Automatic parking method, device, equipment, storage medium and program product

Abstract

The present invention relates to an automatic parking method, device, equipment, storage medium and program product. The method comprises: obtaining available parking spaces around a vehicle, drawing the boundaries of the available parking spaces through a projection device, generating identification information and displaying the identification information by superimposing it through a head-up display device, and then obtaining target identification information input by a user, and determining a parking space from a plurality of available parking spaces according to the target identification information to perform a parking operation. Based on the boundaries of the parking spaces drawn by the projection device, the user can clearly determine the available parking spaces around the vehicle so as to select a parking space according to a real scene. Based on the correspondence between the identification information displayed by the head-up display device and the parking spaces in the real scene, the parking space information selected by the user according to the real scene can be accurately synchronized to the vehicle system for automatic parking, thereby reducing parking in wrong parking spaces, making the automatic parking result more in line with user expectations, and improving the user experience.

Description

Technical Field

[0001] The present invention relates to the field of assisted driving, and in particular to an automatic parking method, device, equipment, storage medium and program product. Background Art

[0002] With the development of the automobile industry, vehicle assisted driving functions are becoming more and more comprehensive. For example, some vehicles are equipped with automatic parking functions, which can sense the surrounding environment of the vehicle, identify parking spaces and automatically perform parking operations. The performance of automatic parking is an important indicator for measuring the vehicle's assisted driving functions.

[0003] At present, most automatic parking technologies focus on aspects such as parking environment perception and route planning, but ignore the user interaction during the automatic parking process, which results in the parking space not being the one the user expects. Sometimes, the user even needs to drive out again after the automatic parking is completed to manually change the parking space, which causes great inconvenience to the user. Therefore, it is necessary to improve the interaction process so that the automatic parking can park in the parking space the user expects. Summary of the invention

[0004] One of the purposes of the present invention is to provide an automatic parking method, device, equipment, storage medium and program product to solve the problem of insufficient user interaction during the automatic parking process.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] An automatic parking method, comprising:

[0007] Acquire multiple available parking spaces in the surrounding environment of the vehicle;

[0008] Drawing the boundary of the parking space by means of a projection device;

[0009] Generate identification information corresponding to the available parking space, and superimpose the identification information on the boundary of the available parking space through a head-up display device;

[0010] In response to obtaining the target identification information input by the user, a parking space corresponding to the target identification information is selected from the multiple parking spaces to perform a parking operation.

[0011] Further, in response to obtaining the target identification information input by the user, selecting a parking space corresponding to the target identification information from the plurality of parking spaces to perform a parking operation includes:

[0012] Providing an interactive option to a user, wherein the interactive option is used to indicate a parking mode of the parking operation, wherein the parking mode includes front-end parking and rear-end parking;

[0013] In response to obtaining a selection result of the user, a parking operation is performed according to the selection result, wherein the selection result is one of front parking and rear parking.

[0014] Furthermore, it also includes:

[0015] Determining the front direction of the vehicle after parking according to the selection result;

[0016] A vehicle model that conforms to the vehicle head orientation is displayed within the boundary of the parking space by the head-up display device.

[0017] Furthermore, after providing the user with interactive options, it also includes:

[0018] If the user's selection result is not obtained within the preset time period, the parking operation is performed according to the default parking method.

[0019] Further, the parking operation includes:

[0020] Determining a target parking space from the plurality of available parking spaces according to the target identification information, and determining a parking path according to the target parking space;

[0021] The parking path is drawn around the vehicle by the projection device, and the drawing of the boundary of the non-target parking space is stopped.

[0022] Furthermore, it also includes:

[0023] In response to detecting that the available parking space is in a direction other than the projection direction of the projection device, generating a three-dimensional reconstructed scene according to the available parking space, and displaying the three-dimensional reconstructed scene on a display screen in the vehicle, wherein the three-dimensional reconstructed scene includes the vehicle and parking space information around the vehicle, and the parking space information includes the available parking space and identification information corresponding to the available parking space;

[0024] The surround view image of the vehicle is displayed through the display screen, and identification information corresponding to the available parking space is shown in the surround view image.

[0025] An automatic parking device, comprising:

[0026] An acquisition module, used for acquiring a plurality of available parking spaces in the surrounding environment of the vehicle;

[0027] A projection module, used for drawing the boundary of the parking space by means of a projection device;

[0028] an identification module, configured to generate identification information corresponding to the available parking space, and superimpose the identification information on the boundary of the available parking space through a head-up display device;

[0029] The parking module is used for selecting a parking space corresponding to the target identification information from the plurality of parking spaces to perform a parking operation in response to obtaining the target identification information input by the user.

[0030] An electronic device comprises: a processor, and a memory communicatively connected to the processor;

[0031] The memory stores computer-executable instructions;

[0032] The processor executes the computer-executable instructions stored in the memory to implement the automatic parking method as described in any one of the above items.

[0033] A computer-readable storage medium comprises: the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the automatic parking method as described in any one of the above when executed by a processor.

[0034] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the automatic parking method as described in any one of the above items is implemented.

[0035] The beneficial effects of the present invention are as follows: based on the parking space boundaries drawn by the projection device, the user can clearly determine the surrounding available parking spaces so as to select the parking space to be parked according to the actual scene; based on the correspondence between the identification information displayed by the head-up display device and the available parking spaces in the actual scene, the user can clearly understand the relationship between the parking space selected by the user and the parking space where the automatic parking operation is performed, so that the parking space information selected by the user according to the actual scene is accurately synchronized to the vehicle system for automatic parking, thereby reducing parking in the wrong parking space, improving the success rate of automatic parking, making the automatic parking result more in line with the user's expectations, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic flow chart of an automatic parking method provided for an exemplary embodiment of the present invention;

[0037] Figure 2 A schematic diagram of a parking effect provided for an exemplary embodiment of the present invention;

[0038] Figure 3 Another parking effect schematic diagram provided for an exemplary embodiment of the present invention;

[0039] Figure 4 A schematic diagram of a parking operation process provided for an exemplary embodiment of the present invention;

[0040] Figure 5 A specific application schematic diagram of an automatic parking method provided by an exemplary embodiment of the present invention;

[0041] Figure 6A schematic diagram of parking from a user's perspective provided for an exemplary embodiment of the present invention;

[0042] Figure 7 Another schematic diagram of parking from a user's perspective provided for an exemplary embodiment of the present invention;

[0043] Figure 8 A further schematic diagram of parking from a user's perspective provided for an exemplary embodiment of the present invention;

[0044] Fig. 9 A parking interaction interface schematic diagram provided for an exemplary embodiment of the present invention;

[0045] Fig.10 A schematic diagram of a parking scenario provided for an exemplary embodiment of the present invention;

[0046] Fig.11 A schematic structural diagram of an automatic parking device provided by an exemplary embodiment of the present invention;

[0047] Fig.12 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present invention.

[0048] Through the above drawings, clear embodiments of the present invention have been shown, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0049] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0050] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0051] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0052] The terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, product or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, product or device. In the absence of further restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or device including the elements. For example, if the words first, second, etc. are used to indicate names, they do not indicate any particular order.

[0053] APA (Automatic Parking Assist) is a technology that can help users park their vehicles automatically. When the automatic parking APA function is turned on, the vehicle can render and display the parking space recognized by the vehicle in real time through 3D scene reconstruction. The system can recommend and select a parking space based on the actual scene, or the user can manually select a parking space they want to park in.

[0054] However, when some parking scenarios include multiple available parking spaces, although the vehicle's APA system can identify these parking spaces and reconstruct them one by one on the vehicle's HMI (Human-Machine Interface) for users to choose, the parking space actually selected by the user may not be consistent with the desired parking space, resulting in the need to terminate automatic parking or to re-operate after the automatic parking is completed, causing inconvenience to the user.

[0055] After research, the inventors found that the reason why the automatic parking has the above-mentioned parking space inconsistency with the user's expectations is that when the vehicle provides parking space options to the user, it generally reconstructs the scene based on the actual parking space information collected by the vehicle sensor, and then displays the reconstructed parking space to the user through the central control screen, etc. The parking space in the reconstructed scene cannot intuitively show the correspondence with the parking space in the real scene. Although the user has determined the target parking space he wants to park in the real scene, he cannot accurately determine which parking space is the target parking space among the multiple parking spaces reconstructed by the vehicle, resulting in unsatisfactory automatic parking effect.

[0056] Based on the above problems and findings, the inventors proposed a technical concept, which provides a new parking interaction method based on the parking spaces in the real scene observed by the user's actual perspective, and can directly provide the selection of available parking spaces based on the real picture from the user's perspective, so that the user can directly select the target parking space that he or she wants to park in from the parking spaces observed from his or her own perspective. The inventors further thought that it is possible to add identification information to the available parking spaces around the vehicle, and superimpose the identification information next to the parking space in the picture seen by the user through AR-HUD (Augmented Reality Head-Up Display) technology, and provide the user with interactive methods such as voice to obtain the target parking space selected by the user based on the identification information, and perform parking operations according to the target parking space. By superimposing the identification information on the real scene from the user's perspective, the user can select the parking space to be parked according to the real scene, thereby reducing parking in the wrong parking space, improving the success rate of automatic parking, making the automatic parking result more in line with user expectations, and improving the user experience.

[0057] The application scenarios mentioned above are only partial examples, and those skilled in the art may expand the application to specific business scenarios, and the embodiments of the present application do not impose specific limitations on this. The following describes an automatic parking method according to an exemplary embodiment of the present invention in conjunction with the accompanying drawings.

[0058] Figure 1 FIG. 1 is a flow chart of an automatic parking method provided by an exemplary embodiment of the present invention. Figure 1 As shown, the method may include:

[0059] Step S101, obtaining a plurality of available parking spaces in the surrounding environment of the vehicle.

[0060] Specifically, when the vehicle triggers automatic parking, the vehicle's sensors can sense the vehicle's surroundings and identify available parking spaces. For example, when the vehicle drives at a low speed to a parking lot or a road with parking spaces, the vehicle's camera and radar can be used to collect information such as parking spaces and obstacles in the vehicle's surroundings, and available parking spaces can be determined based on this information.

[0061] Step S102: Draw the boundaries of available parking spaces by using a projection device.

[0062] The projection device may include a vehicle DLP (Digital Light Processing) projection lamp or other device that can project light.

[0063] Specifically, the vehicle system can synchronize the available parking spaces to the projection device, so that the projection device projects light along the parking space boundary line on the parking space in the actual scene, thereby drawing the boundary of the available parking space in reality with light.

[0064] For example, see Figure 2 , a DLP projector can be pre-installed at the front of the vehicle. When the system recognizes a parking space, it can encode information such as the boundary and location of the parking space and transmit it to the DLP projector. The DLP projector projects light to the front of the vehicle to draw the boundary of the parking space through light (such as Figure 2 In this way, when the user sits in the driver's seat, he can directly see the parking space in front of the vehicle through the window and the boundaries drawn by the DLP projector on the parking space.

[0065] It should be noted that the vehicle can continuously collect and synchronize available parking spaces to the projection device. When the vehicle moves, the system can transmit the information collected after the movement to the projection device, so that the projection device adjusts the projected light, so that the parking space boundary drawn by the light is consistent with the user's perspective.

[0066] Step S103: Generate identification information corresponding to the available parking space, and superimpose the identification information on the boundary of the available parking space through a head-up display device.

[0067] Specifically, after obtaining multiple available parking spaces, the vehicle system can generate one-to-one corresponding identification information based on these available parking spaces, such as adding identification information such as the first parking space, the second parking space, etc. (or left first, left second, right first, etc.) according to the location of the parking spaces, and can display these identification information to the user through AR-HUD.

[0068] For example, see Figure 2 , the system can number the available parking spaces (e.g. Figure 2 The numbers of P1, P2, P3 and P4 in the figure are transmitted to the AR-HUD, and the number of each available parking space is displayed at the corresponding parking space through the AR-HUD (such as inside or outside the parking space boundary), so that the user can observe the number of each available parking space at the driving position. Figure 2 The screen shown.

[0069] Step S104: in response to obtaining the target identification information input by the user, selecting a parking space corresponding to the target identification information from a plurality of parking spaces to perform a parking operation.

[0070] Specifically, the user can select a desired target parking space from a plurality of available parking spaces drawn by the projection device, and input the target identification information corresponding to the target parking space into the vehicle system through the interactive method provided by the vehicle (such as voice input or click input, etc.) according to the correspondence between the available parking spaces and the identification information. After obtaining the target identification information input by the user, the vehicle system can synchronize to the function module responsible for automatic parking (such as APA), and the function module can determine the corresponding target parking space according to the target identification information and perform the automatic parking operation.

[0071] For example, see Figure 3 After the vehicle displays the boundaries and identification information of available parking spaces to the user through the projection device and AR-HUD, the user can input a voice command containing the target identification information (such as "I want to park in parking space P1"). The vehicle system can recognize the target identification information (i.e., the parking space number "P1") based on the user's voice, and the APA module can select the parking space corresponding to P1 to plan an automatic parking path and perform parking.

[0072] In some possible implementations, the vehicle may also provide the user with other interactive methods such as touch screen clicks or gestures for the user to input the target identification information. For example, the vehicle may display the numbers of available parking spaces such as P1 and P2 on the central control screen, and the user may click P1 on the central control screen to input the target identification information; or the vehicle may display the gestures corresponding to the numbers such as P1 and P2 on the central control screen or AR-HUD, and the user may make the gesture corresponding to P1, and the vehicle may obtain the target identification information by detecting the user's gesture action.

[0073] The automatic parking method provided by the embodiment of the present invention can obtain multiple parking spaces around the vehicle, draw the boundaries of the parking spaces in the real scene through the projection device, and can also generate identification information and superimpose the identification information on the corresponding parking spaces through the head-up display device, and then obtain the target identification information input by the user through a preset interactive method, and determine the parking space from the multiple parking spaces according to the target identification information to perform the parking operation. Based on the parking space boundaries drawn by the projection device, the user can clearly determine the surrounding parking spaces so as to select the parking space to be parked according to the real scene. Based on the corresponding relationship between the identification information displayed by the head-up display device and the parking spaces in the real scene, the user can clearly understand the relationship between the parking space selected by the user and the parking space to be executed by the automatic parking operation, so that the parking space information selected by the user according to the real scene is accurately synchronized to the self-vehicle system for automatic parking, reducing parking in the wrong parking space, improving the success rate of automatic parking, making the automatic parking result more in line with the user's expectations, and improving the user experience.

[0074] In one embodiment, Figure 4 As shown, in response to obtaining the target identification information input by the user, selecting a parking space corresponding to the target identification information from a plurality of parking spaces for parking operation may include:

[0075] Step S401: providing interactive options to the user.

[0076] The interactive options are used to indicate the parking mode of the parking operation, and the parking modes include front-end parking and rear-end parking. Front-end parking may refer to the front of the vehicle entering the vertical parking space first. Rear-end parking may refer to the rear of the vehicle entering the vertical parking space first (such as reversing into a garage).

[0077] Specifically, after the user determines the target parking space to be parked in through the target identification information, the vehicle can also provide the user with interactive options through at least one interactive method to enable the user to select the parking method for the automatic parking operation. For example, the vehicle can output a voice prompt "Please choose to park at the front or the rear" through the speakers, or display text, images or animations of optional parking methods to the user through the central control screen or AR-HUD (for example, animation effects representing different parking methods can be displayed).

[0078] Step S402: in response to obtaining the user's selection result, performing a parking operation according to the selection result.

[0079] The selection result is one of front parking and rear parking.

[0080] For example, reference Figure 5 The vehicle can use AR-HUD to display two parking methods, rear parking and front parking, next to the target parking space selected by the user. The user can choose a parking method based on the actual scenario and his own needs and input it into the system (such as saying "rear parking"). The system can recognize the parking method selected by the user based on the user's voice and perform corresponding parking operations.

[0081] For example, reference Figure 6 The vehicle can also display the corresponding gesture actions of the parking method through AR-HUD (such as Figure 6 The corresponding gesture for parking in the rear of a mid-sized car is to extend the thumb and index finger of the right hand). Users can choose the parking method by making corresponding gestures.

[0082] It should be noted that the above examples are described based on the scenario of a vehicle parking in a perpendicular parking space (the vehicle is perpendicular to the parking space). In some other possible examples, the parking method indicated by the interactive options can also be used in other scenarios such as parallel parking spaces (such as parallel parking) or diagonal parking spaces. In these scenarios, rear parking and front parking can be used to represent parking methods in other scenarios, and new options can also be provided to represent parking methods in other scenarios.

[0083] In some possible implementations, after providing the user with interactive options, the method further includes: if no selection result of the user is obtained within a preset time period, performing a parking operation according to a default parking method.

[0084] For example, the vehicle may provide a default parking method (such as rear-end parking), and the user may change the default parking method through system settings. If the vehicle does not obtain the parking method indicated by the user within 3 seconds after providing the interactive option, the parking may be completed according to the default parking method to reduce the user's operating burden.

[0085] In some parking scenarios, users may need to specify a parking method due to actual environment or personal preferences. For example, if the space margin on one side of the target parking space selected by the user is small, it may be difficult to open the driver's door after parking if the rear parking method is used. Based on this, the above embodiment can increase the interactive method to allow users to independently select the automatic parking method, thereby improving the user interactive experience.

[0086] In one embodiment, Figure 4 As shown, after obtaining the user's selection result, the following may also be included:

[0087] Step S403, determining the direction of the front of the vehicle after parking according to the selection result.

[0088] Step S404: Displaying a vehicle model that matches the vehicle head orientation within the boundaries of the available parking space via a head-up display device.

[0089] For example, see Figure 7 , after obtaining the user's selection result (for example, the user's selected parking method is rear-end parking), a three-dimensional vehicle model can be generated based on the target parking space (P1) and parking method (rear-end parking) selected by the user, and the three-dimensional vehicle model can be displayed in the target parking space through AR-HUD, such as Figure 7 As shown, if the vehicle is parked in the P1 parking space with its rear end facing the right, the front of the vehicle should face right after parking, and the front of the vehicle model displayed by the AR-HUD also faces right.

[0090] Through the above method, users can observe the results of parking according to their chosen parking method based on the car model displayed by AR-HUD. If the front direction of the car displayed by the car model does not match their expectations, they can terminate automatic parking in time and modify the parking method.

[0091] In one embodiment, the parking operation may include:

[0092] A target parking space is determined from a plurality of available parking spaces according to the target identification information, and a parking path is determined according to the target parking space; the parking path is drawn around the vehicle through a projection device, and the drawing of the boundary of a non-target parking space is stopped.

[0093] For example, see Figure 7 The vehicle can determine the target parking space to be parked in from multiple available parking spaces according to the target identification information input by the user, plan a parking path based on the target parking space, and project the planned parking path into the actual scene through the DLP projector to prompt the user and other people in the parking lot. In addition, after the vehicle determines the target parking space, it can stop drawing the boundaries of other available parking spaces except the target parking space through the DLP projector to reduce interference with the surrounding environment and avoid interfering with the normal parking and walking of others.

[0094] Alternatively, if Figure 7 As shown, after the parking operation begins, the AR-HUD can stop displaying the identification information of the parking space, and the user can be informed that the automatic parking process has begun through voice or text prompts.

[0095] In one embodiment, the automatic parking method may further include:

[0096] In response to detecting that a parking space is located in a direction other than the projection direction of the projection device, a three-dimensional reconstructed scene is generated according to the parking space, and the three-dimensional reconstructed scene is displayed on a display screen in the vehicle; a surround image of the vehicle is displayed through the display screen, and identification information corresponding to the parking space is shown in the surround image.

[0097] The 3D reconstruction scene includes the vehicle and the parking space information around the vehicle, and the parking space information includes the parking spaces and the identification information corresponding to the parking spaces. The surround view image may refer to the 360-degree full view image obtained by splicing the multi-view images around the vehicle, which may include the bird's-eye view image, the front view image, the rear view image, etc.

[0098] The available parking spaces obtained by the vehicle sensing the surrounding environment may not be in the direction of the projection device. For example, the DLP projector installed in the vehicle projects light to the front of the vehicle, but some available parking spaces are behind the vehicle. In this case, the DLP projector cannot project light to the available parking spaces behind to draw the boundaries of the parking spaces. In this case, a three-dimensional scene reconstruction can be performed based on the vehicle's surrounding environment and the available parking spaces, and the reconstructed scene and surround view image can be displayed simultaneously on the vehicle display screen. Both the reconstructed scene and the surround view image can include the available parking spaces and the identification information corresponding to the available parking spaces. The identification information in the reconstructed scene and the identification information in the surround view image can correspond one to one.

[0099] For example, taking the parking space behind the vehicle as an example, see Figure 8 , the 3D reconstruction scene can be displayed simultaneously on the vehicle's central control screen ( Figure 8 The left image includes the vehicle and the numbered parking spaces) and the rear view image in the surround view image ( Figure 8 The right side of the picture includes numbered parking spaces. The numbers of each parking space correspond to each other in the 3D reconstructed scene and the surround image.

[0100] It should be noted that the above scenario is only exemplary. In other possible application scenarios, even if the available parking space is in the direction of projection of the projection device, for example, the DLP projector installed in the vehicle projects light in front of the vehicle, and the available parking space is in front of the vehicle, in this case, the reconstructed scene and the surround image can be displayed simultaneously through the vehicle display screen. At this time, the surround image can use the front view image, so that the available parking space in front and the identification information corresponding to the available parking space can be displayed in the reconstructed scene and the front view image at the same time.

[0101] After the 3D reconstruction scene and surround image are displayed on the display screen, the user can select a target parking space based on the 3D reconstruction scene or the surround image, and select the target identification information corresponding to the target parking space based on the identification information shown in the 3D reconstruction scene or the surround image. After the vehicle obtains the target identification information, it can perform the parking operation. The parking operation execution process can refer to the above embodiment and will not be repeated here. Optionally, after the user selects the target parking space, the vehicle system can highlight the target parking space in the 3D reconstruction scene and / or the surround image for the user to confirm.

[0102] See also Fig. 9 , users may encounter the following when parking: Fig. 9 For situations where there is no parking space ahead, such as the dead-end road shown, the method in the above embodiment can be used to simultaneously display the surround image and the reconstructed scene for automatic parking of the vehicle to the user, and establish a correspondence between the available parking spaces in the surround image and the available parking spaces in the reconstructed scene based on the identification information of the available parking spaces, so that the user can quickly and accurately select the target parking space he or she wants to park in based on the correspondence, effectively solving the problem that the parking space selected by the user during automatic parking is not the parking space he or she wants to park in, thereby improving the user experience.

[0103] To further illustrate the implementation scenario of the automatic parking method provided by the present invention, a specific application scheme is described below.

[0104] This solution is based on the automatic parking method of the present invention, and specifically provides an automatic parking system that can be used in parking scenarios. The system may include a self-vehicle perception capability unit, a data distribution unit, an automatic parking APA unit, a DLP projection lamp unit, an AR-HUD display unit, a scene reconstruction display unit, a voice recognition-control unit, an air gesture-control unit, a 360 image display unit, etc.

[0105] Fig.10 The following is a functional principle diagram of an automatic parking system provided by an exemplary embodiment of the present invention. Fig.10 As shown, each functional unit in the automatic parking system can specifically implement the following functions.

[0106] Self-vehicle perception capability unit: uses the self-vehicle camera and radar perception capabilities to store the identified parking space elements, obstacle elements and other data in the data distribution unit.

[0107] Data distribution unit: distributes the identified parking space data to the DLP projection lamp unit, AR-HUD display unit, and 360-degree image display unit. In addition, all parking space data and scene data can also be distributed to the automatic parking APA unit and the scene reconstruction display unit.

[0108] Automatic parking APA unit: This unit can display the recognized parking space data, scene data and 360-degree images, and can also control and display the entire automatic parking process.

[0109] DLP projection lamp unit: receives the parking space data from the data distribution unit, and projects the parking spaces so that users can clearly see the available parking spaces.

[0110] AR-HUD display unit: receives the parking space data from the data distribution unit, and displays the available parking spaces with numbers and marks, as well as subsequent related operations.

[0111] Scene reconstruction display unit: receives data from the data distribution unit to display parking spaces and scenes.

[0112] Voice recognition control unit: You can use voice commands to select the parking space you want to park in and the parking method according to the parking space number.

[0113] Air gesture-control unit: You can use air gestures to click and select the available parking spaces and parking methods displayed on the AR-HUD display unit.

[0114] 360-degree image display unit: When the automatic parking system recommends a parking space behind the vehicle, the parking space number can be marked and displayed through the rear-facing image of the 360-degree image.

[0115] Fig.11 FIG. 1 is a schematic diagram of the structure of an automatic parking device provided by an exemplary embodiment of the present invention. Fig.11 As shown, the automatic parking device 1100 may include:

[0116] The acquisition module 1101 is used to acquire a plurality of available parking spaces in the surrounding environment of the vehicle.

[0117] The projection module 1102 is used to draw the boundary of the parking space by using a projection device.

[0118] The identification module 1103 is used to generate identification information corresponding to the parking space, and superimpose the identification information on the boundary of the parking space through a head-up display device.

[0119] The parking module 1104 is configured to select a parking space corresponding to the target identification information from the plurality of parking spaces and perform a parking operation in response to obtaining the target identification information input by the user.

[0120] In one embodiment, the parking module 1104 is further used to: provide interactive options to the user, wherein the interactive options are used to indicate a parking method of the parking operation, wherein the parking method includes front-end parking and rear-end parking; in response to obtaining a selection result of the user, perform a parking operation according to the selection result, wherein the selection result is one of front-end parking and rear-end parking.

[0121] In one embodiment, the parking module 1104 is further used to: determine the front orientation of the vehicle after parking according to the selection result; and display a vehicle model that conforms to the front orientation within the boundary of the parking space through the head-up display device.

[0122] In one embodiment, the parking module 1104 is further configured to: if no selection result of the user is obtained within a preset period of time, perform a parking operation according to a default parking method.

[0123] In one embodiment, the parking module 1104 is further used to: determine a target parking space from the multiple available parking spaces according to the target identification information, and determine a parking path according to the target parking space; draw the parking path around the vehicle through the projection device, and stop drawing the boundaries of non-target parking spaces.

[0124] In one embodiment, the automatic parking device 1100 is further used to: in response to detecting that the parking space is in a direction other than the projection direction of the projection device, generate a three-dimensional reconstructed scene according to the parking space, and display the three-dimensional reconstructed scene on a display screen in the vehicle, wherein the three-dimensional reconstructed scene includes the vehicle and parking space information around the vehicle, and the parking space information includes the parking space and identification information corresponding to the parking space; display a surround view image of the vehicle through the display screen, and show the identification information corresponding to the parking space in the surround view image.

[0125] The automatic parking device provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principle and technical effects are similar and will not be described in detail here.

[0126] It should be understood that the above device embodiments are only illustrative, and the device of the present invention can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0127] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present invention may be integrated into one unit / module, or each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0128] Fig.12 FIG. 1 is a schematic diagram of a structure of an electronic device provided by an exemplary embodiment of the present invention. Fig.12 As shown, the electronic device 120 includes:

[0129] Processor 121, memory 122, and communication interface 123;

[0130] The memory 122 is used to store executable instructions of the processor 121; the executable instructions may be computer-executable instructions;

[0131] The processor 121 is configured to execute the technical solution in any of the aforementioned method embodiments by executing the executable instructions.

[0132] Optionally, the memory 122 may be independent or integrated with the processor 121 .

[0133] Optionally, when the memory 122 is a device independent of the processor 121, the electronic device 120 may further include:

[0134] The bus 124 , the memory 122 and the communication interface 123 are connected to the processor 121 via the bus 124 and communicate with each other. The communication interface 123 is used to communicate with other devices.

[0135] Optionally, the communication interface 123 may be implemented by a transceiver. The communication interface is used to implement communication between the database access device and other devices (such as a client, a read-write library, and a read-only library). The memory may include a random access memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0136] The bus 124 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0137] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0138] The electronic device is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0139] An embodiment of the present invention further provides a readable storage medium, which may be a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the technical solution provided by any of the aforementioned method embodiments is implemented.

[0140] An embodiment of the present invention further provides a computer program product, including a computer program, which is used to implement the technical solution provided by any of the aforementioned method embodiments when executed by a processor.

[0141] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0142] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not 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.

[0143] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The description and examples are to be considered exemplary only, and the true scope and spirit of the present invention is indicated by the following claims.

[0144] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. An automatic parking method, characterized in that: include: Acquire multiple available parking spaces in the surrounding environment of the vehicle; Drawing the boundary of the parking space by means of a projection device; Generate identification information corresponding to the available parking space, and superimpose the identification information on the boundary of the available parking space through a head-up display device; In response to obtaining the target identification information input by the user, a parking space corresponding to the target identification information is selected from the multiple parking spaces to perform a parking operation.

2. The automatic parking method according to claim 1, characterized in that: The step of selecting, in response to obtaining the target identification information input by the user, a parking space corresponding to the target identification information from the plurality of parking spaces for parking operation comprises: Providing an interactive option to a user, wherein the interactive option is used to indicate a parking mode of the parking operation, wherein the parking mode includes front-end parking and rear-end parking; In response to obtaining a selection result of the user, a parking operation is performed according to the selection result, wherein the selection result is one of front parking and rear parking.

3. The automatic parking method according to claim 2, characterized in that: Also includes: Determining the front direction of the vehicle after parking according to the selection result; A vehicle model that conforms to the vehicle head orientation is displayed within the boundary of the parking space by the head-up display device.

4. The automatic parking method according to claim 2 or 3, characterized in that: After providing the user with interactive options, also include: If the user's selection result is not obtained within the preset time period, the parking operation is performed according to the default parking method.

5. The automatic parking method according to any one of claims 1 to 3, characterized in that: The parking operation includes: Determining a target parking space from the plurality of available parking spaces according to the target identification information, and determining a parking path according to the target parking space; The parking path is drawn around the vehicle by the projection device, and the drawing of the boundary of the non-target parking space is stopped.

6. The automatic parking method according to any one of claims 1 to 3, characterized in that: Also includes: In response to detecting that the available parking space is in a direction other than the projection direction of the projection device, generating a three-dimensional reconstructed scene according to the available parking space, and displaying the three-dimensional reconstructed scene on a display screen in the vehicle, wherein the three-dimensional reconstructed scene includes the vehicle and parking space information around the vehicle, and the parking space information includes the available parking space and identification information corresponding to the available parking space; The surround view image of the vehicle is displayed through the display screen, and identification information corresponding to the available parking space is shown in the surround view image.

7. An automatic parking device, characterized in that: include: An acquisition module, used for acquiring a plurality of available parking spaces in the surrounding environment of the vehicle; A projection module, used for drawing the boundary of the parking space by means of a projection device; an identification module, configured to generate identification information corresponding to the available parking space, and superimpose the identification information on the boundary of the available parking space through a head-up display device; The parking module is used for selecting a parking space corresponding to the target identification information from the plurality of parking spaces to perform a parking operation in response to obtaining the target identification information input by the user.

8. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 6 when being executed by a processor.

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