Parking assistance method and system, vehicle, computer equipment and storage medium

Abstract

The invention relates to the technical field of intelligent parking, in particular to a parking assisting method and system, a vehicle, computer equipment and a storage medium. The parking assisting method comprises the following steps: acquiring real-time parking space state information of a current parking lot; the floor where the current vehicle is located in the current parking lot is evaluated as a target floor; idle parking space information of a target floor in the parking space state information is screened and pushed to a parking space information request end; wherein the parking space information request end is associated with the current vehicle. By adopting the method, the parking space can be recommended in combination with the floor where the vehicle is located, and the effectiveness of the recommended parking space is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent parking technology, and in particular to a parking assistance method, a parking assistance system, a vehicle, a computer device, and a computer-readable storage medium. Background Art

[0002] In environments with parking lots such as shopping malls and hospitals, when monitoring the parking status of each parking space, each parking space is usually equipped with monitoring devices, detectors, etc., and corresponding indicator lights to prompt users. However, when the owner is driving the vehicle to find a parking space, the indicator light may not be visible before the owner approaches the parking space, resulting in a weak effect of assisted parking, which affects the effectiveness of parking space recommendation. Summary of the invention

[0003] Based on this, it is necessary to provide a parking assistance method, a parking assistance system, a vehicle, a computer device and a computer-readable storage medium to address the above technical problems, which can recommend parking spaces based on the floor where the vehicle is located, so as to improve the effectiveness of the recommended parking spaces.

[0004] On the one hand, a parking assistance method is provided, which includes: obtaining real-time parking space status information of the current parking lot; evaluating the floor where the current vehicle is located in the current parking lot as the target floor; filtering the vacant parking space information of the target floor in the parking space status information, and pushing it to the parking space information request end; wherein the parking space information request end is associated with the current vehicle.

[0005] In one embodiment of the present application, before obtaining the real-time parking space status information of the current parking lot, the process includes: determining whether there is real-time parking space status information of the current parking lot; in response to not having the parking space status information, obtaining the external environmental data collected by the current vehicle; and using the environmental data to form the real-time parking space status information of the current parking lot by floor.

[0006] In one embodiment of the present application, the environmental data includes an environmental image; using the environmental data to form real-time parking space status information of the current parking lot by floor includes: evaluating the floor where the current vehicle is located in the current parking lot as the target floor; and constructing a parking lot map of the target floor based on the environmental image as the parking space status information.

[0007] In one embodiment of the present application, constructing a parking lot map of a target floor based on an environmental image includes: identifying whether there is a parking space sign in the environmental image; in response to identifying the parking space sign, determining that the location of the parking space sign is a parking space, and writing drawing data as the parking space to be drawn; wherein the drawing data is used to construct a parking lot map.

[0008] In one embodiment of the present application, constructing a parking lot map of a target floor based on an environment image includes: identifying whether there is a stationary vehicle in the environment image; wherein the stationary vehicle represents other vehicles that are stationary; in response to the presence of a stationary vehicle and its parking position having a parking space mark, determining that the parking position is a parking space to be drawn, and writing the parking space to be drawn and its usage status into the drawing data.

[0009] In one embodiment of the present application, after identifying whether there is a stationary vehicle in the environment image, the method further includes: in response to the presence of a stationary vehicle and no parking space mark is identified at its parking position, determining that the parking position is a non-parking space.

[0010] In one embodiment of the present application, evaluating the floor where the current vehicle is located in the current parking lot as the target floor includes: initializing the initial floor in response to determining that the current vehicle enters the current parking lot; obtaining the driving parameters of the current vehicle; and analyzing the driving parameters to locate the target floor based on the initial floor.

[0011] In one embodiment of the present application, the driving parameters include a pitch angle and an acceleration in the direction of gravity; analyzing the driving parameters to locate the target floor based on the initial floor includes: analyzing the changes in the pitch angle and the acceleration in the direction of gravity, and evaluating the displacement of the current vehicle in the direction of gravity; comparing the displacement with the height of a single floor in the parking lot to obtain the number of floor changes and the direction of floor changes of the current vehicle; and superimposing the number of floor changes and the initial floor according to the direction of floor change to obtain the target floor.

[0012] In one embodiment of the present application, before obtaining the real-time parking space status information of the current parking lot, it includes: obtaining the location information of the current vehicle; identifying whether the location fed back by the location information has a parking lot; in response to determining that there is a parking lot, identifying the environmental data collected by the current vehicle to determine whether there is a barrier gate; in response to the existence of a barrier gate and determining that the current vehicle has passed through the barrier gate, determining that it has entered the parking lot, and the parking lot it has entered is used as the current parking lot.

[0013] In one embodiment of the present application, the parking assistance method also includes: sending a data request to the current vehicle; wherein the data request is used to request to obtain environmental data collected by the sensing input device of the current vehicle; obtaining environmental data collected by the current vehicle; and using the environmental data to update the parking space status information.

[0014] On the other hand, a parking assistance system is provided, which includes a storage device and a scheduling device; the storage device is used to store real-time parking space status information of several parking lots; the scheduling device is connected to the storage device to implement a parking assistance method as in any of the above embodiments.

[0015] On the other hand, a vehicle is provided, which includes a vehicle body and an interactive device; the interactive device is arranged on the vehicle body and is used to connect with the parking assistance system in the above embodiment to receive vacant parking space information as a parking space information request end.

[0016] On the other hand, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the parking assistance method in any one of the above embodiments when executing the computer program.

[0017] On the other hand, 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 assistance method in any one of the above embodiments are implemented.

[0018] The above parking assistance method, parking assistance system, vehicle, computer device and computer-readable storage medium can recommend vacant parking spaces in combination with the current floor of the current vehicle, that is, push the vacant parking spaces on the floor where the current vehicle is located to the current vehicle. It can be considered that when the current vehicle is traveling on the target floor, there may be a certain intention to park on the target floor. As such, in this embodiment, vacant parking spaces can be recommended in combination with the potential parking floor intention of the current vehicle to improve the matching degree between the recommended vacant parking spaces and the potential needs of the user, thereby improving the applicability of the recommended vacant parking spaces, and at the same time, the data sent to the parking space information request terminal can be filtered, which is conducive to improving the simplicity of the pushed information and the search efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of an embodiment of a parking assistance method of the present application;

[0020] Figure 2 This is a flow chart of an embodiment of evaluating a target floor of the present application;

[0021] Figure 3 This application is to build a parking lot Figure 1 Schematic diagram of the process of the embodiment;

[0022] Figure 4 This is a schematic diagram of another parking lot embodiment of the present application;

[0023] Figure 5 This is a flow chart of an embodiment of the present application for determining whether a current vehicle has entered a parking lot;

[0024] Figure 6 is a flow chart of another embodiment of the parking assistance method of the present application;

[0025] Figure 7 This is a flowchart of an embodiment of updating parking space status information of the present application;

[0026] Figure 8 is a flow chart of an embodiment of predicting parking space numbering;

[0027] Fig. 9 This is a flowchart of an embodiment of updating parking space status information of the present application;

[0028] Fig.10 This is a scene diagram of an embodiment of the current parking lot of the present application;

[0029] Fig.11 This is a schematic diagram of a scenario of an embodiment of obtaining parking sensing data in this application

[0030] Fig.12 This is a flow chart of an embodiment of the present application for recommending a parking space;

[0031] Fig.13 is a schematic structural diagram of an embodiment of a parking assistance system of the present application;

[0032] Fig.14 It is a structural schematic diagram of an embodiment of a vehicle of the present application;

[0033] Fig.15 This is a schematic diagram of the structure of an embodiment of the computer device of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] The mainstream method for determining whether a parking space is occupied in the related art is to use a camera placed in front of the parking space to take a picture of the parking space and process the image for determination. Usually, there are problems such as the need to place a camera in each parking space, which leads to high costs; if the camera is damaged, the parking space usage cannot be displayed; it is necessary to get close to the parking space to confirm whether it is occupied; and the camera may not be able to identify the occupation of small objects such as cones in the parking space.

[0036] In order to solve the technical problem of low effectiveness of parking space recommendation in the relevant technology, the present application provides a parking assistance method, a parking assistance system, a vehicle, a computer device and a computer-readable storage medium. The parking assistance method includes: obtaining real-time parking space status information of the current parking lot; evaluating the floor where the current vehicle is located in the current parking lot as the target floor; filtering the vacant parking space information of the target floor in the parking space status information, and pushing it to the parking space information request end; wherein the parking space information request end is associated with the current vehicle. The following is an example of the detailed working principle of the present application.

[0037] See also Figure 1 , Figure 1 The parking assistance method in this embodiment can be applied to vehicle parking environments such as shopping malls, hospitals, supermarkets, office buildings, etc., and is not limited here.

[0038] S101: Obtaining real-time parking space status information of the current parking lot.

[0039] In this embodiment, the parking space status information is shared information that can indicate the parking space status of the current parking lot. The parking space status information can be formed by sensing the parking lot environment through the on-board sensing input device when other vehicles enter the parking lot, and can also include data sensed when the current vehicle enters the parking lot in the past. In other words, the parking space status information can be shared with multiple vehicles for parking guidance, and the information recorded in the parking space status information can also be updated in real time based on the sensing data of multiple vehicles.

[0040] The real-time parking space status information can be considered as the parking space status information existing at the current moment. Meanwhile, the parking space status information can be continuously updated during the process of the vehicle searching for a parking space, being in a parking state, leaving a parking lot, etc.

[0041] In this embodiment, the parking space status information may be in the form of a map, a list, etc., and may be stored in the cloud, a virtual machine, other vehicles, etc., without limitation. When the current vehicle enters the parking lot, the vehicle-mounted device or other device of the current vehicle may request the parking space status information of the current parking lot, or the parking space status information of the parking lot may be automatically sent to the cloud upon detecting that the vehicle has entered the parking lot. Other implementation methods for obtaining the parking space status information will not be described in detail here.

[0042] S102: Evaluate the floor where the current vehicle is located in the current parking lot as the target floor.

[0043] In this embodiment, the floor where the current vehicle is located in real time can be evaluated, and the evaluated floor can be used as the target floor. It should be noted that in this embodiment, the target floor refers to the floor where the current vehicle is located, not the floor to which the current vehicle is heading. The target floor is relative to the screening of recommended parking spaces.

[0044] Optionally, an environmental image containing floor information taken by a vehicle-mounted camera device can be obtained and identified to obtain the current floor of the vehicle; alternatively, an environmental image containing a parking space number can be obtained to match the current floor; alternatively, the current floor of the vehicle can be sensed and analyzed based on vehicle-mounted equipment such as a vehicle-mounted gyroscope, attitude sensor, etc., which is not limited here.

[0045] S103: Filter the free parking space information of the target floor in the parking space status information, and push it to the parking space information requesting end.

[0046] In this embodiment, an empty parking space may refer to an empty parking space, that is, a parking space where no car is parked. The empty parking space information may be displayed in a specific manner on a parking lot map of the current parking lot, or may be a route planned to the user to drive to the empty parking space based on the current position of the vehicle, or may be related to the area of ​​the empty parking space, parking space number information, etc., which are not limited here.

[0047] In this way, the acquired parking space status information can be filtered based on the target floor. In other words, the vacant parking space information located on the target floor in the parking space status information can be filtered, and at least the filtered vacant parking space information can be pushed to the parking space information request terminal associated with the vehicle. The user can obtain and view the relevant information of the vacant parking space through the parking space information request terminal, and can obtain the current parking space status of the parking space in the current parking lot through the shared parking space status information / vacant parking space information when not driving near the parking space.

[0048] Optionally, the parking space information requesting end may be integrated in the vehicle, or may be a user's mobile terminal such as a mobile phone, tablet computer, laptop computer, smart watch, etc., which is not limited here. Furthermore, in this embodiment, the free parking space information may also be displayed through an application, a plug-in, a small program, a web page, etc., which is not limited here.

[0049] It can be seen that in this embodiment, the vacant parking spaces can be recommended in combination with the floor where the current vehicle is currently located, that is, the vacant parking spaces on the floor where the current vehicle is located are pushed to the current vehicle. It can be considered that when the current vehicle is traveling to the target floor, there may be a certain intention to park on the target floor. As such, in this embodiment, the vacant parking spaces can be recommended in combination with the potential parking floor intention of the current vehicle to improve the matching degree between the recommended vacant parking spaces and the potential needs of the user, thereby improving the applicability of the recommended vacant parking spaces, and at the same time, the data sent to the parking space information request terminal can be filtered, which is conducive to improving the simplicity of the pushed information and the search efficiency.

[0050] At the same time, in this application, the floor where the current vehicle is located in the current parking lot can be evaluated based on the driving parameters of the current vehicle during driving. Compared with the use of environmental images for evaluation, there may be a risk of not obtaining reliable, clear, and recognizable environmental images. In this embodiment, since the current vehicle will inevitably have driving parameters such as speed, acceleration, and driving direction during driving, the use of driving parameters to evaluate the floor where the current vehicle is located can ensure a stable supply of source data for evaluation, which is conducive to timely identification of the floor, thereby improving the reliability of floor identification.

[0051] For example, in this embodiment, the floor where the current vehicle is located can be evaluated as the target floor to recommend the parking space status information of at least the target floor to the current vehicle. That is to say, only the vacant parking spaces on the floor where the current vehicle is located can be recommended to the current vehicle; or, the parking spaces on the floor where the current vehicle is located and other floors such as adjacent floors and floors with relatively more vacant parking spaces can be recommended to the current vehicle, which is not limited here. Alternatively, when recommending parking spaces on the target floor, parking spaces on adjacent floors can be pre-screened synchronously to consider the potential possibility of users driving to other floors. When the floor where the current vehicle is located changes, the pushed vacant parking space information can be updated in time, further improving the reliability and applicability of the vacant parking space recommendation.

[0052] Furthermore, the free parking space information can be further differentiated. For example, to meet the charging needs of electric vehicles, the free parking space information with charging piles can be pushed to the parking space information request end.

[0053] And / or, only the parking space information with charging piles can be pushed, regardless of whether the parking space is already parked. In other words, this embodiment allows the user to customize the type of the target parking space, so as to improve the functionality and flexibility of the assisted parking in this embodiment, which is conducive to enriching the application scenarios to which the assisted parking method in this embodiment is applicable.

[0054] In an alternative embodiment, floor recognition may be performed after it is recognized that the vehicle has been displaced in the direction of gravity, so as to reduce the amount of calculation, thereby facilitating improving the stability of the assisted parking operation.

[0055] Specifically, see Figure 2 , Figure 2 It is a flowchart of an embodiment of evaluating a target floor of the present application.

[0056] S1021: Initialize the floor.

[0057] In this embodiment, in response to determining that the current vehicle enters a parking lot, the parking lot it enters can be used as the current parking lot, and the current vehicle can be initialized at the floor of the current parking lot. In layman's terms, when the vehicle enters the parking lot, an initial height and floor position calibration can be performed.

[0058] Optionally, the driving parameters at past times may be combined to determine that the initial floor is the first floor or the basement level, or other floors, which are not limited here.

[0059] For example, if the entrance to a parking lot is usually on the first floor, the floor where the parking lot entrance is located can be set to the first floor by default, that is, the current vehicle passing through the parking lot gate is recorded as the first floor. In this way, even if you encounter parking lots with different entrance floors, you can also customize the parking lot floor map, which improves the flexibility of building parking lot maps and helps reduce the situation where the recommendation of vacant parking spaces is affected by the lack of pre-stored parking lot floor information. Alternatively, you can obtain parking lot information, extract the floor information of the parking lot entrance in the parking lot information, and assign the initial floor as the real floor, which helps reduce the risk of users being confused due to the difference between the customized floor and the real floor. This is not limited here.

[0060] S1022: Obtain the driving parameters of the current vehicle.

[0061] In this embodiment, in response to initializing the initial floor where the current vehicle is located, the driving parameters of the current vehicle can be obtained.

[0062] Furthermore, the driving parameters may include a pitch angle and a gravity acceleration.

[0063] S1023: Analyze the driving parameters to locate the target floor based on the initial floor.

[0064] In this embodiment, it is possible to analyze whether there is a data change in the direction of gravity in the driving parameters to determine whether the current vehicle is moving in the direction of gravity.

[0065] In response to analyzing the driving parameters and determining that the current vehicle is moving in the direction of gravity, the target floor can be located based on the initial floor, thereby automatically identifying the floor changes of the current vehicle. This is conducive to timely updating of vacant parking spaces when the current vehicle travels to other floors, thereby improving the intelligence, reliability and applicability of assisted parking.

[0066] Specifically, the pitch angle and the acceleration in the direction of gravity in the driving parameters can be analyzed. The changes in the pitch angle and the acceleration in the direction of gravity can be analyzed to evaluate the displacement of the vehicle in the direction of gravity. The displacement can be compared with the height of a single floor of the parking lot to obtain the number of floor changes and the direction of floor changes of the vehicle. The number of floor changes and the initial floor are superimposed according to the direction of floor change to obtain the target floor.

[0067] Generally speaking, the vehicle-mounted gyroscope can be used to determine the floor where the vehicle is located. In this embodiment, it is considered that the movement of the vehicle between different floors is usually accompanied by a certain amount of tilt and vertical changes, so this embodiment involves measuring and analyzing the vertical movement of the vehicle. When the vehicle goes up or down a slope or enters or exits a parking floor, the vehicle usually has obvious tilting movement, so the pitch angle change of the gyroscope can be analyzed to determine whether the vehicle is moving up or down. The pitch angle and vertical acceleration (i.e., the acceleration in the direction of gravity) of the vehicle can also be monitored in real time to determine whether the vehicle is moving up or down. Specifically, when it is detected that the pitch angle is positive for a period of time and the vertical acceleration increases, it can be considered that the vehicle is going up; otherwise, it can be considered that the vehicle is going down. Therefore, when analyzing the height of the upward movement through one floor, the floor count increases by one; when the downward movement passes the height of one floor, the floor count decreases by one.

[0068] In one embodiment, it is also possible to determine whether a parking lot map of the parking lot entered by the vehicle is recorded. In other words, it is possible to determine whether the parking lot has a parking lot map. The parking lot map may be obtained through cooperation with the parking lot, or may be constructed at a forward moment, which is not limited here. When it is determined that there is a parking lot map of the parking lot, parking assistance may be provided based on the shared real-time parking space status information. When it is determined that there is no parking lot map of the parking lot, the vehicle's sensing input device may be used to construct a parking lot map of the parking lot, thereby enriching the parking lot data. The following is an example of the working principle of constructing a parking lot map.

[0069] Specifically, when there is no real-time parking space status information of the current parking lot, sharable and real-time parking space status information can be formed along with the driving process of the current vehicle. In this application, the floor where the current vehicle is located can be evaluated to construct relevant parking space status information by floor. Among them, evaluating the floor where the current vehicle is located can be as described in step S102 or steps S1021 to S1023.

[0070] Furthermore, the parking space status information of the current parking lot is constructed on each floor. To facilitate subsequent parking space management, updating, and visual display, a parking lot map of the current parking lot can be drawn to store the corresponding data in the form of a parking lot map.

[0071] In this embodiment, the stationary vehicle and / or parking space logo can be used to identify whether it is a parking space, and the features of prior knowledge can be used for identification, which is conducive to reducing the amount of calculation in the identification process and improving the efficiency of parking lot map construction. Figure 3 , Figure 3 This application is to build a parking lot Figure 1 Schematic diagram of the process of the embodiment.

[0072] S201: Determine whether there is real-time parking space status information of the current parking lot.

[0073] In this embodiment, when it is determined that there is no real-time parking space status information of the current parking lot, it is considered that a parking lot map can be constructed, so step S202 can be executed. If so, in this embodiment, the parking lot can be mapped to enrich the parking lot data, so that other vehicles can be given a certain parking reference when they enter the parking lot again.

[0074] When it is determined that the real-time parking space status information of the current parking lot is available, the current process of building the parking lot map can be terminated, and the shared parking space status information can be used to assist parking, which will not be repeated here.

[0075] S202: Evaluate the floor where the current vehicle is located in the current parking lot as the target floor.

[0076] In this embodiment, the floor where the current vehicle is located is evaluated as the target floor, so that the environmental data collected by the current vehicle can be used to construct a parking map and / or real-time parking space status information of the target floor, so as to realize the use of environmental data to form a real-time parking map and / or parking space status of the current parking lot by floor. When recommending parking spaces to users, the strategy of recommending at least the vacant parking spaces on the target floor can be adapted, simplifying the steps of sequentially screening the floors of the vacant parking spaces in the recommendation process, thereby facilitating improving the efficiency of recommending vacant parking spaces.

[0077] Specifically, the specific working principle of evaluating the target floor where the current vehicle is located may be as described in step S102 or steps S1021 to S1023, and will not be repeated here.

[0078] S203: Acquire external environmental data collected by the current vehicle.

[0079] In this embodiment, the sensing input device of the current vehicle can sense / collect the environment in which it is located to form environmental data. Acquiring the environmental data collected by the current vehicle and constructing a parking lot map through the real collected environmental data can improve the authenticity and reliability of the parking lot map on which the parking space status information of the current parking lot relies, and is also conducive to enriching the parking space status information library of the preset parking lot.

[0080] For example, the environmental data may include an environmental image. In this case, a parking lot map of the target floor may be constructed based on the environmental image as parking space status information or processed to form sharable parking space status information.

[0081] S204: Identify whether there is a stationary vehicle in the environment image.

[0082] In this embodiment, the stationary vehicle refers to other vehicles that are stationary. Optionally, it is impossible to confirm whether a vehicle is stationary with respect to a single environment image, so it can be considered that all vehicles in the environment image are stationary vehicles; or, it is possible to combine several environment images to identify whether the vehicles in the environment image are stationary, which is not limited here.

[0083] When it is determined that there is a stationary vehicle in the environment image, step S205 may be executed. When it is determined that there is no stationary vehicle in the environment image, step S206 may be executed.

[0084] S205: Identify whether there is a parking space mark at the parking location of the stationary vehicle.

[0085] In this embodiment, when it is determined that there is a parking space mark at the parking position of the stationary vehicle, step S207 may be executed. When it is determined that there is no parking space mark at the parking position of the stationary vehicle, step S208 may be executed.

[0086] The parking space marking includes parking lines and / or parking space numbers. That is, the parking space marking may include parking lines, which may be identified based on features such as color, straight lines, line angles, etc.; or, the parking space marking may include parking space numbers; or, the parking space marking may include parking lines and parking space markings.

[0087] Furthermore, in response to the evaluation that the number of parking spaces is greater than the number of identified parking space numbers, the number of parking spaces that may exist in the environmental image can also be predicted, which is conducive to completing the unidentified parking spaces and can improve the completeness of the parking lot map. The specific implementation method will be explained later and will not be repeated here.

[0088] S206: Identify whether there is a parking space sign in the environment image.

[0089] In this embodiment, when it is determined that there is a parking space mark in the environment image, step S207 may be executed. When it is determined that there is no parking space mark in the environment image, step S209 may be executed.

[0090] S207: Determine the parking space to be drawn.

[0091] In this embodiment, the area with the parking space mark may be determined as the parking space to be drawn.

[0092] Specifically, in response to identifying the parking space mark in the environment image, the location of the parking space mark is determined to be a parking space, which can be used as the parking space to be drawn into which the drawing data is to be written. The drawing data is used to construct a parking lot map.

[0093] Alternatively, in response to the presence of a stationary vehicle and the parking position having a parking space mark, the parking position may be determined to be a parking space to be drawn, and when writing the drawing data, the parking space to be drawn and its use status may be written together.

[0094] S208: Determine that the parking space is not a parking space.

[0095] In this embodiment, in response to the presence of a stationary vehicle but no parking space mark is identified at the parking position of the stationary vehicle, it can be determined that the parking position of the stationary vehicle is a non-parking space.

[0096] S209: Determine that there is no parking space in the environment image.

[0097] In this embodiment, in response to the absence of a stationary vehicle and a parking space sign in the environment image, it can be considered that there is no parking space in the environment image, and relevant information corresponding to the drawing data to be written can be formed. In the following text, an example will be given in conjunction with the accompanying drawings to illustrate the identification of whether there is a parking space in the environment image in steps S204 to S209, and no further description will be given here.

[0098] S210: Writing drawing data, and using the drawing data to construct a parking lot map.

[0099] In this embodiment, the results of identifying the environment image in combination with the stationary vehicle and the parking space sign can be sorted to form drawing data or separately form drawing data, and the parking lot map can be constructed using the drawing data.

[0100] Optionally, the drawing data may include parking space information such as parking space number, parking space location status, parking space relative location information, drawing time and / or data acquisition time, etc. Before the current vehicle leaves the current parking lot area, the parking lot map and parking space status information of the current parking lot may be continuously updated and improved using the sensing input device of the current vehicle.

[0101] Furthermore, the drawn data can be classified based on the floor, and the drawn data belonging to the same floor is regarded as the same group of data, and each group of data is spliced ​​to form a parking map, which is uploaded to a storage device such as the cloud. Optionally, the parking map can be a two-dimensional map to reduce the amount of calculation for building the parking map and facilitate operation and maintenance; in an alternative embodiment, the parking map can also be a three-dimensional map to improve the visual effect of the parking map.

[0102] It should be noted that, with respect to the process of parking space identification and parking space status identification, the process steps described in this embodiment are to identify the stationary vehicle first, but in fact, the parking space sign may be identified first, or the stationary vehicle and the parking space sign may be identified at the same time, which is not limited here.

[0103] See also Figure 4 , Figure 4 This is a schematic diagram of another embodiment of the parking lot of the present application. Figure 4 An example is given to illustrate the identification of whether a parking space exists in the environment image in steps S204 to S209.

[0104] In layman's terms, in this embodiment, when a stationary vehicle is identified and there are parking space markings (such as parking lines, parking space numbers, etc.) around the stationary vehicle, it can be determined that the location where the stationary vehicle is parked is a parking space in the current parking lot, and when forming the parking space status information of the current parking lot, the current parking space status of the parking space can also be marked as being in use.

[0105] When a stationary vehicle is identified but a stop line is not identified, it can be determined that the parking position of the stationary vehicle is not a parking space.

[0106] When parking space markings such as parking lines and parking space numbers are identified in the environment image, the parking space marking area can be determined as a parking space. Further, if no other vehicles or other types of obstacles are identified in the parking space, it is determined that the current parking space is not in use and is in an idle state.

[0107] like Figure 4 As shown in the example, Figure 4 Vehicle X is a recognized vehicle in a stationary state, but no parking space sign is recognized, so it is determined that its parking position is not a parking space. For example, parking space A011, parking space A013, parking space A001, parking space A004, parking space A031, and parking space A022 are areas where stationary vehicles and parking space signs are recognized, so they are determined to be parking spaces and are in use. For example, parking space A012, parking space A014, parking space A015, parking space A002, parking space A003, parking space A005, and parking space A023 are areas where parking space signs can be recognized by recognizing the environment image, and no other vehicles or other types of obstacles are recognized, so the parking space sign area is determined to be an idle parking space in an idle state.

[0108] Furthermore, if vehicle Y is identified as a vehicle in motion, it is determined that its location is not a parking space. It can be further determined that its path is a driving road in a parking lot. The driving trajectory of vehicle Y can also be continuously detected to determine whether it is performing a reverse parking action to improve the determination accuracy.

[0109] As described in the previous part of this application, the working principle and the use of parking space status information in the parking lot to assist parking can be implemented on the basis of taking the parking lot that the current vehicle has entered as the current parking lot. The user can provide feedback on whether the current vehicle has entered the parking lot, or it can be automatically identified. In this application, the location information and / or possible signs such as gates, parking lot text signs, etc. can be combined to automatically identify whether the current vehicle has entered the parking lot.

[0110] Specifically, see Figure 5 , Figure 5 It is a flowchart of an embodiment of the present application for determining whether the current vehicle enters a parking lot.

[0111] S301: Obtain the current vehicle location information.

[0112] In this embodiment, the location information of the current vehicle can be obtained, and the location information can represent the location of the current vehicle. The location information can include a world coordinate system, map positioning, user input location information, etc., which is not limited here.

[0113] S302: Identify whether the location fed back by the location information has a parking lot.

[0114] In this embodiment, when it is determined that the location reported by the location information has a parking lot, step S303 is executed. When it is determined that the location reported by the location information has no parking lot, step S301 is executed.

[0115] In response to obtaining the location information of the current vehicle, it can be identified whether the location fed back by the location information has a parking lot. Taking the application of a shopping mall parking lot as an example, the location information of the current vehicle can be obtained to determine whether there is a shopping mall at the current location. In response to the presence of a shopping mall, it can be considered that the current vehicle has a potential need to enter the parking lot, and it can be further detected whether there is a parking lot around the current vehicle and whether the vehicle has entered.

[0116] S303: Identify the environmental data collected by the current vehicle to determine whether there is a barrier.

[0117] In this embodiment, when the environmental data collected by the current vehicle is identified to determine that there is a barrier, step S304 is executed; when the environmental data collected by the current vehicle is identified to determine that there is no barrier, step S303 is executed (such as Figure 5 ) or step S301.

[0118] That is, in response to determining that there is a parking lot based on the location information, that is, the location information of the current vehicle indicates that there is a parking lot around it, whether the vehicle enters the parking lot can be determined by the gate, parking lot text sign, etc. For example, in this embodiment, the environmental data collected by the current vehicle can be identified to determine whether there is a gate of the parking lot, and whether the vehicle enters the parking lot can be determined based on the gate.

[0119] S304: Determine whether the current vehicle passes through the barrier.

[0120] In this embodiment, when it is determined that the current vehicle has passed through the barrier, step S305 is executed; when it is determined that the current vehicle has not passed through the barrier, step S304 is executed (such as Figure 5 ) or step S301.

[0121] S305: The parking lot that the current vehicle enters is regarded as the current parking lot.

[0122] In this embodiment, in response to the existence of a barrier and determining that the current vehicle has passed through the barrier, it can be determined that the current vehicle has entered the parking lot, and the parking lot entered by the current vehicle can be used as the current parking lot to realize automatic judgment of whether the current vehicle has entered the parking lot, and realize automatic confirmation of the current parking lot, so as to automatically push the parking space status information / parking space of the current parking lot to the current vehicle, thereby improving the intelligence of assisted parking, reducing the cumbersome operations of users selecting the current parking lot, and improving the convenience of assisted parking operations.

[0123] The specific working principle of the present application of using parking space status information to assist parking is described below with examples.

[0124] See also Figure 6 , Figure 6 It is a flowchart of another embodiment of the parking assistance method of the present application.

[0125] S401: Acquire environmental data collected by the current vehicle.

[0126] In this embodiment, the environment can be considered as the scene where the current vehicle is located, such as a parking lot, a driving road, a residential area, a hospital, etc. Environmental data refers to the data related to the external environment of the vehicle body collected by the current vehicle, which can express environmental information. The vehicle can sense the external environment through radar, camera, light sensor, etc. to obtain environmental data.

[0127] The current vehicle refers to the source vehicle of the currently acquired environmental data. That is to say, in this embodiment, at the same time, the current vehicle can be one or more vehicles, which is not limited here.

[0128] In an embodiment, at least part of the environmental data collected by several current vehicles may be obtained, that is, all or part of the environmental data collected by each current vehicle may be obtained, so as to analyze the environment in which the current vehicle is located using the obtained environmental data.

[0129] S402: Using environmental data to update real-time parking space status information of the current parking lot; wherein the current parking lot refers to the parking lot where the current vehicle is currently located.

[0130] In this embodiment, as the name implies, the parking space status information can represent the parking space status of the current parking lot.

[0131] In response to obtaining environmental data from several current vehicles, the environmental data can be analyzed. When it is determined that the current vehicle is located in a parking lot, the parking lot where the current vehicle is located is used as the current parking lot to update the real-time parking space status information of the current parking lot using the environmental data.

[0132] Similarly, at the same time, the number of current parking lots for which parking space status information is updated may be one or more, which is not limited here. That is to say, when there are multiple current vehicles at the same time, the parking space status of each parking lot can be analyzed and updated through rich real-time environmental data. For example, multiple current vehicles may be located in the same parking lot, so that the parking space status information of the same parking lot is updated; or multiple current vehicles may be located in different parking lots, so that the parking space status information of multiple parking lots is updated.

[0133] S403: Sharing the updated parking space status information.

[0134] In this embodiment, in response to the real-time parking space status information of the current parking lot being updated using environmental data, the updated parking space status information of the current parking lot can be shared. For example, the current vehicle and / or other vehicles can obtain the shared parking space status information to assist in finding a parking space. Alternatively, a parking space that can be parked can be recommended to the current vehicle or other vehicles based on the parking space status information, so that a parking space can be recommended to the vehicle based on the parking space status information with effective timeliness, thereby improving the reliability of parking assistance.

[0135] Optionally, the parking space status information shared in the present application can be displayed on the vehicle's onboard system, an APP (Application) installed on mobile terminals such as mobile phones, tablets, notebooks, smart watches, web pages, etc., without limitation here.

[0136] As such, the shared parking space status information in this embodiment is updated based on the data collected from the vehicle. Compared with the method of using the indicator light on the parking space to indicate the parking space status, in this embodiment, the parking space status information of the current parking lot can be shared with the vehicle when the vehicle is not approaching the parking space or even the current parking lot, so as to provide reference information for the user. Moreover, in this embodiment, the environmental data collected by each vehicle as the current vehicle can also be obtained to increase the frequency of updating the parking space status information and ensure the timeliness of the parking space status information. At the same time, when misidentification occurs, that is, when the information in the parking space status information is wrong, the environmental data collected by other current vehicles can be used to update / correct the erroneous information to improve the reliability of the parking space status information.

[0137] For example, in this embodiment, the parking space status information may include the current parking space status of each parking space in the current parking lot, that is, it clearly indicates whether the parking space is in use or idle; and / or, the parking space status information may include the number of remaining parking spaces in the current parking lot; and / or, the parking space status information may display the parking space status of each floor by floor; and / or, the parking space status information may include a prediction of whether there are remaining parking spaces for parking in combination with the current number of vehicles located in the current parking lot, etc., which will not be elaborated here.

[0138] Among them, a storage device that dynamically stores parking space status information, such as a cloud, can store parking space status information of multiple parking lots, and can obtain the parking space status information of the current parking lot that matches the current vehicle based on the location information of the current vehicle; or, the current parking lot can be judged based on the text information contained in the environmental image taken by the current vehicle, etc., which is not limited here.

[0139] That is to say, this application can send a data request to the current vehicle to obtain environmental data. As the name implies, the data request is used to request the environmental data collected by the current vehicle. Among them, the data request is sent to the vehicle's HCU (Hybrid Control Unit), CPU (Central Processing Unit) or IVI (In-Vehicle Infotainment) and other control modules; or, it can be sent to the parking space information request terminal associated with the current vehicle, etc., so that the user can authorize the acquisition of data permissions, etc., which is not limited here.

[0140] It should be noted that in the present application, sending a data request to the current vehicle can be to obtain a long-term data authorization, or to obtain a time-limited authorization or to obtain the current data authorization. In layman's terms, you only need to send a data request to the current vehicle once to obtain a permanent authorization to obtain environmental data; or, you can obtain an authorization to obtain environmental data for a preset duration; or, you can only obtain authorization for environmental data within the current driving / parking cycle in the parking lot, which is not limited here. After the current vehicle obtains and authenticates the data request, it can allow the environmental data to be pulled; or, it can actively send environmental data to the parking assistance system in the present application, which is not limited here. If so, in the present application, in response to obtaining the environmental data collected by the current vehicle, the environmental data can be used to update the parking space status information.

[0141] The following uses the example that the parking space status information in the present application at least includes the current parking space status of the parking space to illustrate the working principle of the parking assistance method of the present application.

[0142] When it is determined that the current vehicle has entered a parking lot, the parking lot it has entered can be used as the current parking lot. When the current vehicle is traveling on the road of the current parking lot, the sensing input device of the current vehicle can be used to collect environmental data to update the current parking space status of the parking spaces along the way, so that the parking space status information of the current parking lot can be updated in time, the reliability of the information recorded in the parking space status information can be improved, and the authenticity of the shared parking space status information can be improved. When the current parking space status of the parking spaces along the way is different from the recorded status in the parking space status information, it can be updated in time. At the same time, when there is no parking space status information of the current parking lot, the environmental data collected when the current vehicle is traveling in the current parking lot can be used to draw a parking lot map of the current parking lot, etc., to form the parking space status information that can be shared in the current parking lot, so as to enrich the parking lot data that can share the parking space status information.

[0143] The specific working principle of updating the parking space status information using the environmental data collected during the current vehicle driving is described in detail below.

[0144] Specifically, see Figure 7 , Figure 7 It is a flowchart of an embodiment of updating parking space status information of the present application.

[0145] It should be noted that this embodiment can be considered as a refinement of one of the specific implementation methods of step S402 in the above embodiment, and does not strictly limit the implementation method of step S402.

[0146] S4211: Identify parking spaces existing in the environmental data as environmental parking spaces.

[0147] In this embodiment, when the current vehicle is in the parking lot, the collected environmental data may include relevant information about the parking lot environment. Therefore, the environmental data may be identified, and when the environmental data is identified to determine that there is a parking space, the parking space in the parking lot is considered to be identified and used as the environmental parking space.

[0148] Furthermore, the sensing input device of the current vehicle may include a vehicle-mounted camera device such as a driving recorder, a 360-degree image, etc. In this case, the environmental data may include an environmental image collected by the sensing input device of the current vehicle.

[0149] Specifically, in response to determining that the current vehicle is located in the current parking lot, a parking space in the environment image can be identified as an environment parking space to evaluate the current parking space status of each parking space in the environment data, and the recorded status of the parking space is updated to the current parking space status.

[0150] S4212: Determine whether there are obstacles in the parking space.

[0151] In this embodiment, when it is determined that there is no obstacle in the environmental parking space, step S4212 may be executed; when it is determined that there is an obstacle in the environmental parking space, step S4214 may be executed.

[0152] For example, the obstacle may include at least one of a vehicle, a road cone, a ground lock, and debris.

[0153] Furthermore, after determining whether the environmental parking space is in use or idle, the parking space status information of the current parking lot can be directly updated to omit the analysis and comparison operation process; alternatively, the current parking space status of the environmental parking space can be compared with the recorded status, so that when the current parking space status is different from the recorded status, the recorded status can be updated to the current parking space status (such as steps S4216 to S4217 described later in this embodiment) to reduce frequent deletion and writing operations on the recorded status of the environmental parking space.

[0154] S4213: Determine whether the parking space is idle.

[0155] In this embodiment, in response to determining that there is an obstacle in the environmental parking space, it can be considered that the current vehicle or other vehicles looking for a parking space can drive to the environmental parking space and park, so the environmental parking space is determined to be in an idle state, that is, the current parking space state of the environmental parking space is determined to be an idle state.

[0156] S4214: Determine whether the environmental parking space is in use.

[0157] In this embodiment, in response to the presence of an obstacle in the environmental parking space, it can be considered that the environmental parking space cannot be used to park the current vehicle or other vehicles looking for a parking space, and the environmental parking space is determined to be in use, that is, the current parking space state of the environmental parking space is determined to be in use.

[0158] Furthermore, when it is determined that the parking space is in use, the type of obstacle can be further identified and marked in the parking space status information, such as step S4215 described in this embodiment. Alternatively, step S4216 or step S4217 can be directly executed, which is not limited here.

[0159] S4215: Identify the types of obstacles in the parking environment parking space.

[0160] In this embodiment, the environmental data may also include the appearance features of obstacles. The appearance features of obstacles may be collected by a sensing input device such as a radar of the current vehicle. In layman's terms, when the current vehicle is traveling in the current parking lot, the on-board camera, radar and other sensing input devices may be used to sense the environment along the way to form environmental data.

[0161] The appearance features of obstacles in the environmental data can be extracted, and the category of the obstacle can be output through, for example, a pre-trained recognition model. Alternatively, the appearance features of the obstacle can be matched one by one with the appearance features of obstacles of a preset category. In other words, in response to determining that there is an obstacle in the environmental parking space based on the environmental image captured by the on-board camera device, it is possible to further verify whether there is an obstacle, and to identify the category of the obstacle, so as to improve the accuracy of the parking space status information, and also to improve the richness of the parking space status information obtained by the user. In this embodiment, considering that the use of environmental images for obstacle category recognition usually requires such as neural network model training, the choice of using on-board radar to sense the obstacles in the environmental parking space to identify their category can significantly reduce the amount of judgment calculation, thereby helping to improve the stability of parking assistance operation.

[0162] Specifically, the vehicle-mounted radar can be used to sense obstacles in the parking space to obtain the appearance characteristics of the obstacles. For example, the appearance characteristics may include size information, proportion information, etc., which are not limited here. In an alternative embodiment, it is not necessary to call the vehicle-mounted radar for secondary verification and category judgment, and the recognition result of the environment image captured by the vehicle-mounted camera device can be trusted.

[0163] For example, it is possible to check whether the appearance features of the obstacle match the appearance features of the vehicle. When the appearance features of the obstacle match the appearance features of the vehicle, it can be considered that the obstacle in the environmental parking space is a vehicle, that is, there are other vehicles parked in the environmental parking space, so it can be determined that the category of the obstacle in the environmental parking space is a vehicle.

[0164] It can be verified whether the appearance features of the sensed obstacle match the appearance features of the car. The appearance features of the car can be pre-stored or continuously updated and enriched as other vehicles are sensed. In other words, in this embodiment, it can be determined whether other vehicles are parked in the environmental parking space.

[0165] S4216: Compare the current parking space status with the recorded status.

[0166] In this embodiment, when it is determined that the current parking space state of the parking space matches the recorded state, the process may end. When it is determined that the current parking space state of the parking space does not match the recorded state, step S4217 may be executed. That is, in this embodiment, it is not necessary to update the recorded state of the parking space whose current parking space state has not changed.

[0167] Optionally, in this embodiment, the current parking space status of each parking space can be obtained and compared with the recorded status; or, the current parking space status of each parking space obtained within a period can be periodically compared with the respective recorded status, which is not limited here, so as to realize the comparison of the current parking space status of each parking space with the recorded status.

[0168] S4217: Update the record status of the parking space.

[0169] In this embodiment, the recorded status of the parking space that does not match the current parking space status may be updated.

[0170] That is to say, in this embodiment, the current parking space status of each parking space can be compared with the recorded status respectively; the recorded status of the parking space that does not match the current parking space status is updated to reduce the update burden of this implementation.

[0171] Furthermore, in step S4211, when identifying parking spaces existing in the environmental data / environmental image, the number of parking spaces that may exist in the environmental data / environmental image can be evaluated / predicted in combination with prediction means, so as to be able to make up for parking space information that may not be reliably identified in combination with prior knowledge, thereby facilitating reliable updating of parking space status information.

[0172] Specifically, in this embodiment, parking lines and parking space numbers in the environment image may be extracted to divide the identifiable environment parking spaces based on the parking lines and parking space numbers.

[0173] Furthermore, the present application can also predict the number of possible environmental parking spaces in the environmental image based on prior knowledge information. The prior knowledge information may include parking lines and / or parking space numbers. In layman's terms, the number of environmental parking spaces in the environmental image can be predicted based on the size information of the parking lines and / or the continuity of the parking space numbers.

[0174] In layman's terms, after acquiring and recognizing the environment image, two numbers belonging to the relevant environment parking spaces can be obtained. One number is the number of environment parking spaces recognized when recognizing the environment image; the other number is predicted by combining prior knowledge, that is, the number predicted by the number of environment parking spaces that may exist in the environment image.

[0175] In this embodiment, the first number represents the number of identified parking space numbers, and the second number represents the number of predicted environmental parking spaces.

[0176] When the number of predicted possible environmental parking spaces is different from the number of actually identified environmental parking spaces, such as when the first number is lower than the second number, it can be considered that there may be unidentified environmental parking spaces, and adaptive supplementation can be performed. In other words, in response to the first number being lower than the second number, the parking space numbers of other environmental parking spaces can be predicted using the parking space numbers of the identified environmental parking spaces.

[0177] For example, when predicting the parking space number, the prediction can be made in combination with the parking space number arrangement rules of the parking lot, or the existing parking space numbers can be combined for completion.

[0178] That is to say, in this embodiment, the parking space number of the environmental parking space that has not been photographed can be predicted, so that the parking space status of the environmental parking space can be written into the parking space status information based on the parking space number, so as to overcome the defects of being unable to identify the identity information of the environmental parking space due to the blind spots of the vehicle-mounted camera equipment and the poor clarity of the environmental image.

[0179] For example, see Figure 8 , Figure 8 1 is a flow chart of an embodiment of predicting parking space numbering. Figure 8 As shown in the example, there are parking space numbers A001 and A004 in the environmental image, that is, the number of recognized parking space numbers (that is, the first number) is two. It is predicted that there are five environmental parking spaces in the environmental image, that is, the first number is five, then parking space numbers A002, A003, and A005 are adaptively predicted.

[0180] In this application, after the current vehicle parks in the current parking lot / parks in the parking space of the current parking lot, the environmental data collected by the current vehicle in the parking state can continue to be obtained as parking sensing data. The shared parking space status information of the current parking lot can be updated using the environmental sensing data to make full use of the data collected by the current vehicle in various states in the current parking lot, enrich the data source for updating the parking space status information, and thus further improve the matching of the shared parking space status information with the real information, which is conducive to ensuring the timeliness of the shared parking space status information.

[0181] Optionally, the driving information and state information of the current vehicle may be obtained to determine whether the current vehicle is in a parking state. Alternatively, the current vehicle may actively feedback relevant information that it is in a parking state. Alternatively, after the current vehicle stops, it actively feedbacks environmental data collected when it is in a parking state, etc., which is not limited here.

[0182] For details, please refer to Figures 9 to 11 , Fig. 9 This is a flow chart of an embodiment of updating parking space status information of the present application. Fig.10 This is a scene diagram of an embodiment of the current parking lot of the present application. Fig.11 It is a schematic diagram of a scene of an embodiment of obtaining parking sensing data in this application. It should be noted that this embodiment can also be considered as a sub-step of step S402, that is, it can be considered as a refinement of one of the specific implementation methods of step S402 in the above embodiment, and does not strictly limit the implementation method of step S402.

[0183] S4221: Obtain the parking position of the current vehicle.

[0184] In this embodiment, the parking posture represents the posture of the position of the current vehicle when it is in a parking state. In this way, information such as the parking direction of the current vehicle can be obtained based on the parking posture of the current vehicle.

[0185] The current vehicle being in a parking state may mean that the current vehicle is in a parking gear, the current vehicle is turned off, or the current vehicle is parked in a parking space, etc., which is not limited here.

[0186] S4222: Identify the ignored side and the non-ignored side of the current vehicle.

[0187] In this embodiment, the ignored side is a driving road closer to the parking lot than the non-ignored side. As the name implies, the ignored side refers to a side whose environmental data can be ignored.

[0188] The driving road information and parking lot layout information of the current parking lot can be obtained to identify the ignored side and the non-ignored side of the current vehicle based on the relevant information. Alternatively, during the parking process of the current vehicle, the ignored side and the non-ignored side of the current vehicle are identified through environmental data collected by on-board cameras, radars, etc. Other possible implementation methods will not be described here. Examples of ignored sides and non-ignored sides will be explained below, so I will not go into details here.

[0189] S4223: Acquire sensing data of the non-ignored side of the current vehicle as parking sensing data.

[0190] In this embodiment, the parking sensing data represents the environmental data of the non-ignored side collected when the vehicle is currently in a parking state.

[0191] The current vehicle can be controlled to sense the external environment of the non-ignored side as parking sensing data; or, all sensing data collected by the current vehicle can be obtained, and the environmental data of the non-ignored side can be analyzed and selected as parking sensing data; or, the environmental data of the non-ignored side of the current vehicle can be directly obtained as parking sensing data; or, the environmental data collected by the current vehicle can be obtained, and the change frequency of the sensing data on each side of the current vehicle can be analyzed. When the change frequency is higher than the change threshold, it is considered that the side may be the ignored side, and the environmental data of the ignored side can be ignored in the future. Other implementations will not be described in detail here.

[0192] Furthermore, the parking sensing data can be sensed by the on-board radar of the current vehicle. For example, the DHU (Digital Cockpit Head Unit, head-up display system) can be kept alive, and keeping alive means keeping the application running in the background. As such, in this embodiment, the on-board radar can be used to sense the outside of the vehicle to obtain parking sensing data, so that the surrounding environment can still be sensed when the current vehicle is parked or even turned off, so as to synchronously update the parking space status information. At the same time, in this embodiment, the on-board camera equipment of the vehicle can be omitted to reduce the power consumption of the current vehicle and reduce the occurrence of the current vehicle being unable to start due to insufficient power.

[0193] In an alternative embodiment, the vehicle's onboard camera device may be simultaneously called to capture environmental images, so as to update the parking space status information by analyzing the environmental images, thereby improving the reliability of the evaluation of the status of other parking spaces.

[0194] S4224: Determine whether the current parking space status of the current vehicle external parking space has changed.

[0195] In this embodiment, when it is determined that the current parking space state of the current vehicle external parking space has changed, step S4225 may be executed. When it is determined that the current parking space state of the current vehicle external parking space has not changed, step S4223 may be executed.

[0196] S4225: Update the record status of the external parking space.

[0197] In this embodiment, in response to determining that the current parking space state of the parking space outside the current vehicle has changed, the recorded state in the parking space state information of the current parking lot can be updated, and the recorded state of the parking space can be updated to the changed current parking space state. That is, in this embodiment, when the current parking space state of the parking space outside the current vehicle has changed, the recorded state recorded in the parking space state information can be updated to reduce the situation where the recorded state of the parking space is frequently updated when its current parking space state has not changed.

[0198] The following combination Fig.10 as well as Fig.11 The ignored side and the non-ignored side are illustrated with examples.

[0199] like Fig.10 as well as Fig.11 As shown in the example, Fig.10 The dotted arrows indicate the parking lot's driving paths and permitted directions. Fig.10 The left side of parking space A022 is a wall, and the right side of parking space A022 is a driving road. The side close to the wall and the side close to the driving road can be regarded as ignored sides. The adjacent parking spaces include parking space A021 and parking space A023. The two sides close to parking space A021 and parking space A023 are regarded as non-ignored sides. The non-ignored sides are sensed to obtain the parking space status of parking space A021 and parking space A023.

[0200] Furthermore, Fig.11 As shown in the example, the non-ignored side of the current vehicle located in parking space A013 includes at least three side sides, and parking space A012, parking space A002, parking space A003, parking space A004, and parking space A014 are all located on the non-ignored side of the current vehicle in parking space A013. Therefore, the current vehicle in parking space A013 can sense the parking space status of the five parking spaces surrounding it.

[0201] It can be seen that in this embodiment, radar sensing may not be performed on the side of the road where the vehicle approaches the parking lot, thereby reducing the frequent switching of the judgment of whether the parking space is in use or idle due to interference from passing pedestrians and vehicles, reducing the acquisition of data that is prone to misjudgment, thereby improving the effectiveness of the sensing data, and also helping to reduce the amount of analysis and calculation of the parking space status.

[0202] In this embodiment, the usage time of other parking spaces around the current vehicle (i.e., the parking space other than the parking space where the vehicle is parked) can also be counted based on the parking sensing data. For example, when the current vehicle is parked in a parking space, the on-board radar is turned on. If it senses that there are other vehicles parked in the parking space on the left, the timing starts and is uploaded to the cloud. If the vehicle parked in the parking space on the left leaves the parking space on the left, the timing is suspended / terminated. When the vehicle parked in the parking space on the left is still parked, if the current vehicle leaves the parking space, the timing of other vehicles around the parking space on the left continues. In this way, the timing data can be used to participate in the analysis of the average usage time of the current parking lot.

[0203] At the same time, when the current vehicle drives out of the parking space where it is parked, it can also provide feedback on the information that the parking space has entered an idle state, and can also provide feedback on the parking time for analyzing the average usage time of the parking spaces in the current parking lot to update the parking space status information of the parking lot.

[0204] That is to say, the parking assistance method of the present application can integrate the function of recommending parking spaces to users, so that when users have the intention to park, they can specifically recommend parking spaces to users, so as to improve the precision and functionality of parking assistance. With such a design, the parking assistance strategy of the present application can not only recommend vacant parking spaces to the current vehicle, but also obtain the environmental data sensed by the current vehicle, which is used to update the parking space status information of the parking lot, so as to improve the timeliness of the parking space status information, and further improve the reliability of recommending vacant parking spaces to other vehicles based on the parking space status information.

[0205] The target parking lot or all parking lots in the current parking lot may be recommended to the user. Alternatively, the specific parking space may be recommended to the user with reference to relevant information of at least one dimension to improve the effectiveness of the recommended parking space. For example, the average parking time and / or the floor of the current parking lot may be combined.

[0206] The following is an example of a method for recommending parking spaces based on the average usage time of the parking lot.

[0207] In one embodiment, when it is recognized that the user has a parking intention, the preset parking lot information can be pushed to the user, which may include at least one of the location of the preset parking lot, real-time parking space status information, average parking space usage time, etc., to provide reference information for the user and improve the reliability of the parking service. The preset parking lot refers to a parking lot with shared parking space status information, that is, a parking lot with shared parking space status information.

[0208] For example, the user's current location can be identified or the user's driving destination can be obtained, and the preset parking lots in the vicinity can be recommended. And / or, when the user specifies the target parking lot, other preset parking lots can be provided as reference. And / or, when the user specifies the target parking lot, if it is determined based on the parking space status information that there are no vacant parking spaces in the target parking lot, the average usage time of the preset parking lot and the current usage time of each parking space can be combined to predict the time that is suitable for the user to depart from the current location and / or the time to arrive at the target parking lot, and push it to the user. Among them, the current usage time of the parking space refers to the parking time of the vehicle currently parked in the parking space.

[0209] Specifically, see Fig.12 , Fig.12 It is a flowchart of an embodiment of the present application for recommending parking spaces.

[0210] S501: Obtain the average usage time of each parking space in a preset parking lot.

[0211] In this embodiment, the parking time of each parked vehicle in the preset parking lot can be obtained, and the average usage time of the parking spaces in the preset parking lot can be analyzed by using the parking time statistics. Optionally, the parking time of each parked vehicle can be counted and fed back by itself, or can be counted by sensing of other parked vehicles, which is not limited here.

[0212] In response to a parking lot having no vacant parking spaces / recommending a preset parking lot to a user / recommending a parking space of a preset parking lot to a user, the average usage time of each preset parking lot may be obtained. A vacant parking space refers to a parking space that is in an idle state and allows parking of a vehicle, and no other vehicles are parked therein or other obstacles are placed therein.

[0213] S502: Compare the usage time of the parking space with the average usage time.

[0214] In this embodiment, when it is determined that the used time of the parking space matches the average used time, the steps may be executed.

[0215] S503: When it is determined that the used time of the parking space does not match the average used time, the used time of other parking spaces may be compared with the average used time, or the process ends.

[0216] Among them, the used parking space refers to the parking space in the preset parking lot that is in use. The used time of the used parking space matches the average used time of the parking spaces in the preset parking lot, which may mean that the two are equal or the difference between the two is less than the preset value. The preset value may be a fixed value or a flexible prediction based on the distance between the user and the preset parking lot / the time when the user arrives at the preset parking lot, etc., which is not limited here.

[0217] S503: Push to the parking space information request terminal of the current vehicle.

[0218] In this embodiment, the used parking spaces whose used time matches the average used time are pushed to the parking space information requesting end of the current vehicle, so as to recommend parking spaces in each preset parking lot in combination with the average used time.

[0219] It can be seen that the present embodiment can also take into account the situation that there may be no vacant parking spaces in the parking lot, and use different parking scheduling strategies to provide reference information to users, so as to adaptively recommend parking spaces, which can improve the functionality and scenario applicability of vehicle pick-up scheduling, and is conducive to enriching the application scenarios of parking scheduling in the present embodiment.

[0220] Taking the current vehicle in the current parking lot as an example, one of the application methods is explained with an example. When the current vehicle enters the current parking lot and a parking space is recommended for the current vehicle, if it is determined that there are no vacant parking spaces in the current parking lot, that is, there are no parking spaces that are idle / available for parking, the usage time of each parking space for the current parking can be obtained, and the usage time of each parking space can be compared with the average usage time. The parking space that matches the usage time and the average usage time is used as the recommended parking space, and the parking space information of the recommended parking space is pushed to the parking space information request end to recommend the user to drive to the recommended parking space first. In this way, when there are no vacant parking spaces in the parking lot, the parking space where the potential vehicle is leaving can be recommended based on the daily usage of the parking lot, thereby improving the functionality of parking scheduling.

[0221] At the same time, the information that the recommended parking spaces are not yet available can also be pushed to the parking space information request end, or displayed on the parking space information request end in a display method different from the vacant parking space information, which is not limited here.

[0222] For example, a parking space whose usage time is greater than and / or equal to the average usage time may be used as a recommended parking space. Alternatively, a parking space whose usage time is less than the average usage time but the difference between the two is less than a preset time threshold may be used as a recommended parking space.

[0223] In summary, the parking assistance method of the present application does not need to rely on the monitoring / camera of the parking lot, and can utilize the vehicle-mounted radar and vehicle-mounted camera equipment carried by the vehicle, which is conducive to reducing the risk of misidentification and misjudgment, so as to improve the accuracy of the parking space status judgment. At the same time, the parking space status of the parking space can be uploaded to the cloud for real-time update to achieve real-time sharing, which is conducive to allowing users to view the parking status of the parking lot for reference to plan related trips, saving trial and error time in the process of finding a parking space.

[0224] It should be understood that although Figure 1-Figure 3 , Figure 5-Figure 7 , Fig. 9 as well as Fig.12 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1-Figure 3 , Figure 5-Figure 7 , Fig. 9 as well as Fig.12 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0225] See also Fig.13 , Fig.13 It is a structural schematic diagram of an embodiment of a parking assistance system of the present application.

[0226] In one embodiment, the parking assistance system includes a storage device 11 and a scheduling device 12 .

[0227] The storage device 11 is used to store real-time parking space status information of a plurality of parking lots.

[0228] The dispatching device 12 is connected to the storage device 11 and is used to implement the parking assistance method in any of the above embodiments. For example, the dispatching device 12 can be set in an independent server, a server cluster, a mobile terminal, etc., which is not limited here.

[0229] For the specific definition of the parking assistance system, please refer to the definition of the parking assistance method above, which will not be repeated here. Each module in the above parking assistance system can be implemented in whole or in part by software, hardware and their combination. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0230] See also Fig.14 , Fig.14 It is a structural schematic diagram of a vehicle embodiment of the present application.

[0231] In one embodiment, the vehicle includes a vehicle body 21 and an interactive device 22. The vehicle may be an electric vehicle, an oil-driven vehicle, a hybrid vehicle, a gas-powered vehicle, or the like.

[0232] The vehicle body 21 is a collection of structures required to realize the vehicle driving function. For example, the vehicle body 21 may include basic structures required for the vehicle form, such as power structure (generator and / or engine, etc.), electrical structure, chassis, body, etc.

[0233] The interactive device 22 is provided in the vehicle body 21 and is used to connect with the parking assistance system 10 in the above embodiment to receive vacant parking space information as a parking space information requesting end.

[0234] Furthermore, in this embodiment, the vehicle body 21 may include a sensing input device. Optionally, the sensing input module may include a vehicle-mounted camera device, and may further include a vehicle-mounted radar.

[0235] Optionally, the vehicle body 21 may also include ADCU (Autonomous Driving Control Unit, autonomous driving domain controller), SODR SODL (blind spot monitoring system module), FSRL FSRR (functional safety requirements), etc., which will not be repeated here.

[0236] In an alternative embodiment, the vacant parking space information may also be pushed to mobile devices such as mobile phones, laptops, tablets, smart watches, etc., which are not limited here.

[0237] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps of the parking assistance method described above are implemented, which will not be described in detail here.

[0238] See also Fig.15 , Fig.15 It is a structural diagram of an embodiment of a computer device of the present application.

[0239] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.15 As shown in the example. The computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the parking assistance method as described above is implemented.

[0240] Those skilled in the art will understand that Fig.15The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0241] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the parking assistance method described above are implemented, which will not be repeated here.

[0242] In one embodiment, 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 assistance method described above are implemented, which will not be repeated here.

[0243] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0244] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0245] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A parking assistance method, characterized in that: The parking assistance method comprises: Get the real-time parking space status information of the current parking lot; Evaluate the floor where the current vehicle is located in the current parking lot as the target floor; The free parking space information of the target floor in the parking space status information is filtered and pushed to the parking space information request end; wherein the parking space information request end is associated with the current vehicle.

2. The parking assistance method according to claim 1, characterized in that: The method of obtaining the real-time parking space status information of the current parking lot includes: Determining whether there is real-time parking space status information of the current parking lot; In response to not having the parking space status information, acquiring external environment data collected by the current vehicle; The environmental data is used to form real-time parking space status information of the current parking lot by floor.

3. The parking assistance method according to claim 2, characterized in that: The environmental data includes an environmental image; the use of the environmental data to form the real-time parking space status information of the current parking lot by floor includes: Evaluate the floor where the current vehicle is located in the current parking lot as the target floor; A parking lot map of the target floor is constructed based on the environment image as the parking space status information.

4. The parking assistance method according to claim 3, characterized in that: The step of constructing the parking lot map of the target floor based on the environment image includes: Identifying whether there is a parking space mark in the environment image; In response to identifying the parking space mark, determining that the location of the parking space mark is a parking space, and writing drawing data as the parking space to be drawn; wherein the drawing data is used to construct the parking lot map.

5. The parking assistance method according to claim 3, characterized in that: The step of constructing the parking lot map of the target floor based on the environment image includes: Identify whether there is a stationary vehicle in the environment image; wherein the stationary vehicle refers to other vehicles in a stationary state; In response to the presence of the stationary vehicle and the parking position thereof having a parking space mark, the parking position is determined to be a parking space to be drawn, and the parking space to be drawn and its use status are written into the drawing data.

6. The parking assistance method according to claim 5, characterized in that: After identifying whether there is a stationary vehicle in the environment image, the method further includes: In response to the presence of the stationary vehicle and the parking space mark not being recognized at the parking space, it is determined that the parking space is a non-parking space.

7. The parking assistance method according to claim 1 or 3, characterized in that: The step of evaluating the floor where the current vehicle is located in the current parking lot as the target floor includes: In response to determining that the current vehicle enters the current parking lot, initializing an initial floor; Acquiring driving parameters of the current vehicle; The driving parameters are analyzed to locate the target floor based on the initial floor.

8. The parking assistance method according to claim 7, characterized in that: The driving parameters include pitch angle and acceleration in the direction of gravity; The analyzing the driving parameters to locate the target floor based on the initial floor comprises: Analyzing changes in the pitch angle and the acceleration in the direction of gravity to evaluate the displacement of the current vehicle in the direction of gravity; Compare the displacement with the height of a single floor of the parking lot to obtain the number of floor changes and the direction of floor change of the current vehicle; The target floor is obtained by superimposing the floor change quantity and the initial floor according to the floor change direction.

9. The parking assistance method according to claim 1, characterized in that: The method of obtaining the real-time parking space status information of the current parking lot includes: Obtaining the location information of the current vehicle; Identify whether the location fed back by the location information has a parking lot; In response to determining that a parking lot is available, identifying the environmental data collected by the current vehicle to determine whether there is a barrier gate; In response to the existence of a barrier gate and determining that the current vehicle has passed through the barrier gate, it is determined that the current vehicle has entered a parking lot, and the parking lot entered by the current vehicle is taken as the current parking lot.

10. The parking assistance method according to claim 1, characterized in that: The parking assistance method further includes: Sending a data request to the current vehicle; wherein the data request is used to request to obtain environmental data collected by a sensing input device of the current vehicle; Acquire environmental data collected by the current vehicle; The parking space status information is updated using the environmental data.

11. A parking assistance system, characterized in that: The parking assistance system comprises: A storage device, used to store real-time parking space status information of a plurality of parking lots; A scheduling device, connected to the storage device, is used to implement the parking assistance method as described in any one of claims 1 to 10.

12. A vehicle, characterized in that: The vehicle comprises: Vehicle body; The interactive device is arranged on the vehicle body and is used to connect with the parking assistance system according to claim 11, and obtain the parking space status information as a parking space information request end.

13. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the parking assistance method according to any one of claims 1 to 10 are implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the parking assistance method according to any one of claims 1 to 10 are implemented.

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