking vehicle positioning function according to the different scene types of the vehicle, and changing the GNSS observation information weight and the types and weighting strategies of sensing elements accordingly, which not only improves the vehicle positioning accuracy and robustness in the integrated driving and parking scene, but also enhances the comfort of the user experience. Attached Figure Description

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

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a flowchart illustrating an embodiment of the silent parking vehicle positioning switching method of this 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 this application;

[0045] Figure 3 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the silent parking vehicle positioning switching method in the embodiments of this application.

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

[0047] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0048] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0049] The main solution of this application embodiment is: to acquire image information and positioning information collected by the vehicle; to determine the vehicle's position information based on the image information and the positioning information; to create a parking map based on the vehicle's position information and the image information; and to determine the current scene based on the vehicle's position information and switch the positioning mode based on the current scene when the vehicle enters the integrated driving and parking function.

[0050] In this embodiment, for ease of description, the following description will focus on identifying the positioning switching device for silent parking vehicles.

[0051] Because existing technologies in the parking scenario involve identifying parking spaces, displaying the identified parking space information and setting it as selectable for the user to choose a parking space; and planning vehicle control based on the user's parking space selection and displaying the planned trajectory, driver interaction is required for confirmation, and scene switching cannot be completed automatically.

[0052] This application provides a solution that acquires image and positioning information collected by a vehicle; determines the vehicle's location information based on the image and positioning information; creates a parking map based on the vehicle's location information and the image information; when the vehicle enters the integrated parking and driving function, the current scene is determined based on the vehicle's location information, and the positioning mode is switched according to the current scene. An automatic switching strategy using a silent parking and driving vehicle positioning function is employed. Corresponding regions are used to establish a corresponding association between the parking and driving maps, and the parking scene is subdivided using parking lot characteristics. Depending on the type of scene the vehicle is in, the software automatically switches the parking and driving vehicle positioning function and accordingly changes the weight of GNSS observation information and the types and weighting strategies of sensing elements. This not only improves the vehicle positioning accuracy and robustness in the integrated parking and driving scenario but also enhances the user experience.

[0053] As can be seen from the above embodiments, this application acquires image information and positioning information collected by the vehicle; determines the vehicle's location information based on the image information and the positioning information; creates a parking map based on the vehicle's location information and the image information; when the vehicle enters the integrated driving and parking function, it determines the current scene based on the vehicle's location information, switches the positioning mode based on the current scene, uses an automatic switching strategy for silent driving and parking vehicle positioning function, establishes corresponding associations for the driving and parking map using associated areas, and subdivides the parking scene using parking lot characteristics. Based on different scene types of the vehicle, the software automatically switches the driving and parking vehicle positioning function and changes the GNSS observation information weight and the types and weighting strategies of sensing elements accordingly. This not only improves the vehicle positioning accuracy and robustness in the integrated driving and parking scene, but also enhances the comfort of the user experience.

[0054] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, such as a silent parking vehicle positioning switching device. The following description uses a silent parking vehicle positioning switching device as an example to illustrate this embodiment and the subsequent embodiments.

[0055] Based on this, embodiments of this application provide a silent parking vehicle positioning switching method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the silent parking vehicle positioning switching method of this application.

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

[0057] Step S10: Obtain image information and location information collected by the vehicle.

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

[0059] In one feasible implementation, the step of acquiring the image information and positioning information collected by the vehicle includes:

[0060] Acquire vehicle sensor data, image perception information, and satellite positioning information;

[0061] The validity of the acquisition time of the vehicle sensor data, the image perception information, and the satellite positioning information is verified respectively to obtain the validity verification results.

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

[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 its implementation, after obtaining vehicle sensor data, image perception information, and satellite positioning information, the validity of this information can be verified. Because the data is affected by system time, the timestamps of the collected data may experience backtracking or jumps. Secondly, under external environmental interference, the collected data may exceed the upper and lower limits of the vehicle's theoretical output values. If a single instance of invalid attribute or time anomaly is detected, the invalid attribute data is not input into subsequent operations. If invalid attribute or time anomaly is detected N consecutive times (e.g., N=20), the function exits, and the specific fault is reported to the vehicle's infotainment system, prompting maintenance personnel to troubleshoot and repair the problem. To ensure the algorithm's versatility, a simple cleaning operation is performed on all sensor data upon acquisition to ensure consistency in the data format input to the core algorithm, thereby improving the algorithm's versatility.

[0065] Step S20: Determine the vehicle's location information based on the image information and the positioning information.

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

[0067] In the specific implementation, when determining the vehicle's location information based on image and positioning information, regional map data can be loaded based on the vehicle's positioning information. This regional map data is provided by LD / HD map providers and does not need to be reconstructed; it can be directly accessed when needed. GNSS data is used to provide the vehicle's approximate pose, which is then matched with map data loaded from the vehicle's real-time perception of lane lines, ground markings, and signposts to obtain the vehicle's specific location on the map. Ground markings and signposts can reduce the risk of lane-changing errors. After this, the vehicle's initial visual positioning process is completed, and a driving vision lane line matching positioning algorithm is run to ensure the vehicle's real-time pose. The vehicle is then driven to the parking lot where parking is required. Simultaneously, geometric judgments are continuously performed using the vehicle's pose information and the map's road boundary information to determine if the vehicle is within the map. Since the parking lot may be outside the driving scene map, it is necessary to constantly check if the vehicle has left the map. If the vehicle is within the map, the step of determining whether the vehicle is within the map based on the driving vision lane line matching positioning algorithm is repeated. If the vehicle leaves the map, the vehicle's pose at the point of departure is recorded, the program automatically disables the driving positioning function, and starts parking map construction.

[0068] Step S30: Create a parking map based on the vehicle's location information and the image information.

[0069] It should be noted that parking maps refer to map information generated when a vehicle enters a parking area. They are generated based on data such as vehicle sensor signals and visual image information, including map data when the vehicle leaves the driving map area and the parking space.

[0070] In the specific implementation, the parking lot barrier raising behavior is determined based on the image information, the parking lot type is determined based on the barrier raising behavior, and marking information is generated based on the parking lot type. A parking map is created based on the vehicle's location information and the marking information. Specifically, it can utilize IMU, wheel speed, real-time perception (e.g., lane lines, ground markings, parking spaces, etc.), and RTK to construct map data from leaving the driving map area to the parking space. Through multi-sensor fusion mapping, the main data constructed is semantic and feature point map data, which differs from the driving map. When constructing the parking map, it is necessary to determine in real time whether a barrier is raised. If a barrier is raised, its position needs to be recorded; if there is no barrier raised throughout, the user is prompted whether it is temporary roadside parking or a free parking lot. Classification is used for subsequent algorithm switching of logical weights. Using the recorded pose information as the origin, a circle with a radius of R (R is 12m, i.e., three lane widths) is selected as the map marking area. The above parking map, map marking area, and road information at the departure point of the driving map are used to generate association information and saved locally and in the cloud, completing the binding of the driving and parking maps.

[0071] Step S40: When the vehicle enters the integrated driving and parking function, determine the current scene based on the vehicle's location information, and switch the positioning mode according to the current scene.

[0072] In specific implementation, when a vehicle enters the integrated driving and parking function, the current scene is determined based on the vehicle's location information; when the target driving area is in the current scene, the driving positioning mode is switched; when the target parking area is a first target parking area, visual features in the image information are acquired, matching is performed based on the visual features, and the parking positioning mode is switched; 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 based on 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 being within the driving area, while the second target parking area refers to the vehicle being in a parking lot with barriers. After completing the mapping of driving and parking, when the vehicle enters the integrated driving and parking function, it will determine its location based on GNSS pose information. If the vehicle is in the driving area, the software automatically switches to driving positioning function, using visual lane line matching, primarily relying on visual lane lines. If the vehicle is in a parking lot area, the software automatically switches to parking positioning function and determines the parking lot type. If the vehicle is temporarily parked or in a free parking lot, the parking positioning function, primarily relying on visual feature matching, needs to be switched. Free parking lots may be roadside or in front of restaurants, and may not have specific information such as lane lines or underground parking lots, so semantic matching cannot be used as the primary method; feature matching must be used instead. If the vehicle is in a parking lot with barriers, the parking positioning function, primarily relying on semantic matching, is switched to. It then determines whether the vehicle is inside or outside the barriers. If outside the barriers, the weight of GNSS and lane line elements in the matching is increased; if inside the barriers, the weight of GNSS in the matching is decreased, and the weight of parking space information in the matching is increased. If the vehicle is in the driving area, during continuous autonomous driving, the system checks whether the road the vehicle is on is on the road bound to the parking map. If not, it continues to check. If the vehicle has entered the road bound to the parking map, the driving map is released, retaining only the current road map information, and the system checks whether the vehicle has entered a marked area. Releasing map information in advance reduces memory consumption when loading parking map information. If the vehicle has not entered the marked area, autonomous driving continues and the system checks whether it has entered the marked area. If it has entered the marked area, it needs to check whether it is within the marked area for M consecutive frames (M=8 recommended). If it is not within the marked area for M consecutive frames, it is considered not to be within the marked area, and the driving positioning function continues. If the consecutive frame requirement is met, the current road parking map data is released, the parking map data is loaded, the parking positioning function is switched, and the system checks whether the vehicle is in the parking area. In addition, the software automatically monitors anomalies throughout the process and assigns different fault levels according to the severity of the anomalies. Severe fault levels are reported to the system to ensure system security and problem traceability.

[0074] This embodiment provides a silent parking vehicle positioning switching method. It acquires image and positioning information collected by the vehicle; determines the vehicle's location information based on the image and positioning information; creates a parking map based on the vehicle's location information and the image information; when the vehicle enters the integrated parking function, it determines the current scene based on the vehicle's location information, switches the positioning mode according to the current scene, and uses an automatic switching strategy for silent parking vehicle positioning. It establishes corresponding associations between the parking map and related areas, and further subdivides the parking scene using parking lot characteristics. Depending on the type of scene the vehicle is in, the software automatically switches the parking vehicle positioning function and accordingly changes the weight of GNSS observation information and the types and weighting strategies of sensing elements. This not only improves the vehicle positioning accuracy and robustness in the integrated parking scenario but also enhances the user experience.

[0075] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the silent parking vehicle positioning switching method of this application. Any simple modifications based on this technical concept are within the protection scope of this 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 includes:

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

[0078] Vehicle positioning module 20 is used to determine the vehicle's location information based on the image information and the positioning information;

[0079] Map creation module 30 is used to create a parking map based on the vehicle's location information and the image information;

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

[0081] In one embodiment, the information acquisition module 10 is further configured to acquire vehicle sensor data, image perception information, and satellite positioning information of the vehicle; verify the validity of the acquisition time of the vehicle sensor data, the image perception information, and the satellite positioning information respectively, and obtain a validity verification result; when the validity verification result is valid, perform data format cleaning on 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 acquisition module 10 is further configured to update the invalid record continuity data when the validity verification result is invalid; and to exit the silent parking vehicle positioning switching function and generate a fault report to the vehicle system when the invalid record continuity data is greater than a preset upper limit value.

[0083] In one embodiment, the vehicle positioning module 20 is further configured to load regional map data based on the positioning information; determine the vehicle's pose based on the positioning information; obtain lane lines, ground markings, and pole sign information based on the image information; and determine the vehicle's location information based on the lane lines, ground markings, pole sign information, and regional map data.

[0084] In one embodiment, the map creation module 30 is further configured to determine the gate raising behavior of the parking lot based on the image information; determine the parking lot type based on the gate raising behavior; generate marking information based on the 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 further configured to determine the current scene based on the vehicle's location information when the vehicle enters the integrated driving and parking function; switch to driving positioning mode when the current scene is a target driving area; and switch to parking positioning mode when the current scene is a target parking area.

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

[0087] The silent parking vehicle positioning switching device provided in this application, employing the silent parking vehicle positioning switching method described in the above embodiments, can solve the technical problems in the prior art regarding the inability to automatically switch scenarios during parking switching and abnormal issues during switching. Compared with the prior art, the beneficial effects of the silent parking vehicle positioning switching device provided in this application are the same as those of the silent parking vehicle positioning switching method provided in the above embodiments, and other technical features in the silent parking vehicle positioning switching device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0088] This 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 to enable the at least one processor to perform the silent parking vehicle positioning switching method in the above embodiment 1.

[0089] The following is for reference. Figure 3 This document illustrates a structural schematic diagram of a silent parking vehicle positioning switching device suitable for implementing embodiments of this application. The silent parking vehicle positioning switching device in this application embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 3 The silent parking vehicle positioning switching device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0090] like Figure 3As shown, the silent parking vehicle positioning switching device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the silent parking vehicle positioning switching device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the silent parking vehicle positioning switching device to communicate wirelessly or wiredly with other devices to exchange data. Although silent parking vehicle positioning switching devices with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0091] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0092] The silent parking vehicle positioning switching device provided in this application, employing the silent parking vehicle positioning switching method described in the above embodiments, can solve the technical problems in the prior art regarding the inability to automatically switch scenarios during parking switching and abnormal issues during switching. Compared with the prior art, the beneficial effects of the silent parking vehicle positioning switching device provided in this application are the same as those of the silent parking vehicle positioning switching method provided in the above embodiments, and other technical features in this silent parking vehicle positioning switching device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0093] It should be understood that the various parts disclosed in this application can be implemented using 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 suitable manner in one or more embodiments or examples.

[0094] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0095] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the silent parking vehicle positioning switching method in the above embodiments.

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

[0097] The aforementioned computer-readable storage medium may be included in the silent parking vehicle positioning switching device; or it may exist independently and not be installed in the silent parking vehicle positioning switching device.

[0098] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the silent parking vehicle positioning switching device, cause the silent parking vehicle positioning switching device to:

[0099] Acquire image and location information collected by the vehicle;

[0100] The vehicle's location information is determined based on the image information and the positioning information;

[0101] A parking map is created based on the vehicle's location information and the image information;

[0102] When a vehicle enters the integrated driving and parking function, the current scene is determined based on the vehicle's location information, and the positioning mode is switched according to the current scene.

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

[0104] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0105] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0106] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described silent parking vehicle positioning switching method. This solves the technical problems in the prior art regarding the inability to automatically switch scenarios during parking switching and the abnormal issues that arise during switching. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the silent parking vehicle positioning switching method provided in the above embodiments, and will not be repeated here.

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

[0108] The computer program product provided in this application can solve the technical problems in the prior art regarding the inability to automatically switch scenes during parking and the abnormal problems during switching. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the silent parking vehicle positioning switching method provided in the above embodiments, and will not be repeated here.

[0109] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A silent vehicle positioning switching method for parking, characterized in that, The silent parking vehicle positioning switching method includes: Acquire image and location information collected by the vehicle; The vehicle's location information is determined based on the image information and the positioning information; A parking map is created based on the vehicle's location information and the image information; When a vehicle enters the integrated driving and parking function, the current scene is determined based on the vehicle's location information, and the positioning mode is switched according to the current scene. The step of creating a parking map based on the vehicle's location information and the image information includes: The gate-raising behavior of the parking lot is determined based on the image information; The parking lot type is determined based on the barrier lifting behavior, and marking information is generated based on the parking lot type. A parking map is created based on the vehicle's location information and the marking information.

2. The method as described in claim 1, characterized in that, The steps for acquiring the image information and location information collected by the vehicle include: Acquire vehicle sensor data, image perception information, and satellite positioning information; The validity of the acquisition time of the vehicle sensor data, the image perception information, and the satellite positioning information is verified respectively to obtain the validity verification results. When the validity verification result is valid, the vehicle sensor data, the image perception information, and the satellite positioning information are cleaned to obtain the vehicle's image information and positioning information.

3. The method as described in claim 2, characterized in that, After the step of validating the acquisition time of the vehicle sensor data, the image perception information, and the satellite positioning information respectively, and obtaining the validity verification result, the method further includes: If the validity verification result is invalid, update the continuity data of the invalid records; When the number of invalid records exceeds a preset upper limit, the silent parking vehicle positioning switching function is exited, and a fault report is generated and sent to the vehicle system.

4. The method as described in claim 1, characterized in that, The step of determining the vehicle's location information based on the image information and the location information includes: Load the area map data based on the location information; The vehicle's position is determined based on the positioning information, and lane lines, ground markings, and pole sign information are obtained based on the image information. The vehicle's location information is determined based on the lane lines, ground markings, pole sign information, and area map data.

5. The method as described in claim 1, characterized in that, When a vehicle enters the integrated driving and parking function, the step of determining the current scene based on the vehicle's location information and switching the positioning mode based on the current scene includes: When a vehicle enters the integrated driving and parking function, the current scene is determined based on the vehicle's location information; When the target driving area in the current scene is reached, switch to driving positioning mode; When the current scenario is the target parking area, switch to parking location mode.

6. The method as described in claim 5, characterized in that, When the current scenario is the target parking area, the steps of switching to parking positioning mode include: When the target parking area is the first target parking area, visual features in the image information are acquired, and matching is performed based on the visual features to switch to parking positioning mode. When the target parking area is the 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.

7. A silent vehicle positioning switching device for parking, characterized in that, The device includes: The information acquisition module is used to acquire image and location information collected by the vehicle; Vehicle location information, used to determine the vehicle's location information based on the image information and the location information; The map creation module is used to create a parking map based on the vehicle's location information and the image information. The mode switching module is used to determine the current scene based on the vehicle's location information when the vehicle enters the integrated driving and parking function, and to switch the positioning mode according to the current scene. The step of creating a parking map based on the vehicle's location information and the image information includes: The gate-raising behavior of the parking lot is determined based on the image information; The parking lot type is determined based on the barrier lifting behavior, and marking information is generated based on the parking lot type. A parking map is created based on the vehicle's location information and the marking information.

8. A silent vehicle positioning switching device for parking, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the silent parking vehicle positioning switching method as described in any one of claims 1 to 6.

9. 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, it implements the steps of the silent parking vehicle positioning switching method as described in any one of claims 1 to 6.

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