Parking control method and device, vehicle, storage medium and computer program product

Abstract

The invention provides a parking control method and device, a vehicle, a storage medium and a computer program product. The method comprises the steps that in response to a received parking instruction of a target user, environment sensing data of a target vehicle are obtained, and the environment sensing data are used for describing a non-standardized parking environment around the target vehicle; three-dimensional space data is displayed in a graphical user interface of the target vehicle based on the environment perception data, and the three-dimensional space data is used for planning candidate parking positions of the target vehicle in the non-standardized parking environment; in response to a first touch operation executed by a target user for the three-dimensional space data, determining a target parking position from the candidate parking positions; and controlling the target vehicle to execute parking operation based on the target parking position. The parking control method solves the technical problems that a parking control method provided in the related technology is low in flexibility and poor in adaptability.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent driving technology, and in particular to a parking control method, device, vehicle, storage medium and computer program product. Background Art

[0002] As a key component of autonomous vehicles, the automatic parking system can help drivers park their vehicles safely and accurately in parking spaces through intelligent path planning and control, thereby significantly improving parking efficiency and driving experience. In related technologies, the parking control of automatic parking systems mainly relies on the accurate perception and recognition of standardized parking space features. For example, the vehicle's radar, camera and other sensors are used to detect parking space lines, and then the parking path is planned and parking operations are performed. However, the parking control methods in related technologies have the problems of low flexibility and poor adaptability, making it difficult to perform automatic parking operations in non-standardized parking environments where parking space lines do not exist.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present disclosure provide a parking control method, apparatus, vehicle, storage medium and computer program product to at least solve the technical problems of low flexibility and poor adaptability of the parking control methods provided in the related art.

[0005] According to one aspect of an embodiment of the present disclosure, a parking control method is provided, comprising: in response to receiving a parking instruction from a target user, acquiring environmental perception data of a target vehicle, wherein the environmental perception data is used to describe a non-standardized parking environment around the target vehicle; displaying three-dimensional spatial data in a graphical user interface of the target vehicle based on the environmental perception data, wherein the three-dimensional spatial data is used to plan candidate parking positions of the target vehicle in the non-standardized parking environment; in response to a first touch operation performed by the target user on the three-dimensional spatial data, determining a target parking position from the candidate parking positions; and controlling the target vehicle to perform a parking operation based on the target parking position.

[0006] Optionally, in response to a first touch operation performed by the target user on the three-dimensional spatial data, determining the target parking position from the candidate parking positions includes: in response to the first touch operation performed by the target user on the three-dimensional spatial data, obtaining a user-selected area; generating candidate parking positions based on the three-dimensional spatial data corresponding to the user-selected area; and in response to a second touch operation performed by the target user on the candidate parking positions, determining the target parking position based on the candidate parking positions.

[0007] Optionally, generating a candidate parking position based on the three-dimensional spatial data corresponding to the user-selected area includes: obtaining an initial vehicle position of the target vehicle, wherein the initial vehicle position is used to indicate a starting position of a parking travel path; performing query processing in a preset database based on the vehicle position data to obtain a query result, wherein the query result is used to determine whether there is a preset parking position in the preset database that matches the vehicle position data; in response to determining that there is no preset parking position in the preset database based on the query result, performing planning processing based on the three-dimensional spatial data and the initial vehicle position to obtain a candidate parking position.

[0008] Optionally, the parking control method in the embodiment of the present disclosure further includes: in response to determining that a preset parking position exists in a preset database based on the query result, determining a candidate parking area based on the preset parking position.

[0009] Optionally, controlling the target vehicle to perform a parking operation based on the target parking position includes: performing path planning based on the target parking position and an initial vehicle position of the target vehicle to generate a parking driving path; and controlling the target vehicle to perform a parking operation according to the parking driving path.

[0010] Optionally, the parking control method in the embodiment of the present disclosure further includes: responding to a third touch operation of the target user on the target parking position, acquiring custom identification information corresponding to the target parking position; and storing the target parking position and the custom identification information in a preset database.

[0011] According to another aspect of an embodiment of the present disclosure, a parking control device is also provided, including: an acquisition module, used to acquire environmental perception data of a target vehicle in response to receiving a parking instruction from a target user, wherein the environmental perception data is used to describe a non-standardized parking environment around the target vehicle; a display module, used to display three-dimensional spatial data in a graphical user interface of the target vehicle based on the environmental perception data, wherein the three-dimensional spatial data is used to plan candidate parking positions of the target vehicle in the non-standardized parking environment; a determination module, used to determine a target parking position from candidate parking positions in response to a first touch operation performed by the target user on the three-dimensional spatial data; and a control module, used to control the target vehicle to perform a parking operation based on the target parking position.

[0012] Optionally, the determination module is also used to: obtain a user-selected area in response to a first touch operation performed by the target user on the three-dimensional spatial data; generate candidate parking positions based on the three-dimensional spatial data corresponding to the user-selected area; and determine the target parking position based on the candidate parking positions in response to a second touch operation performed by the target user on the candidate parking positions.

[0013] Optionally, the determination module is also used to: obtain an initial vehicle position of the target vehicle, wherein the initial vehicle position is used to indicate the starting position of the parking path; perform query processing in a preset database based on the vehicle position data to obtain a query result, wherein the query result is used to determine whether there is a preset parking position in the preset database that matches the vehicle position data; in response to determining that there is no preset parking position in the preset database based on the query result, perform planning processing based on the three-dimensional spatial data and the initial vehicle position to obtain a candidate parking position.

[0014] Optionally, the determination module is further configured to: in response to determining that a preset parking position exists in the preset database based on the query result, determine a candidate parking area based on the preset parking position.

[0015] Optionally, the control module is further used to: perform path planning based on the target parking position and the initial vehicle position of the target vehicle to generate a parking driving path; and control the target vehicle to perform a parking operation according to the parking driving path.

[0016] According to one embodiment of the present disclosure, a vehicle is further provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the parking control method in the embodiment of the present disclosure.

[0017] According to one embodiment of the present disclosure, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored executable program. When the executable program runs, the device where the storage medium is located is controlled to execute the parking control method in the embodiment of the present disclosure.

[0018] According to one embodiment of the present disclosure, a computer program product is further provided. The computer program product includes computer instructions. When the computer instructions are executed by a processor, the parking control method in the embodiment of the present disclosure is implemented.

[0019] In the embodiment of the present disclosure, in response to receiving a parking instruction from a target user, environmental perception data of the target vehicle is obtained, and three-dimensional spatial data is displayed in a graphical user interface of the target vehicle based on the environmental perception data, and then in response to a first touch operation performed by the target user on the three-dimensional spatial data, a target parking position is determined from candidate parking positions, and finally the target vehicle is controlled to perform a parking operation based on the target parking position, thereby achieving the purpose of enabling users to customize parking positions in any area without clear parking space markings, thereby achieving the technical effect of enhancing the adaptability and flexibility of the parking system in a non-standardized environment, and thus solving the technical problems of low flexibility and poor adaptability of the parking control method provided in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0021] Figure 1 is a flow chart of a parking control method according to one embodiment of the present disclosure;

[0022] Figure 2 is a schematic diagram of a parking control method according to one embodiment of the present disclosure;

[0023] Figure 3 is a schematic diagram of a parking control method according to one embodiment of the present disclosure;

[0024] Figure 4 is a schematic diagram of a candidate parking position according to one embodiment of the present disclosure;

[0025] Figure 5 is a schematic diagram of a parking control system according to one embodiment of the present disclosure;

[0026] Figure 6 is a schematic diagram of a parking control method according to one embodiment of the present disclosure;

[0027] Figure 7 is a schematic diagram of a parking control method according to one embodiment of the present disclosure;

[0028] Figure 8 It is a structural block diagram of a parking control device according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present disclosure, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present disclosure.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0031] In the related art, the parking control of the automatic parking system mainly relies on the accurate perception and recognition of the standardized parking space features, for example, the vehicle's radar, camera and other sensors are used to detect the parking space lines, and then the parking path is planned and the parking operation is performed. However, the parking control method in the related art has the problems of low flexibility and poor adaptability, and thus it is difficult to perform automatic parking operations in non-standardized parking environments where there are no parking space lines.

[0032] Specifically, the current automatic parking system needs to sense that there are identifiable parking spaces in the space before it can plan and execute automatic parking. When the area where the user needs to park is a self-built indoor parking garage, the automatic parking system cannot effectively identify the parking space due to the lack of clear parking space boundaries or standardized parking space signs, and thus cannot execute automatic parking, which limits the application of the automatic parking system in user-defined parking environments and reduces its practical value and user experience in complex scenarios.

[0033] According to an embodiment of the present disclosure, a method embodiment of a parking control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0034] The method embodiment can be executed in an electronic device or a similar computing device including a memory and a processor. Taking running on a computer terminal as an example, the computer terminal may include one or more processors (processors may include but are not limited to central processing units (CPU), graphics processing units (GPU), digital signal processing (DSP) chips, microprocessors (MCU), programmable logic devices (Field Programmable Gate Array, FPGA), neural network processors (Neural-network Processor Unit, NPU), tensor processors (TensorProcessing Unit, TPU), artificial intelligence (Artificial Intelligence, AI) type processors and other processing devices) and a memory for storing data. Optionally, the above-mentioned computer terminal may also include a transmission device, an input and output device, and a display device for communication functions. It can be understood by those of ordinary skill in the art that the above-mentioned structural description is only for illustration, and it does not limit the structure of the above-mentioned computer terminal. For example, the computer terminal may also include more or fewer components than the above-mentioned structural description, or have a configuration different from the above-mentioned structural description.

[0035] The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the parking control method in the embodiment of the present disclosure. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, the above-mentioned parking control method is realized. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0036] The transmission device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0037] The display device may be, for example, a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of a mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), and a user may interact with the GUI by finger contacts and / or gestures on a touch-sensitive surface, wherein the human-computer interaction functions here may optionally include the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music and / or web browsing, etc. The executable instructions for executing the above human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0038] Figure 1 is a flow chart of a parking control method according to one embodiment of the present disclosure, such as Figure 1 As shown, the method comprises the following steps:

[0039] Step S11, in response to receiving a parking instruction from a target user, acquiring environmental perception data of the target vehicle, wherein the environmental perception data is used to describe a non-standardized parking environment around the target vehicle;

[0040] Step S12, displaying three-dimensional spatial data in a graphical user interface of the target vehicle based on the environmental perception data, wherein the three-dimensional spatial data is used to plan candidate parking positions of the target vehicle in the non-standardized parking environment;

[0041] Step S13, in response to a first touch operation performed by the target user on the three-dimensional space data, determining a target parking position from the candidate parking positions;

[0042] Step S14, controlling the target vehicle to perform a parking operation based on the target parking position.

[0043] The above-mentioned environmental perception data refers to the information collected by sensors carried by the vehicle, such as radar, cameras, ultrasonic sensors, etc., including but not limited to obstacles, walls, ground markings, space dimensions, etc. around the target vehicle, which are used to build a detailed model of the vehicle's surrounding environment so that the system can understand the environmental characteristics of the vehicle.

[0044] The above-mentioned non-standardized parking environment refers to parking areas that do not meet the design specifications or standards of traditional parking lots and do not have fixed parking space lines, parking signs and guidance facilities, including but not limited to user-built indoor parking garages or any parking spaces that do not have parking space characteristics. In a non-standardized parking environment, the automatic parking system cannot rely on traditional parking signs to plan and execute parking.

[0045] The above-mentioned three-dimensional spatial data refers to a three-dimensional model of the vehicle's surrounding environment constructed based on environmental perception data, including but not limited to geometric information, spatial relationships and dynamic information of objects around the vehicle, among which the geometric information includes the three-dimensional contours of obstacles around the vehicle, the position and height of walls, the undulations of the ground and other information; the spatial relationship reflects the relative position and distance between objects around the vehicle, as well as the connectivity of the space, such as whether the gaps between objects are sufficient for vehicles to pass through, the minimum distance between vehicles and walls, etc.; the dynamic information includes but is not limited to the position of pedestrians, the movement status of other vehicles, etc.

[0046] The candidate parking positions mentioned above refer to a series of parking position options suitable for the vehicle generated by the parking control unit based on a non-standardized parking environment after analyzing and processing the vehicle sensor data through an integrated algorithm.

[0047] The first touch operation refers to a parking area demarcation operation performed by a user based on a graphical user interface, which is used to select an area in the three-dimensional space data where the user desires to park.

[0048] For example, the user's current desired parking area is a self-built parking garage without parking space lines, and an automatic parking operation needs to be performed. First, the user issues a parking instruction to the vehicle, and the parking control unit of the vehicle receives the parking instruction issued by the user and uses radar sensors, cameras, and ultrasonic sensors to collect environmental information of the self-built parking garage; secondly, the three-dimensional spatial data of the self-built parking garage is displayed in the vehicle's graphical user interface based on the collected environmental information; then, based on the parking space area demarcation operation, the user selects the target parking position to be parked from the candidate parking position options displayed in the graphical user interface; finally, the parking control unit controls the vehicle to perform the parking operation based on the target parking position selected by the user.

[0049] Based on the above steps S11 to S14, in response to receiving a parking instruction from a target user, environmental perception data of the target vehicle is obtained, and three-dimensional spatial data is displayed in a graphical user interface of the target vehicle based on the environmental perception data, and then in response to a first touch operation performed by the target user on the three-dimensional spatial data, a target parking position is determined from candidate parking positions, and finally the target vehicle is controlled to perform a parking operation based on the target parking position, thereby achieving the purpose of enabling users to customize parking positions in any area without clear parking space markings, thereby achieving the technical effect of enhancing the adaptability and flexibility of the parking system in a non-standardized environment, and thus solving the technical problems of low flexibility and poor adaptability of the parking control method provided in the related art.

[0050] The parking control method in the embodiment of the present disclosure is further introduced below.

[0051] Optionally, in step S13, in response to a first touch operation performed by the target user on the three-dimensional space data, determining the target parking position from the candidate parking positions includes:

[0052] Step S131, in response to a first touch operation performed by a target user on three-dimensional space data, obtaining a user-selected area;

[0053] Step S132, generating a candidate parking location based on the three-dimensional spatial data corresponding to the area selected by the user;

[0054] Step S133 , in response to a second touch operation performed by the target user on the candidate parking position, determining a target parking position based on the candidate parking position.

[0055] The second touch operation refers to an operation in which a user selects and determines a candidate parking position generated by the parking control unit in the graphical user interface, including but not limited to operations such as clicking and dragging.

[0056] Exemplarily, the user performs an area demarcation operation on the three-dimensional spatial data displayed in the graphical user interface, and circles out the parking area in the current three-dimensional spatial data where the user wants to park, i.e., the user-selected area. In response to the user's area demarcation operation being completed, the parking control unit generates a series of parking position options suitable for the vehicle based on the user's selected area, and displays them in the graphical user interface. Subsequently, the user selects the desired parking position, i.e., the target parking position, by clicking on the candidate parking positions in the graphical user interface. Alternatively, the vehicle icon in the graphical user interface is dragged to one of the candidate parking positions as the target parking position.

[0057] Based on the above optional embodiments, in response to a first touch operation performed by a target user on three-dimensional spatial data, a user-selected area is acquired, and candidate parking positions are generated based on the three-dimensional spatial data corresponding to the user-selected area, and then in response to a second touch operation performed by the target user on the candidate parking positions, a target parking position is determined based on the candidate parking positions, so that the vehicle can plan parking according to the specific needs of the user in an environment without standard parking space markings, thereby enhancing the flexibility and adaptability of the parking control system.

[0058] Figure 2 is a schematic diagram of a parking control method according to one embodiment of the present disclosure, such as Figure 2 As shown, the black frame represents the surrounding walls of the room, the solid line area represents the user-selected area, and the dotted line area represents the candidate parking positions.

[0059] Figure 3 is a schematic diagram of a parking control method according to one embodiment of the present disclosure, such as Figure 3 As shown, the preset parking position can be changed to a lateral parking position according to user needs.

[0060] Optionally, in step S132, generating a candidate parking location based on the three-dimensional spatial data corresponding to the area selected by the user includes:

[0061] Step S1321, obtaining an initial vehicle position of the target vehicle, wherein the initial vehicle position is used to indicate a starting position of a parking driving path;

[0062] Step S1322, performing query processing in a preset database based on the vehicle position data to obtain a query result, wherein the query result is used to determine whether there is a preset parking position matching the vehicle position data in the preset database;

[0063] Step S1323, in response to determining that there is no preset parking position in the preset database based on the query result, planning processing is performed based on the three-dimensional space data and the initial vehicle position to obtain a candidate parking position.

[0064] The above-mentioned preset database, i.e., parking space storage, refers to a database used to store user-defined or system-automatically recognized parking space information, and is used to record and manage all known or user-set parking space data for quick retrieval in future parking operations. The preset database includes, but is not limited to, the precise coordinates of the parking space, three-dimensional spatial layout, parking direction, and safe distance between the vehicle and surrounding obstacles.

[0065] Exemplarily, during the parking process, the parking control unit uses the vehicle's integrated positioning system, such as GPS or on-board sensors, to accurately obtain the starting point of the vehicle's parking path, that is, the specific coordinates of the current vehicle. Subsequently, the parking control unit performs query processing in the parking space memory to find out whether there is a preset parking position related to the acquired starting point. The parking space memory stores the parking space information previously set by the user or automatically recognized by the system. When there is no preset parking position matching the current vehicle position in the parking space memory, it indicates that the vehicle is parking in the area for the first time and a custom parking space is required. In response to the custom parking space instruction, the vehicle control unit starts the environment perception system, such as radar, laser scanner and multi-view camera, collects three-dimensional spatial data around the vehicle, and constructs a detailed environmental model of the current parking area. Subsequently, the parking control unit generates multiple parking positions suitable for parking in the current area, namely candidate parking positions, based on the three-dimensional spatial data and the starting point of the vehicle.

[0066] Based on the above optional embodiments, by acquiring the initial vehicle position of the target vehicle and performing query processing in a preset database based on the vehicle position data to obtain a query result, and then in response to determining that the preset parking position does not exist in the preset database based on the query result, planning processing is performed based on the three-dimensional spatial data and the initial vehicle position to obtain a candidate parking position, which can improve the intelligence level of the parking process, improve efficiency, enhance safety, and optimize user experience.

[0067] Optionally, the parking control method in the embodiment of the present disclosure further includes: in response to determining that a preset parking position exists in a preset database based on the query result, determining a candidate parking area based on the preset parking position.

[0068] Exemplarily, when receiving a parking instruction from a user, the parking control unit first obtains the starting position of the vehicle's parking path and performs a query in the parking space memory. When there is a preset parking position related to the starting position of the vehicle's parking path in the parking space memory, the currently queried preset parking position is directly used as a candidate parking position for the user to select.

[0069] Based on the above optional embodiments, by presetting the parking position, the candidate parking area can be quickly identified and determined, which reduces the time for on-site environment perception and parking space search, thereby improving parking efficiency.

[0070] Figure 4 is a schematic diagram of a candidate parking position according to one embodiment of the present disclosure, such as Figure 4 As shown, users can customize parking positions at places where they stop frequently on a daily basis and store them in a preset database, so that when they arrive at the same place again in the future, they can directly call the stored parking position to perform automatic parking operations.

[0071] Figure 5 is a schematic diagram of a parking control system according to one embodiment of the present disclosure, such as Figure 5 As shown, the parking control system disclosed in the present invention includes a graphical user interface, a brake unit, a power unit, a terminal sensing locator, a parking control unit, and a parking space storage. Among them, the brake unit is used to control the vehicle to slow down or stop; the power unit is used to drive the vehicle forward or backward; the terminal sensing locator, such as an ultrasonic sensor, is used to construct three-dimensional spatial data of the parking area.

[0072] Optionally, in step S14, controlling the target vehicle to perform a parking operation based on the target parking position includes:

[0073] Step S141, performing path planning based on the target parking position and the initial vehicle position of the target vehicle to generate a parking driving path;

[0074] Step S142, controlling the target vehicle to perform a parking operation according to the parking driving path.

[0075] Exemplarily, when a user selects a desired parking position on a graphical user interface by clicking, the parking control unit generates a parking path based on the target parking position selected by the user and the starting position of the parking path, and through the vehicle's wire control system, accurately controls the vehicle's steering, acceleration, deceleration and braking to guide the vehicle along the planned path.

[0076] Based on the above optional embodiments, path planning is performed based on the target parking position and the initial vehicle position of the target vehicle to generate a parking driving path, and then the target vehicle is controlled to perform a parking operation according to the parking driving path. This can not only improve the efficiency and safety of parking, but also enhance the user experience, and at the same time can adapt to complex and changeable parking environments.

[0077] Optionally, the parking control method in the embodiment of the present disclosure further includes: responding to a third touch operation of the target user on the target parking position, acquiring custom identification information corresponding to the target parking position; and storing the target parking position and the custom identification information in a preset database.

[0078] The third touch operation refers to an operation in which a user names a target parking position generated by the parking control unit in the graphical user interface, including but not limited to handwriting input, keyboard input, etc. The user can use a stylus or finger to handwrite on the virtual input panel provided by the graphical user interface to input custom identification information, or click letters, numbers or symbols on the keyboard to input a more detailed parking space name or description.

[0079] The above-mentioned custom identification information refers to the parking space naming information after the target parking position is named based on the third touch operation, such as "home parking space", "company parking space", "gym parking space", "home garage B2-123", "company underground parking lot entrance left D195 parking space", etc.

[0080] The above-mentioned preset database refers to the parking space memory. Users can store customized parking spaces in the parking space memory. When arriving at the area where parking is required, if the parking space memory contains the preset parking position corresponding to the current parking area, the target parking position can be directly selected without re-planning.

[0081] For example, in the graphical user interface, the user uses keyboard input to name the target parking position generated by the parking control unit based on the user-defined area as "D195 parking space on the left side of the company's underground parking lot entrance", and associates and stores the named parking space in the vehicle's preset database.

[0082] Based on the above optional embodiments, in response to the target user's third touch operation on the target parking position, the custom identification information corresponding to the target parking position is obtained, and then the target parking position and the custom identification information are stored in a preset database, which can provide a more personalized, convenient and intelligent service, thereby enhancing the user's parking experience, and improving the practicality of the system and user satisfaction.

[0083] Figure 6 is a schematic diagram of a parking control method according to one embodiment of the present disclosure, such as Figure 6 As shown, in the process of user-defined parking positions, when the user selects the "parking space selection" button in the graphical user interface, the parking control unit generates three-dimensional spatial data of the current parking area based on the terminal sensing locator in response to the user's need to perform a parking space selection operation, and displays the generated three-dimensional spatial data in the graphical user interface for the user to select. Subsequently, the user performs a region demarcation operation on the three-dimensional spatial data in the graphical user interface, and circles the currently desired parking area, that is, the user-selected area. The parking control unit receives the region demarcation operation performed by the user, and generates a candidate parking position based on the user-selected area and the three-dimensional spatial data. Further, the user can click on the currently generated candidate parking position to select the target parking position and name the target parking position. After the naming is successful, the parking control unit automatically stores the parking space information for subsequent use.

[0084] Figure 7 is a schematic diagram of a parking control method according to one embodiment of the present disclosure, such as Figure 7 As shown, the whole process from parking instruction input to user selection of target parking position is demonstrated.

[0085] For example, when a user gets off at the entrance of a self-built parking garage and sends a parking instruction to the vehicle through a mobile phone, a query is first performed in the parking space memory to determine whether there is a preset parking position in the parking space memory. If there is a preset parking position, it is determined whether there are multiple user preset parking positions corresponding to the current parking area. If there are multiple user preset parking positions, the preset parking positions within 20 meters of the drop-off point are pushed to the graphical user interface for the user to select the target parking position. If there is no preset parking position, it means that the user arrives at the location for the first time and needs to customize the parking space. In the process of user customizing the parking space, the "parking space selection" button is first selected in the graphical user interface, and then the parking control unit generates three-dimensional spatial data based on terminal perception locators such as cameras and ultrasonic sensors. Further, the user performs an area demarcation operation based on the three-dimensional spatial data to determine the area where the desired parking is to be parked, and the parking control unit generates candidate parking positions based on the three-dimensional spatial data. Finally, the user selects the target parking position and names the current parking space, and the named parking space is stored in the parking space memory.

[0086] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0087] In the embodiments of the present disclosure, a parking control device is also provided, which is used to implement the above embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0088] Figure 8 is a structural block diagram of a parking control device according to one embodiment of the present disclosure, such as Figure 8 As shown, the device comprises:

[0089] An acquisition module 801 is used to acquire environment perception data of a target vehicle in response to receiving a parking instruction from a target user, wherein the environment perception data is used to describe a non-standardized parking environment around the target vehicle;

[0090] A display module 802, configured to display three-dimensional spatial data in a graphical user interface of the target vehicle based on the environmental perception data, wherein the three-dimensional spatial data is used to plan candidate parking positions of the target vehicle in a non-standardized parking environment;

[0091] A determination module 803, configured to determine a target parking position from candidate parking positions in response to a first touch operation performed by a target user on the three-dimensional space data;

[0092] The control module 804 is used to control the target vehicle to perform a parking operation based on the target parking position.

[0093] Optionally, the determination module 803 is further used to: obtain a user-selected area in response to a first touch operation performed by the target user on the three-dimensional spatial data; generate a candidate parking position based on the three-dimensional spatial data corresponding to the user-selected area; and determine a target parking position based on the candidate parking position in response to a second touch operation performed by the target user on the candidate parking position.

[0094] Optionally, the determination module 803 is further used to: obtain an initial vehicle position of the target vehicle, wherein the initial vehicle position is used to indicate the starting position of the parking path; perform query processing in a preset database based on the vehicle position data to obtain a query result, wherein the query result is used to determine whether there is a preset parking position in the preset database that matches the vehicle position data; in response to determining that there is no preset parking position in the preset database based on the query result, perform planning processing based on the three-dimensional spatial data and the initial vehicle position to obtain a candidate parking position.

[0095] Optionally, the determination module 803 is further configured to: in response to determining that a preset parking position exists in the preset database based on the query result, determine a candidate parking area based on the preset parking position.

[0096] Optionally, the control module 804 is further configured to: perform path planning based on the target parking position and the initial vehicle position of the target vehicle to generate a parking driving path; and control the target vehicle to perform a parking operation according to the parking driving path.

[0097] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0098] According to one embodiment of the present disclosure, a vehicle is further provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the parking control method in the embodiment of the present disclosure.

[0099] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0100] S1, in response to receiving a parking instruction from a target user, acquiring environmental perception data of a target vehicle, wherein the environmental perception data is used to describe a non-standardized parking environment around the target vehicle;

[0101] S2, displaying three-dimensional spatial data in a graphical user interface of the target vehicle based on the environmental perception data, wherein the three-dimensional spatial data is used to plan a candidate parking position of the target vehicle in the non-standardized parking environment;

[0102] S3, in response to a first touch operation performed by the target user on the three-dimensional space data, determining a target parking position from candidate parking positions;

[0103] S4, controlling the target vehicle to perform a parking operation based on the target parking position.

[0104] According to one embodiment of the present disclosure, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored executable program. When the executable program runs, the device where the storage medium is located is controlled to execute the parking control method in the embodiment of the present disclosure.

[0105] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0106] S1, in response to receiving a parking instruction from a target user, acquiring environmental perception data of a target vehicle, wherein the environmental perception data is used to describe a non-standardized parking environment around the target vehicle;

[0107] S2, displaying three-dimensional spatial data in a graphical user interface of the target vehicle based on the environmental perception data, wherein the three-dimensional spatial data is used to plan a candidate parking position of the target vehicle in the non-standardized parking environment;

[0108] S3, in response to a first touch operation performed by the target user on the three-dimensional space data, determining a target parking position from candidate parking positions;

[0109] S4, controlling the target vehicle to perform a parking operation based on the target parking position.

[0110] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0111] According to one embodiment of the present disclosure, a computer program product is further provided. The computer program product includes computer instructions. When the computer instructions are executed by a processor, the parking control method in the embodiment of the present disclosure is implemented.

[0112] Optionally, in this embodiment, the computer program product may be configured as a computer program for executing the following steps:

[0113] S1, in response to receiving a parking instruction from a target user, acquiring environmental perception data of a target vehicle, wherein the environmental perception data is used to describe a non-standardized parking environment around the target vehicle;

[0114] S2, displaying three-dimensional spatial data in a graphical user interface of the target vehicle based on the environmental perception data, wherein the three-dimensional spatial data is used to plan a candidate parking position of the target vehicle in the non-standardized parking environment;

[0115] S3, in response to a first touch operation performed by the target user on the three-dimensional space data, determining a target parking position from candidate parking positions;

[0116] S4, controlling the target vehicle to perform a parking operation based on the target parking position.

[0117] The serial numbers of the above-mentioned embodiments of the present disclosure are only for description and do not represent the advantages or disadvantages of the embodiments.

[0118] In the above embodiments of the present disclosure, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0119] In the several embodiments provided in the present disclosure, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0120] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0121] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0122] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0123] The above is only a preferred embodiment of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present disclosure. These improvements and modifications should also be regarded as the scope of protection of the present disclosure.

Claims

1. A parking control method, characterized in that: include: In response to receiving a parking instruction from a target user, acquiring environmental perception data of a target vehicle, wherein the environmental perception data is used to describe a non-standardized parking environment around the target vehicle; displaying three-dimensional spatial data in a graphical user interface of the target vehicle based on the environmental perception data, wherein the three-dimensional spatial data is used to plan a candidate parking position of the target vehicle in the non-standardized parking environment; In response to a first touch operation performed by the target user on the three-dimensional space data, determining a target parking position from the candidate parking positions; The target vehicle is controlled to perform a parking operation based on the target parking position.

2. The parking control method according to claim 1, characterized in that: In response to a first touch operation performed by the target user on the three-dimensional space data, determining the target parking position from the candidate parking positions includes: In response to a first touch operation performed by the target user on the three-dimensional space data, acquiring a user-selected area; generating the candidate parking location based on the three-dimensional spatial data corresponding to the user-selected area; In response to a second touch operation performed by the target user on the candidate parking position, the target parking position is determined based on the candidate parking positions.

3. The parking control method according to claim 2, characterized in that: Generating the candidate parking location based on the three-dimensional spatial data corresponding to the user-selected area includes: Acquiring an initial vehicle position of the target vehicle, wherein the initial vehicle position is used to indicate a starting position of a parking driving path; Performing a query process in a preset database based on the vehicle position data to obtain a query result, wherein the query result is used to determine whether there is a preset parking position in the preset database that matches the vehicle position data; In response to determining that the preset parking position does not exist in the preset database based on the query result, planning processing is performed based on the three-dimensional space data and the initial vehicle position to obtain the candidate parking position.

4. The parking control method according to claim 3, characterized in that: The method further comprises: In response to determining that the preset parking position exists in the preset database based on the query result, the candidate parking area is determined based on the preset parking position.

5. The parking control method according to claim 1, characterized in that: Controlling the target vehicle to perform a parking operation based on the target parking position includes: Performing path planning based on the target parking position and the initial vehicle position of the target vehicle to generate a parking driving path; The target vehicle is controlled to perform a parking operation according to the parking driving path.

6. The parking control method according to claim 1, characterized in that: The method further comprises: In response to a third touch operation of the target user on the target parking position, obtaining custom identification information corresponding to the target parking position; The target parking position and the custom identification information are stored in a preset database.

7. A parking control device, characterized in that: include: an acquisition module, configured to acquire, in response to receiving a parking instruction from a target user, environmental perception data of a target vehicle, wherein the environmental perception data is used to describe a non-standardized parking environment around the target vehicle; a display module, configured to display three-dimensional spatial data in a graphical user interface of the target vehicle based on the environmental perception data, wherein the three-dimensional spatial data is used to plan a candidate parking position of the target vehicle in the non-standardized parking environment; a determination module, configured to determine a target parking position from the candidate parking positions in response to a first touch operation performed by the target user on the three-dimensional space data; A control module is used to control the target vehicle to perform a parking operation based on the target parking position.

8. A vehicle, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the parking control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is executed, the device where the storage medium is located is controlled to execute the parking control method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product comprises computer instructions, which, when executed by a processor, implement the parking control method as claimed in any one of claims 1 to 6.

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