Parking space releasing method and device

Abstract

The invention provides a parking space release method and device, belongs to the technical field of automatic parking, and aims to solve the problem that parking exits midway in the prior art. The method comprises the following steps: determining available parking spaces according to parking space information and obstacle point information; according to a complete detection strategy corresponding to the driving gear of the current vehicle, whether the parking space is completely detected or not is judged; and under the condition that the available parking space is completely detected, the available parking space is determined as a released parking space.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic parking, and in particular to a parking space releasing method and device. Background Art

[0002] With the acceleration of urbanization and the sharp increase in the number of cars, parking has become a serious challenge faced by many cities. In order to alleviate this problem, automatic parking technology has emerged and developed rapidly. The relevant technology integrates multiple sensors and intelligent algorithms to realize the function of vehicles automatically finding and parking in parking spaces, significantly improving the convenience and efficiency of parking.

[0003] However, the accuracy of the related technology in judging the availability of parking spaces and the timing of releasing parking spaces is low, which may lead to parking exit midway and seriously affect the user experience. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present invention provides a parking space release method and device. The technical solution of the present invention is as follows:

[0005] According to a first aspect of an embodiment of the present disclosure, a parking space releasing method is provided, comprising:

[0006] Determine available parking spaces based on parking space information and obstacle point information;

[0007] Determining whether the parking space is fully detected according to the full detection strategy corresponding to the current driving gear of the vehicle;

[0008] When the available parking space is completely detected, the available parking space is determined as a released parking space.

[0009] Optionally, when the current driving gear of the vehicle is the driving gear, judging whether the parking space is fully detected according to the full detection strategy corresponding to the current driving gear of the vehicle includes:

[0010] Determine whether the parking space is a double-sided obstacle parking space, where the double-sided obstacle parking space indicates that there are obstacles on both sides of the parking space;

[0011] In the case where the parking space is a double-sided obstacle parking space, when the front of the vehicle passes through a target corner point of the parking space, determining that the parking space is completely detected;

[0012] When the parking space is not a double-sided obstacle parking space, it is directly determined that the parking space is fully detected.

[0013] Optionally, the obstacle point information includes attributes of the obstacle point, and determining whether the parking space is a double-sided obstacle parking space includes:

[0014] Extending both sides of the parking space outward by a preset distance respectively, and determining the areas within the preset distance as a first target area and a second target area respectively; the both sides of the parking space are the two sides excluding the entrance side and the bottom side;

[0015] In the case that there are obstacle points whose attribute is the target attribute in both the first target area and the second target area, the parking space is determined to be a double-sided obstacle parking space.

[0016] Optionally, when the current driving gear of the vehicle is the reverse gear, judging whether the parking space is fully detected according to the full detection strategy corresponding to the current driving gear of the vehicle includes:

[0017] If the front of the vehicle does not pass through the geometric center of the parking space, determining the parking space as an incompletely explored parking space;

[0018] When the vehicle head passes through the geometric center of the incompletely explored parking space, it is determined that the incompletely explored parking space is completely detected.

[0019] Optionally, when the current driving gear of the vehicle is a driving gear switched to a reverse gear, judging whether the parking space is fully detected according to a full detection strategy corresponding to the current driving gear of the vehicle includes:

[0020] Determine a timestamp when the vehicle is switched from a driving gear to a reverse gear, and determine the vehicle coordinates according to the timestamp;

[0021] Determine a credible detection range of the vehicle controller, and determine a trustworthy range through the vehicle coordinates and the credible detection range;

[0022] Determining that within the trusted range, the parking spaces passed by the vehicle are fully detected;

[0023] The parking spaces outside the trusted range are determined as incompletely detected parking spaces, and when the front of the vehicle passes through the geometric center of the incompletely detected parking spaces, it is determined that the incompletely explored parking spaces are fully detected.

[0024] Optionally, determining available parking spaces according to the parking space information and the obstacle point information includes:

[0025] Obtain obstacle point information and parking space information corresponding to a preset number of timestamps; wherein, when the difference between the timestamps corresponding to the parking space information and the obstacle point information is greater than or equal to a first threshold, synchronize the obstacle point information to the timestamp corresponding to the parking space information through a conversion strategy;

[0026] Determine whether the parking space is available at the corresponding timestamp based on the parking space information and the obstacle point information corresponding to each timestamp;

[0027] When the parking space is determined to be unparkable at each time stamp, determining the parking space to be an unparkable space;

[0028] When it is determined at any time stamp that the parking space is available for parking, the parking space is determined to be a available parking space.

[0029] Optionally, when determining that the parking space is available for parking at any timestamp, determining that the parking space is available for parking includes:

[0030] Determining the parking space information and the obstacle point information corresponding to the timestamp;

[0031] Determine whether there is an obstacle intrusion in the parking space marking area based on the positional relationship between the parking space information and the obstacle point information;

[0032] In the case where there is no obstacle intrusion into the parking space line area, the parking space corresponding to the parking space line area is determined as a parking space.

[0033] Optionally, when there is no obstacle intruding the parking space line area, determining the parking space corresponding to the parking space line area as a parking space includes:

[0034] In the parking space lined area, selecting a maximum rectangular frame that does not include the obstacle point from the entrance edge of the parking space lined area to the bottom edge of the parking space lined area, and determining the length and width of the maximum rectangular frame;

[0035] When the length of the maximum rectangular frame is greater than the length of the space threshold, and the width of the maximum rectangle is greater than the width of the space threshold, it is determined that there is no obstacle point intrusion into the parking space marking area.

[0036] Optionally, the parking space information and obstacle point information are obtained according to the following steps, including:

[0037] Determine the initial parking space information through the surround-view camera;

[0038] Performing an initial parking availability assessment on each of the parking spaces using a ring camera;

[0039] Output the parking space line area corresponding to the parking space determined as available for parking by the ring camera to obtain parking space information;

[0040] Obtaining initial obstacle point information by fusing multi-sensor information; the initial obstacle point information includes multiple obstacle points;

[0041] Determining the positional relationship between each obstacle point and the vehicle body;

[0042] When the distance between the obstacle point and the vehicle body is less than or equal to a second threshold, the obstacle point is output to obtain the obstacle point information.

[0043] According to a second aspect of an embodiment of the present disclosure, a parking space releasing device is provided, comprising:

[0044] A determination module, used to determine available parking spaces based on parking space information and obstacle point information;

[0045] A judgment module, used for judging whether the parking space is fully detected according to the full detection strategy corresponding to the current driving gear of the vehicle;

[0046] A release module is used to determine the available parking space as a released parking space when the available parking space is fully detected.

[0047] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the parking space releasing method described in the first aspect are implemented.

[0048] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the parking space releasing method described in the first aspect are implemented.

[0049] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the parking space releasing method described in the first aspect are implemented.

[0050] The present disclosure determines available parking spaces based on parking space information and obstacle point information, which can ensure that the parking spaces are truly available and meet the parking requirements of the vehicle. By formulating a corresponding complete detection strategy based on the current driving gear of the vehicle, it can accurately adapt to different parking scenarios and vehicle states. The use of targeted detection strategies can more effectively confirm the integrity and parkability of parking spaces, and reduce misjudgments caused by insufficient detection. Only after confirming that the available parking space has been fully detected, it is determined as a released parking space, avoiding the premature release of the parking space due to incomplete parking space information or misjudgment, resulting in the vehicle finding obstacles during the parking process and exiting halfway, thereby improving the user experience and parking success rate. The present disclosure can significantly improve the efficiency and success rate of automatic parking, and reduce repeated operations and time waste caused by parking space identification errors or exiting halfway. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the description of the embodiments of the present disclosure will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 is a schematic diagram of steps of a parking space releasing method shown in an embodiment of the present disclosure;

[0053] Figure 2 is a schematic diagram of a parking space shown in an embodiment of the present disclosure;

[0054] Figure 3 is a schematic diagram of a parking space release shown in an embodiment of the present disclosure;

[0055] Figure 4 is a schematic diagram of determining a double-sided obstacle parking space according to an embodiment of the present disclosure;

[0056] Figure 5 is a schematic diagram of a parking space release shown in an embodiment of the present disclosure;

[0057] Figure 6 is a schematic diagram of a parking space release shown in an embodiment of the present disclosure;

[0058] Figure 7 is a schematic diagram of determining an obstacle point intrusion according to an embodiment of the present disclosure;

[0059] Figure 8 is a schematic diagram of a vehicle body coordinate system shown in an embodiment of the present disclosure;

[0060] Fig. 9 is a schematic diagram of a vehicle release process shown in an embodiment of the present disclosure;

[0061] Fig.10 is a block diagram of a parking space releasing device shown in an embodiment of the present disclosure;

[0062] Fig.11 It is a schematic diagram of an electronic device shown in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0064] The terms "first", "second", etc. in the specification and claims of the present disclosure are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable when appropriate, so that the embodiments of the present disclosure can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0065] With the acceleration of urbanization and the sharp increase in the number of cars, parking has become a serious challenge faced by many cities. In order to alleviate this problem, automatic parking technology has emerged and developed rapidly. The automatic parking system integrates multiple sensors and intelligent algorithms to realize the function of vehicles automatically finding and parking in parking spaces, significantly improving the convenience and efficiency of parking. Among them, the accuracy of parking space availability judgment and parking space release timing directly affects the performance of the automatic parking system and user experience.

[0066] However, due to the complexity of the actual environment and the limitations of sensors, the judgment of parking space availability may not be accurate enough, resulting in the problem of exiting parking midway.

[0067] Therefore, in view of the problem of parking exit midway in the related art, the present disclosure proposes a parking space releasing method and device, which can accurately determine whether the parking space is available and determine the appropriate time to release the parking space.

[0068] Figure 1 Schematic diagram of a parking space release method according to an embodiment of the present disclosure. Figure 1 As shown, the parking space releasing method may specifically include the following steps:

[0069] Step S11: Determine available parking spaces according to the parking space information and obstacle point information.

[0070] First, various sensors on the vehicle are used to obtain parking space information and obstacle point information. The parking space information includes the location information of each parking space, and the obstacle point information includes the location information of each obstacle point.

[0071] Whether the parking space is available can be determined through the parking space information and the obstacle point information, and available parking spaces can be determined from the various parking spaces included in the parking space information, while unavailable parking spaces can be excluded.

[0072] Step S12: judging whether the parking space is completely detected according to the complete detection strategy corresponding to the current driving gear of the vehicle.

[0073] After selecting available parking spaces from the parking space information, it is necessary to further determine whether the parking spaces are fully detected. The full detection of parking spaces is related to the driving gear of the vehicle, and different driving gears use different full detection strategies.

[0074] According to the established detection strategy, the sensors on the vehicle are controlled to conduct more detailed and comprehensive detection to ensure that every corner of the parking space is fully checked. Only after the parking space is fully detected through the full detection strategy corresponding to the vehicle's driving gear can it be determined whether the parking space has been fully detected.

[0075] The vehicle's driving gear includes three scenarios: driving gear, reverse gear, and driving gear to reverse gear. According to the current vehicle's driving gear, the corresponding full detection strategy is executed.

[0076] Step S13: when the available parking space is completely detected, determining the available parking space as a released parking space.

[0077] After the available parking spaces are completely detected, the available parking spaces are determined as released parking spaces. The released parking spaces indicate that the parking spaces can be released to the user, and the user can send a parking instruction for the released parking spaces.

[0078] By adopting the embodiments of the present disclosure, by integrating multiple sensor data and intelligent algorithms, it is possible to more accurately identify available parking spaces and reduce the possibility of misjudgment and missed judgment. Different detection strategies are formulated according to different driving gears to make the detection process more precise and efficient, and improve the integrity and accuracy of detection. Parking operations are performed only after confirming that the parking space has been fully detected, which can significantly reduce the failure rate caused by obstacles or restrictions during the parking process.

[0079] Figure 2 is a schematic diagram of a parking space shown in an embodiment of the present disclosure. Figure 2 As shown, the parking space information includes four types of parking spaces, including vertical parking spaces, horizontal parking spaces, reverse diagonal parking spaces, and forward diagonal parking spaces. A reverse diagonal parking space means that when a vehicle enters a parking space, its driving direction is opposite to the diagonal direction of the parking vehicle in the parking space; a forward diagonal parking space means that when a vehicle enters a parking space, its driving direction is the same as the diagonal direction of the parking vehicle in the parking space. Therefore, the parking space type is determined according to the driving direction of the vehicle. Figure 2 The direction of the vehicle's travel, Figure 2 The middle parking spaces A, B, C and D correspond to vertical parking spaces, horizontal parking spaces, reverse inclined parking spaces and forward inclined parking spaces respectively. Figure 2 If the vehicles in the train are traveling in the opposite direction, then the parking space types corresponding to parking space C and parking space D are forward inclined train space and reverse inclined train space respectively.

[0080] In the embodiment of the present application, the driving gear of the vehicle includes three scenarios: driving gear, reverse gear and driving gear to reverse gear. According to the current driving gear of the vehicle, the corresponding full detection strategy is executed. The full detection strategy under different driving gear scenarios of the vehicle is described below:

[0081] (1) Full detection strategy in driving gear:

[0082] In an optional embodiment, when the current driving gear of the vehicle is the driving gear, according to the complete detection strategy corresponding to the current driving gear of the vehicle, it is determined whether the parking space is completely detected, including: determining whether the parking space is a double-sided obstacle parking space, the double-sided obstacle parking space indicates that there are obstacles on both sides of the parking space; when the parking space is a double-sided obstacle parking space, when the front of the vehicle passes through the target corner point of the parking space, determining that the parking space is completely detected; when the parking space is not a double-sided obstacle parking space, directly determining that the parking space is completely detected.

[0083] The vehicle's driving gear is the driving gear, which means that the vehicle is moving forward. First, determine whether the available parking space is a double-sided obstacle parking space based on the parking space information and the obstacle point information. A double-sided obstacle parking space means that there are obstacles on both sides of the available parking space.

[0084] The parking space consists of an entrance edge, a bottom edge, and a side edge. The entrance edge is the front edge of the parking space, the edge that the vehicle passes through when entering the parking space, and it connects to the lane or aisle. The bottom edge is the back edge of the parking space, usually aligned with the depth direction of the parking space and parallel to the entrance edge. The side edges are located on both sides of the parking space, limiting the left and right boundaries of the parking space. For example Figure 2 As shown, the entrance edge is the P0P1 edge, the bottom edge is the P2P3 edge, and the rest are the car edges of the parking space.

[0085] The available parking spaces are divided into two categories according to whether they are double-sided barrier parking spaces, one is non-double-sided barrier parking spaces, and the other is double-sided barrier parking spaces.

[0086] For non-double-sided obstacle parking spaces, it is directly determined that the parking space has been fully detected. For double-sided obstacle parking spaces, it is necessary to further fully detect them. When the front of the vehicle passes the target corner point of the non-double-sided obstacle parking space, it is determined that the parking space is fully detected. The target corner point of the non-double-sided obstacle parking space can be detected by continuously detecting the change in the distance between the position of the front of the vehicle and the target corner point to confirm whether the front of the vehicle has completely passed the target corner point.

[0087] The target corner point is one of the four corner points that make up the parking space. Different types of parking spaces have different corresponding target corner points. The type of parking space is determined according to the direction of the vehicle. The type of parking space corresponding to each parking space is determined by the direction of the vehicle. The parking space types include vertical parking spaces, horizontal parking spaces, reverse diagonal parking spaces, and forward diagonal parking spaces. For vertical parking spaces, horizontal parking spaces, and reverse diagonal parking spaces, the target corner point is the corner point of the entrance side close to the vehicle; for forward diagonal parking spaces, the target corner point is the corner point of the entrance side away from the vehicle.

[0088] In a specific implementation, reference Figure 2 ,according to Figure 2 The direction of the vehicle can be determined Figure 2 The parking spaces A, B, C, and D correspond to vertical parking spaces, horizontal parking spaces, reverse oblique parking spaces, and forward oblique parking spaces, respectively. According to the parking space types corresponding to the parking spaces, the target corner points corresponding to each parking space are determined. For parking spaces A, B, and C, according to the direction of vehicle travel, Figure 2 The target corners of parking spaces A, B, and C are the corners of the entrance edge close to the vehicle. For parking space D, the target corners of parking spaces A, B, and C are the corners of the entrance edge close to the vehicle according to the vehicle's driving direction. Figure 2 The target corner point of parking space D is the corner point where the entrance edge is away from the vehicle. Figure 2 The dashed circle is in the middle.

[0089] Figure 3 Schematic diagram of a parking space release shown in an embodiment of the present disclosure. Figure 3 As shown, Figure 3 The vehicle is driving in the driving gear, and there are seven parking spaces, 1-7. The vehicle is driving from parking space 7 to parking space 1. Parking spaces 3 and 5 are not allowed to park, and the rest are allowed to park. Since there are obstacles on both sides of parking space 4, it is judged that parking space 4 is a double-sided obstacle parking space and is not released. Parking spaces 1, 2, 6, and 7 are not double-sided obstacle parking spaces, so they are directly released. For parking space 4, further detection is required. According to Figure 3 The driving direction of the vehicle is determined to determine that parking space 4 is a vertical parking space for the vehicle. Since parking space 4 is a vertical parking space, when the front of the vehicle passes the corner point close to the vehicle at the entrance of parking space 4, it is determined that parking space 4 has been completely detected, so parking space 4 is determined to be a released parking space and released.

[0090] By adopting the embodiments of the present disclosure, by accurately determining whether a parking space is a double-sided obstacle parking space and adopting different detection strategies accordingly, it is possible to ensure that the vehicle fully perceives the parking space environment and avoid the risk of collision caused by insufficient environmental perception during the parking process. For double-sided obstacle parking spaces, the parking space is fully detected by waiting for the front of the vehicle to pass the target corner point, thus avoiding unnecessary driving and detection processes and improving detection efficiency. For non-double-sided obstacle parking spaces, the parking space is directly determined to be fully detected, which reduces the detection time, enables the vehicle to enter the parking state more quickly, and improves parking efficiency.

[0091] Among them, in an optional embodiment, the obstacle point information includes attributes of the obstacle point, and determining whether the parking space is a double-sided obstacle parking space includes: extending the two side edges of the parking space outward by a preset distance, and determining the area within the preset distance as a first target area and a second target area respectively; the two side edges of the parking space are the two edges excluding the entrance edge and the bottom edge; when there are obstacle points with the attributes of the target attributes in both the first target area and the second target area, the parking space is determined to be a double-sided obstacle parking space.

[0092] The obstacle point information includes attributes of the obstacle point, such as an obstacle point with a human attribute, an obstacle point with a wall attribute, and an obstacle point with a vehicle attribute.

[0093] The two sides of the parking space are extended outward by a preset distance, and it is determined whether there are obstacles with target attributes within the preset distance, such as vehicles, walls, etc. The two sides of the parking space are the two sides excluding the entrance side and the bottom side, and refer to Figure 2 The two sides are P1P3 and P0P2. The preset distance can be determined based on factors such as vehicle size, sensor accuracy, and parking safety requirements.

[0094] The areas extending outward from the two sides are determined as the first target area and the second target area. In the first target area and the second target area, it is checked whether there are obstacle points with the target attribute. Only when there are obstacle points with the target attribute in both the first target area and the second target area corresponding to the parking space, the parking space is determined to be a double-sided obstacle parking space, otherwise it is not a double-sided obstacle parking space.

[0095] The entrance is usually expanded outward by a preset distance. This can reserve parking space and provide more space for vehicles to enter the parking space, reducing the risk of parking failure or accidents caused by insufficient space. In addition, by expanding a certain area outside the entrance as the detection area, the parking space entrance and its surrounding environment can be more comprehensively covered, improving the accuracy and reliability of detection.

[0096] Figure 4Schematic diagram of determining a double-sided obstacle parking space according to an embodiment of the present disclosure. Figure 4 As shown in the figure, the black area is the area for judging whether there are obstacle points with target attributes. It is composed of a certain distance extending from the entrance edge and the side edge of the parking space.

[0097] By adopting the embodiments of the present disclosure, by identifying double-sided obstruction parking spaces, the vehicle can more carefully handle obstacles on both sides during parking to avoid collision accidents. Once it is determined that the available parking space is a double-sided obstruction parking space, the vehicle can automatically adjust the parking path and strategy, which helps to reduce the number of turns and driving distance during parking and improve parking efficiency. For drivers, the function of automatically identifying and handling double-sided obstruction parking spaces can reduce the psychological pressure and burden when parking.

[0098] (2) Full detection strategy in reverse gear:

[0099] Among them, in an optional embodiment, when the current driving gear of the vehicle is the reverse gear, it is determined whether the parking space is fully detected according to the complete detection strategy corresponding to the current driving gear of the vehicle, including: when the front of the vehicle does not pass through the geometric center of the parking space, determining the parking space as an incompletely explored parking space; when the front of the vehicle passes through the geometric center of the incompletely explored parking space, determining that the incompletely explored parking space is fully detected.

[0100] The current vehicle's driving gear is reverse gear, which means the vehicle is reversing. Parkable spaces are divided into two categories based on whether the front of the vehicle passes through the collective center of the parking spaces. If the front of the vehicle passes through the geometric center of the parking space, then the parking space is considered to be a fully explored parking space. If the front of the vehicle does not pass through the geometric center of the parking space, then the parking space is considered to be an incompletely explored parking space. An incompletely explored parking space means that the vehicle may not have fully evaluated whether the parking space is suitable for parking, or some parts of the parking space are still unknown. For parking spaces that have not been fully explored, it is necessary to wait for the front of the vehicle to pass through its geometric center before the parking space is considered to have been fully explored.

[0101] The geometric center corresponding to the parking space can be obtained by real-time scanning and calculation. Whether the vehicle passes through the geometric center of the parking space can be determined by: continuously tracking the position of the vehicle head and comparing it with the geometric center of the parking space.

[0102] Figure 5 Schematic diagram of a parking space release shown in an embodiment of the present disclosure. Figure 5As shown in the figure, the vehicle is driving in reverse gear. There are parking spaces 1-7 from top to bottom in the figure, of which parking spaces 3 and 5 are non-parkable spaces, and the rest are available spaces. According to the positional relationship between the vehicle and each parking space in the figure, the vehicle parking space passes through the geometric center of parking space 1, so parking space 1 is determined to be fully detected. The vehicle passes through parking space 2, parking space 4, parking space 6, and parking space 7, so it is determined that these four available parking spaces are not fully detected. It is necessary to wait for the vehicle to continue driving until the front of the vehicle passes through the geometric center of the available parking space, and then the available parking space is considered to be fully detected.

[0103] By adopting the embodiments of the present disclosure, in the scenario where the vehicle is driving in reverse gear, the front of the vehicle passes through the geometric center of the parking space to determine whether the parking space is fully detected, which can improve the detection accuracy. When the front of the vehicle passes through the geometric center of the parking space, the sensor can collect information about the parking space and its surrounding environment more comprehensively. During the reversing process, the distance and angle between the vehicle and the surrounding obstacles vary greatly, and there is a high risk of collision. By requiring the front of the vehicle to pass through the geometric center of the parking space to confirm that the detection is complete, the system can more fully evaluate the relative position of the vehicle and the parking space boundary and surrounding obstacles, thereby avoiding collisions during parking.

[0104] (3) Full detection strategy in reverse gear:

[0105] Among them, in an optional embodiment, when the current driving gear of the vehicle is the driving gear to be switched from the reverse gear, according to the complete detection strategy corresponding to the current driving gear of the vehicle, it is determined whether the parking space is completely detected, including: determining the timestamp of the vehicle's driving gear being switched from the reverse gear, and determining the vehicle coordinates shown by the timestamp; determining the trusted detection range of the vehicle controller, and determining the trusted range by the vehicle coordinates and the trusted detection range; determining that the parking space passed by the vehicle within the trusted range is completely detected; determining the parking space outside the trusted range as an incompletely detected parking space, and determining that the incompletely explored parking space is completely detected when the front of the vehicle passes through the geometric center of the incompletely detected parking space.

[0106] The current driving gear of the vehicle is the driving gear-to-reverse gear, which means that the vehicle first drives in the driving gear and then adjusts the driving gear to the reverse gear.

[0107] Determine the timestamp corresponding to the timing of the vehicle shifting gears, and then determine the coordinates of the vehicle corresponding to the timestamp. The coordinates of the vehicle represent the position of the vehicle in a three-dimensional environment. There are various controllers on the vehicle, and the controllers have precision limitations. For closer ranges, the precision is higher, and for farther positions, the precision is lower. Therefore, determine the range in which a controller can provide accurate information. This range is considered to be the trusted detection range of the controller, indicating that the detection information provided by the controller within this range is correct.

[0108] The trusted range is determined based on the vehicle coordinates and the trusted detection range. The trusted range is the range in which correct information can be detected in the current three-dimensional environment.

[0109] When the vehicle is driving in the driving gear, the front of the vehicle will pass the target corner points of each parking space to determine that the parking space has been fully detected. However, when the vehicle changes from the driving gear to the reverse gear, the parking space full detection strategy at this time is: the parking space is considered to have been fully detected only after the front of the vehicle passes the geometric center of the parking space. Since the vehicle controller can provide accurate information within a certain range, that is, the trusted detection range. Therefore, the parking spaces that have been fully detected can be determined from the parking spaces that the vehicle passes in the driving gear. These parking spaces are always within the trusted detection range of the sensor, which is determined by the trusted range. Therefore, for these parking spaces, there is no need to wait for the front of the vehicle to pass the geometric center to determine complete detection.

[0110] As for parking spaces outside the trusted range, these parking spaces are not always within the trusted detection range of the sensor. Therefore, for these parking spaces, it is necessary to wait until the front of the vehicle passes through the geometric center of the parking space before determining that the parking space has been fully detected.

[0111] Figure 6 Schematic diagram of a parking space release shown in an embodiment of the present disclosure. Figure 6 As shown, the vehicle first drives from the driving gear, passes Q1, arrives at Q2, and changes the driving gear from the driving gear to the reverse gear at Q2; there are 8 parking spaces in the figure, and parking spaces 1-8 are arranged from top to bottom. According to the coordinates corresponding to the vehicle at Q2 and the trusted detection range of the controller on the vehicle, the trusted range corresponding to the vehicle at Q2 is determined. According to the trusted range, it is determined that parking spaces 1-7 are all within the trusted range, so it is considered that parking spaces 1-7 are fully detected, while parking space 8 is not within the trusted range, so it is considered that parking space 8 is not fully detected. It is necessary to wait for the front of the vehicle to pass the geometric center of parking space 8 before parking space 8 is considered to be fully detected.

[0112] Figure 8 is a schematic diagram of a vehicle coordinate system shown in an embodiment of the present disclosure. Figure 8 As shown, the origin of the coordinate system is at the center of the rear axle, the positive direction of the x-axis is perpendicular to the rear axle toward the front of the vehicle, the positive direction of the y-axis is horizontal to the left, and the positive direction of the z-axis is vertical to the sky.

[0113] Can be Figure 8 The vehicle coordinate system shown is used to determine the coordinates of the vehicle. For example, the origin of the vehicle coordinate system is used as the basis for determining the vehicle in three-dimensional coordinates.

[0114] By adopting the embodiments of the present disclosure, by accurately judging the moment when the vehicle's driving gear is changed from the driving gear to the reverse gear, and determining the position of the vehicle based on this moment, the parking environment that the vehicle enters can be accurately identified. According to the driving state and position of the vehicle, it is intelligently judged which parking spaces have been fully detected and which ones need further confirmation. This strategy avoids unnecessary repeated detection, improves the efficiency of the parking assistance system, and enables the vehicle to find a suitable parking space and complete parking more quickly. It can intelligently identify parking spaces that are not always within the trusted range and regard them as newly added parking spaces. For newly added parking spaces, it is necessary to wait for the front of the vehicle to pass through the geometric center to avoid mistakenly occupying unavailable spaces or collisions.

[0115] In one optional embodiment, determining a parking space available according to the parking space information and the obstacle point information comprises: obtaining obstacle point information and parking space information corresponding to a preset number of timestamps; wherein, when the difference between the timestamps corresponding to the parking space information and the obstacle point information is greater than or equal to a first threshold, synchronizing the obstacle point information to the timestamp corresponding to the parking space information through a conversion strategy; determining whether the parking space is parkable at the corresponding timestamp through the parking space information and the obstacle point information corresponding to each timestamp; when the parking space is determined to be unparkable at each timestamp, determining the parking space to be an unparkable space; and when the parking space is determined to be parkable at any timestamp, determining the parking space to be a parkable space.

[0116] Obtain the obstacle point information and parking space information of each time stamp respectively. Determine the difference between the timestamp of the obstacle point information and the timestamp of the parking space information. This is because the input sources of the obstacle point information and the parking space information are not consistent. It is necessary to ensure that the two are compared under the same time reference.

[0117] When the difference between the timestamp corresponding to the obstacle point information and the timestamp corresponding to the parking space information is greater than or equal to the first threshold, the obstacle point information may be synchronized to the timestamp corresponding to the parking space information through DR (Dead Reckoning). The first threshold may be preset.

[0118] Through the timestamp, the obstacle point information corresponding to the parking space information at any timestamp is determined and regarded as a data pair. A data pair includes the parking space information and the obstacle point information obtained at a timestamp. Through each data pair, the positional relationship between the parking space information and the obstacle point information at the timestamp is determined, and through the positional relationship between the two at the timestamp, it is determined whether the parking space is available at the timestamp.

[0119] The data pairs corresponding to the most recent preset number of time stamps are obtained to determine whether the parking space is available for parking at each time stamp. If the parking space is determined to be unavailable for parking at each time stamp, the parking space is determined to be an unavailable parking space; if the parking space is determined to be available for parking at any one or more time stamps among the preset number of time stamps, the parking space is determined to be an available parking space.

[0120] By adopting the embodiments of the present disclosure, the actual parking status of the parking space can be accurately reflected by regularly updating the parking space and obstacle point information, so as to avoid the driver wasting time looking for the parking space due to misjudgment. The unparkable parking spaces can be automatically identified and marked, which helps to optimize the allocation and utilization of parking resources. The parking space will be determined as an unparkable space only when multiple consecutive timestamps determine that the parking space is unparkable, which can enhance the recognition accuracy.

[0121] Among them, in an optional embodiment, when the parking space is determined to be parkable at any timestamp, determining the parking space as a parkable space includes: determining the parking space information and the obstacle point information corresponding to the timestamp; judging whether there is an obstacle point invading the parking space line area through the positional relationship between the parking space information and the obstacle point information; and when there is no obstacle point invading the parking space line area, determining the parking space corresponding to the parking space line area as a parkable space.

[0122] Determine the parking space information and obstacle point information corresponding to any timestamp. The parking space information includes the location information of each parking space, and the obstacle point information includes the location information of each obstacle point.

[0123] The parking space information and obstacle point information are analyzed in the same coordinate system. The positional relationship between the parking space information and the obstacle point information in the same coordinate system is determined. For example, it is determined whether each obstacle point is located within the parking space line area or intersects with it. The coordinate system can be VCS (Vehicle Coordinate System)

[0124] The positional relationship between the parking space information and the obstacle point information is used to determine whether the parking space has an obstacle point intrusion. Obstacle point intrusion indicates that there may be a collision with an obstacle and the parking space cannot be parked. The parking space is determined to be a parking space only when there is no obstacle point intrusion.

[0125] By using the embodiments of the present disclosure, by accurately judging whether there are obstacles in the parking space line area, it can be ensured that the selected parking space is truly parkable, thereby avoiding parking failure or vehicle damage caused by misjudgment. By timely identifying and eliminating potential obstacles during the parking process, the safety and reliability of the parking process are ensured, and the risk of vehicle and personnel damage caused by collision accidents is reduced. It provides accurate data support for the intelligent parking system, which helps to achieve a higher level of intelligent decision-making and automated management.

[0126] Among them, in an optional embodiment, when there is no obstacle point invading the parking space marked area, the parking space corresponding to the parking space marked area is determined as a parking space, including: in the parking space marked area, from the entrance edge of the parking space marked area to the bottom border of the parking space marked area, the largest rectangular box that does not contain the obstacle point is selected, and the length and width of the largest rectangular box are determined; when the length of the largest rectangular box is greater than the length of the space threshold, and the width of the largest rectangle is greater than the width of the space threshold, it is determined that there is no obstacle point invading the parking space marked area.

[0127] For any parking space included in the parking space information, determine whether the parking space is invaded by an obstacle point.

[0128] Select the largest rectangular box that does not contain the obstacle point from the entrance edge to the bottom border of the parking space's marked area. Figure 2 In the example, select from the P0P1 edge to the P2P3 edge. If the parking space is a vertical parking space or a horizontal parking space, select it with a rectangular frame. If the parking space is a reverse diagonal parking space or a forward diagonal parking space, select it with a quadrilateral corresponding to the parking space. The four sides of the quadrilateral need to be parallel to the four sides of the parking space marking area.

[0129] Get the space threshold. The space threshold is set in advance. The space threshold must be at least larger than the size of the vehicle to meet the needs of opening and closing the door. Different space thresholds can be determined according to different parking spaces and vehicles. If the selected quadrilateral or rectangle meets the space threshold, it means that the vehicle can park in the parking space and meet the needs of opening and closing the door.

[0130] Specifically, it can be determined by comparing the width and depth of the quadrilateral or rectangle. The width of the quadrilateral or rectangle is compared with the width of the space threshold, and the depth of the quadrilateral or rectangle is compared with the depth of the space threshold. When the depth of the largest quadrilateral or the largest rectangle is greater than the depth of the space threshold, and the width of the largest rectangle or the largest rectangle is greater than the width of the space threshold, it is determined that there is no obstacle point invading the parking space marking area.

[0131] Figure 7 FIG. 1 is a schematic diagram of determining an obstacle point intrusion according to an embodiment of the present disclosure. Figure 7 As shown, taking the vertical parking space as an example, there are three parking spaces from top to bottom in the figure. Select from the P0P1 edge to the P2P3 edge of the three parking spaces, select the largest rectangle, and compare the rectangle with the corresponding space threshold. The first and second parking spaces meet the space threshold requirements, so they are determined as parking spaces, and the third parking space does not meet the space threshold requirements, so it is determined as a non-parking space.

[0132] By using the embodiments of the present disclosure, by accurately judging whether there are obstacles invading the parking space line area, it can be ensured that the selected parking space is truly parkable, thereby avoiding parking failure or vehicle damage caused by misjudgment. By selecting from the entrance edge to the bottom edge, it can be ensured that after determining that the parking space is a parkable space, the vehicle can be parked smoothly in the parking space from the entrance edge. Selecting the largest rectangle that does not include obstacles from the parking space can effectively avoid erroneously rejecting the entire parking space due to invisibility in a small range, thereby optimizing the utilization rate of the parking space.

[0133] Among them, in an optional embodiment, the parking space information and obstacle point information are obtained according to the following steps, including: determining the initial parking space information through a surround-view camera; making an initial parkability judgment on each of the parking spaces through a ring-shaped camera; outputting the parking space line area corresponding to the parking space judged as parkable by the ring-shaped camera to obtain the parking space information; obtaining the initial obstacle point information by fusing multi-sensor information; the initial obstacle point information includes multiple obstacle points; determining the positional relationship between each of the obstacle points and the vehicle body; when the distance between the obstacle point and the vehicle body is less than or equal to a second threshold, outputting the obstacle point to obtain the obstacle point information.

[0134] Vehicle sensors include laser radar, surround view camera, ultrasonic sensor, millimeter wave radar, etc. It mainly relies on laser radar and surround view camera, and the laser sensor is installed under the headlights, one on each side.

[0135] The parking space information is determined by the surround view camera, including the lined area of ​​each parking space. The obstacle point information is determined by fusing multi-sensor information through certain strategies.

[0136] The surround-view camera can make a preliminary judgment on the comparability of parking spaces and whether the parking spaces are available. For parking spaces marked by the surround-view camera, no further judgment will be made and the parking spaces will be directly excluded. The parking spaces marked by the surround-view camera will be output, and the obstacle point information will be used to further determine whether the parking spaces are actually available.

[0137] Obstacles that are too far from the vehicle are not included in the parking space availability judgment. Specifically, the distance between the obstacle point and the vehicle can be compared, and a second threshold can be set. When the distance is greater than the second threshold, the obstacle point is judged to be too far and is excluded. The excluded obstacle points are output for judging the parking space availability. The second threshold can be limited to 7.0 meters in front, behind, left and right of the vehicle body. Figure 8 The vehicle body coordinate system is determined.

[0138] For a parking space outside the second threshold, since the obstacle point cannot be used to determine the parking availability of the parking space, the parking space cannot be determined as a parking space.

[0139] By using the embodiments of the present disclosure, the surround view camera can provide a panoramic view and obtain the initial information of the parking space. By fusing information from different sensors, more comprehensive and accurate environmental data can be obtained. By screening the initial parking space information and initial obstacle point information, accurate information can be obtained for further parking space availability judgment.

[0140] Fig. 9 Schematic diagram of a vehicle release process shown in an embodiment of the present disclosure. Fig. 9 As shown, firstly, the marked parking spaces and obstacle points are obtained through the data provided by the sensor, and the obstacle points are also freespaces; the parking availability of the parking space is preliminarily determined through the surround-view camera; if it is preliminarily determined that the parking space is not parkable, the parking space is excluded; if it is preliminarily determined that the parking space is parkable, the obstacle points are collected to further determine the parking availability of the parking space; if it is determined that the parking space is not parkable, the parking space is excluded; if it is determined that the parking space is parkable, the obstacle point information is combined again to determine whether to delay the release; if the release is not delayed, the parking space is released to the user; if the release needs to be delayed, wait until the parking space meets the release conditions, and if the release conditions are met, release the parking space to the user.

[0141] Fig.10 is a block diagram of a parking space release device shown in an embodiment of the present disclosure. Fig.10 As shown, the parking space releasing device comprises:

[0142] A determination module, used to determine available parking spaces based on parking space information and obstacle point information;

[0143] A judgment module, used for judging whether the parking space is fully detected according to the full detection strategy corresponding to the current driving gear of the vehicle;

[0144] A release module is used to determine the available parking space as a released parking space when the available parking space is fully detected.

[0145] Optionally, when the current driving gear of the vehicle is the driving gear, the judgment module is specifically used to execute:

[0146] Determine whether the parking space is a double-sided obstacle parking space, where the double-sided obstacle parking space indicates that there are obstacles on both sides of the parking space;

[0147] In the case where the parking space is a double-sided obstacle parking space, when the front of the vehicle passes through a target corner point of the parking space, determining that the parking space is completely detected;

[0148] When the parking space is not a double-sided obstacle parking space, it is directly determined that the parking space is fully detected.

[0149] Optionally, the judgment module is specifically used to execute:

[0150] Extending both sides of the parking space outward by a preset distance respectively, and determining the areas within the preset distance as a first target area and a second target area respectively; the both sides of the parking space are the two sides excluding the entrance side and the bottom side;

[0151] In the case that there are obstacle points whose attribute is the target attribute in both the first target area and the second target area, the parking space is determined to be a double-sided obstacle parking space.

[0152] Optionally, when the current driving gear of the vehicle is the reverse gear, the judgment module is specifically used to execute:

[0153] If the front of the vehicle does not pass through the geometric center of the parking space, determining the parking space as an incompletely explored parking space;

[0154] When the vehicle head passes through the geometric center of the incompletely explored parking space, it is determined that the incompletely explored parking space is completely detected.

[0155] Optionally, when the current driving gear of the vehicle is a driving gear switched to a reverse gear, the judgment module is specifically used to execute:

[0156] Determine a timestamp when the vehicle is switched from a driving gear to a reverse gear, and determine the vehicle coordinates according to the timestamp;

[0157] Determine a credible detection range of the vehicle controller, and determine a trustworthy range through the vehicle coordinates and the credible detection range;

[0158] Determining that within the trusted range, the parking spaces passed by the vehicle are fully detected;

[0159] The parking spaces outside the trusted range are determined as incompletely detected parking spaces, and when the front of the vehicle passes through the geometric center of the incompletely detected parking spaces, it is determined that the incompletely explored parking spaces are fully detected.

[0160] Optionally, the determining module is specifically configured to execute:

[0161] Obtain obstacle point information and parking space information corresponding to a preset number of timestamps; wherein, when the difference between the timestamps corresponding to the parking space information and the obstacle point information is greater than or equal to a first threshold, synchronize the obstacle point information to the timestamp corresponding to the parking space information through a conversion strategy;

[0162] Determine whether the parking space is available at the corresponding timestamp based on the parking space information and the obstacle point information corresponding to each timestamp;

[0163] When the parking space is determined to be unparkable at each time stamp, determining the parking space to be an unparkable space;

[0164] When it is determined at any time stamp that the parking space is available for parking, the parking space is determined to be a available parking space.

[0165] Optionally, the determining module is specifically configured to execute:

[0166] Determining the parking space information and the obstacle point information corresponding to the timestamp;

[0167] Determine whether there is an obstacle intrusion in the parking space marking area based on the positional relationship between the parking space information and the obstacle point information;

[0168] In the case where there is no obstacle intrusion into the parking space line area, the parking space corresponding to the parking space line area is determined as a parking space.

[0169] Optionally, the determining module is specifically configured to execute:

[0170] In the parking space lined area, selecting a maximum rectangular frame that does not include the obstacle point from the entrance edge of the parking space lined area to the bottom edge of the parking space lined area, and determining the length and width of the maximum rectangular frame;

[0171] When the length of the maximum rectangular frame is greater than the length of the space threshold, and the width of the maximum rectangle is greater than the width of the space threshold, it is determined that there is no obstacle point intrusion into the parking space marking area.

[0172] Optionally, the parking space releasing device further includes an acquisition module, and the acquisition module is used to:

[0173] Determine the initial parking space information through the surround-view camera;

[0174] Performing an initial parking availability assessment on each of the parking spaces using a circular camera;

[0175] Output the parking space line area corresponding to the parking space determined as available for parking by the ring camera to obtain parking space information;

[0176] Obtaining initial obstacle point information by fusing multi-sensor information; the initial obstacle point information includes multiple obstacle points;

[0177] Determining the positional relationship between each obstacle point and the vehicle body;

[0178] When the distance between the obstacle point and the vehicle body is less than or equal to a second threshold, the obstacle point is output to obtain the obstacle point information.

[0179] It should be noted that the device embodiment is similar to the method embodiment, so the description is relatively simple, and the relevant parts can be referred to the method embodiment.

[0180] The present disclosure also provides an electronic device, referring to Fig.11 , Fig.11 Schematic diagram of an electronic device shown in an embodiment of the present disclosure. Fig.11 As shown, the electronic device 1100 includes: a memory 1110 and a processor 1120. The memory 1110 and the processor 1120 are connected via a bus communication. The memory 1110 stores a computer program, which can be run on the processor 1120 to implement the steps in the parking space releasing method disclosed in the embodiment of the present disclosure.

[0181] The embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the parking space releasing method disclosed in the embodiment of the present disclosure are implemented.

[0182] The embodiment of the present disclosure further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps in the parking space releasing method disclosed in the embodiment of the present disclosure are implemented.

[0183] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0184] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, devices or computer program products. Therefore, the embodiments of the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0185] The embodiments of the present disclosure are described with reference to the flowcharts and / or block diagrams of the methods, apparatuses, electronic devices, and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0186] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0187] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable terminal device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0188] Although some embodiments of the present disclosure have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the present disclosure.

[0189] The above is a detailed introduction to a parking space releasing method, device, electronic device and storage medium provided by the present disclosure. Specific examples are used in this article to illustrate the principles and implementation methods of the present disclosure. The description of the above embodiments is only used to help understand the method and core idea of ​​the present disclosure. At the same time, for general technical personnel in this field, according to the idea of ​​the present disclosure, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present disclosure.

Claims

1. A parking space release method, characterized in that: include: Determine available parking spaces based on parking space information and obstacle point information; Determining whether the parking space is fully detected according to the full detection strategy corresponding to the current driving gear of the vehicle; When the available parking space is completely detected, the available parking space is determined as a released parking space.

2. The method according to claim 1, characterized in that When the current driving gear of the vehicle is the driving gear, judging whether the parking space is fully detected according to the full detection strategy corresponding to the current driving gear of the vehicle includes: Determine whether the parking space is a double-sided obstacle parking space, where the double-sided obstacle parking space indicates that there are obstacles on both sides of the parking space; In the case where the parking space is a double-sided obstacle parking space, when the front of the vehicle passes through a target corner point of the parking space, determining that the parking space is completely detected; When the parking space is not a double-sided obstacle parking space, it is directly determined that the parking space is fully detected.

3. The method according to claim 2, characterized in that The obstacle point information includes attributes of the obstacle point, and determining whether the parking space is a double-sided obstacle parking space includes: Extending both sides of the parking space outward by a preset distance respectively, and determining the areas within the preset distance as a first target area and a second target area respectively; the both sides of the parking space are the two sides excluding the entrance side and the bottom side; In the case that there are obstacle points whose attribute is the target attribute in both the first target area and the second target area, the parking space is determined to be a double-sided obstacle parking space.

4. The method according to claim 1, characterized in that: When the current driving gear of the vehicle is the reverse gear, judging whether the parking space is fully detected according to the full detection strategy corresponding to the current driving gear of the vehicle includes: If the front of the vehicle does not pass through the geometric center of the parking space, determining the parking space as an incompletely explored parking space; When the vehicle head passes through the geometric center of the incompletely explored parking space, it is determined that the incompletely explored parking space is completely detected.

5. The method according to claim 1, characterized in that When the current driving gear of the vehicle is the driving gear switched to the reverse gear, judging whether the parking space is fully detected according to the full detection strategy corresponding to the current driving gear of the vehicle includes: Determine a timestamp when the vehicle is switched from a driving gear to a reverse gear, and determine the vehicle coordinates according to the timestamp; Determine a credible detection range of the vehicle controller, and determine a trustworthy range through the vehicle coordinates and the credible detection range; Determining that within the trusted range, the parking spaces passed by the vehicle are fully detected; The parking spaces outside the trusted range are determined as incompletely detected parking spaces, and when the front of the vehicle passes through the geometric center of the incompletely detected parking spaces, it is determined that the incompletely explored parking spaces are fully detected.

6. The method according to claim 1, characterized in that The step of determining available parking spaces according to the parking space information and the obstacle point information includes: Obtain obstacle point information and parking space information corresponding to a preset number of timestamps; wherein, when the difference between the timestamps corresponding to the parking space information and the obstacle point information is greater than or equal to a first threshold, synchronize the obstacle point information to the timestamp corresponding to the parking space information through a conversion strategy; Determine whether the parking space is available at the corresponding timestamp based on the parking space information and the obstacle point information corresponding to each timestamp; When the parking space is determined to be unparkable at each time stamp, determining the parking space to be an unparkable space; When it is determined at any time stamp that the parking space is available for parking, the parking space is determined to be a available parking space.

7. The method according to claim 6, characterized in that In the case where it is determined at any time stamp that the parking space is available for parking, determining that the parking space is available for parking includes: Determining the parking space information and the obstacle point information corresponding to the timestamp; Determine whether there is an obstacle intrusion in the parking space marking area based on the positional relationship between the parking space information and the obstacle point information; In the case where there is no obstacle intrusion into the parking space line area, the parking space corresponding to the parking space line area is determined as a parking space.

8. The method according to claim 7, characterized in that In the case where there is no obstacle intrusion into the parking space line area, determining the parking space corresponding to the parking space line area as a parking space includes: In the parking space lined area, selecting a maximum rectangular frame that does not include the obstacle point from the entrance edge of the parking space lined area to the bottom edge of the parking space lined area, and determining the length and width of the maximum rectangular frame; When the length of the maximum rectangular frame is greater than the length of the space threshold, and the width of the maximum rectangle is greater than the width of the space threshold, it is determined that there is no obstacle point intrusion into the parking space marking area.

9. The method according to any one of claims 1 to 8, characterized in that: The parking space information and obstacle point information are obtained according to the following steps, including: Determine the initial parking space information through the surround-view camera; Performing an initial parking availability assessment on each of the parking spaces using a ring camera; Output the parking space line area corresponding to the parking space determined as available for parking by the ring camera to obtain parking space information; Obtaining initial obstacle point information by fusing multi-sensor information; the initial obstacle point information includes multiple obstacle points; Determining the positional relationship between each obstacle point and the vehicle body; When the distance between the obstacle point and the vehicle body is less than or equal to a second threshold, the obstacle point is output to obtain the obstacle point information.

10. A parking space release device, characterized in that: include: A determination module, used to determine available parking spaces based on parking space information and obstacle point information; A judgment module, used for judging whether the parking space is fully detected according to the full detection strategy corresponding to the current driving gear of the vehicle; A release module is used to determine the available parking space as a released parking space when the available parking space is fully detected.

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