Parking space display method, electronic equipment and vehicle

Abstract

The embodiment of the invention provides a parking space display method, electronic equipment and a vehicle. The method comprises the steps that after an automatic parking function of a vehicle is started, environment information of the position where the vehicle is located is obtained, and at least one initial parking space is determined according to the environment information; grouping the at least one initial parking space according to a preset parking space area division strategy and a common edge relation judgment strategy to obtain at least one parking space group; wherein the parking space group comprises at least one initial parking space; obtaining the parking state of the vehicle, and determining a reference parking space determination strategy corresponding to the parking space group according to the parking state; and determining a reference parking space of the corresponding parking space group according to a reference parking space determination strategy, optimizing the initial parking space in the corresponding parking space group according to the reference parking space, and obtaining and displaying the optimized initial parking space. The method is used for achieving the effect of improving the user experience of automatic parking.

Description

Technical Field

[0001] The present application relates to the technical field of automatic parking, and in particular to a method for displaying a parking space, an electronic device and a vehicle. Background Art

[0002] During the use of the vehicle's automatic parking function, the environmental information of the vehicle's location can be displayed to the user in the form of a virtual interface so that the user can view the automatic parking process. Among the multiple elements displayed in the virtual interface, such as parking spaces, vehicles, wall pillars, etc., the display of parking space elements is particularly important.

[0003] In the prior art, each parking space is determined and displayed in a virtual interface based on environmental information perceived by the vehicle.

[0004] However, due to the influence of factors such as the accumulated deviation of wheel speed odometer positioning and parking space perception detection error, problems such as overlapping of adjacent parking spaces or inconsistent parking space sizes may occur, affecting the user's automatic parking experience. Summary of the invention

[0005] The embodiments of the present application provide a method for displaying a parking space, an electronic device, and a vehicle, so as to achieve the effect of improving the user experience of automatic parking.

[0006] In a first aspect, an embodiment of the present application provides a method for displaying a parking space, comprising:

[0007] After the vehicle turns on the automatic parking function, obtain environmental information of the location of the vehicle, and determine at least one initial parking space according to the environmental information;

[0008] According to a preset parking space area division strategy and a common edge relationship determination strategy, the at least one initial parking space is grouped to obtain at least one parking space group; wherein the parking space group includes at least one of the initial parking spaces;

[0009] Acquiring a parking state of the vehicle, and determining a reference parking space determination strategy corresponding to the parking space group according to the parking state;

[0010] According to the reference parking space determination strategy, a reference parking space of a corresponding parking space group is determined, and according to the reference parking space, an initial parking space in the corresponding parking space group is optimized to obtain and display the optimized initial parking space.

[0011] In a possible implementation, the at least one initial parking space is grouped according to a preset parking space area division strategy and a common edge relationship determination strategy to obtain at least one parking space group, including: according to the preset parking space area division strategy, the spatial area where the vehicle is located is divided into parking space areas to obtain a parking space area sequence; wherein the parking space area sequence includes at least one parking space area and a serial number of each parking space area; according to the parking space area sequence, the at least one initial parking space is sorted to obtain an initial parking space sequence; wherein the initial parking space sequence includes a serial number of each initial parking space; according to the preset common edge relationship determination strategy, two initial parking spaces with adjacent serial numbers in the initial parking space sequence are sequentially subjected to a common edge relationship determination process, and according to the result of the common edge relationship determination process, the at least one initial parking space is grouped to obtain the at least one parking space group.

[0012] In a possible implementation, the at least one initial parking space is sorted according to the parking space area sequence to obtain an initial parking space sequence, including: obtaining a center point position of the initial parking space, and determining a parking space area to which the initial parking space belongs according to the center point position of the initial parking space; and sorting the at least one initial parking space according to a serial number of the parking space area to which the initial parking space belongs and a preset sorting strategy to obtain the initial parking space sequence.

[0013] In a possible implementation, the preset common edge relationship determination strategy includes one or more of the following: the difference between the entrance edges of two initial parking spaces with adjacent serial numbers is less than a difference threshold; the ratio of the distance between the midpoints of the entrance edges of two initial parking spaces with adjacent serial numbers to the total length of the entrance edges of the two initial parking spaces with adjacent serial numbers is within a preset ratio range threshold; at least one relative distance between two initial parking spaces with adjacent serial numbers is less than a preset distance threshold; the angle between two initial parking spaces with adjacent serial numbers is less than a preset angle threshold.

[0014] In a possible implementation, a result of the common edge relationship determination process includes that two initial parking spaces with adjacent serial numbers are common edge parking spaces, and two initial parking spaces with adjacent serial numbers are non-common edge parking spaces; and the at least one initial parking space is grouped according to the result of the common edge relationship determination process to obtain the at least one parking space group, including: determining two initial parking spaces with adjacent serial numbers as common edge parking spaces as a result of the common edge relationship determination process as the same parking space group to obtain the at least one parking space group.

[0015] In a possible implementation, the parking state of the vehicle includes a parking space search state; wherein, if the parking state of the vehicle is the parking space search state, the corresponding reference parking space determination strategy is: determining the first initial parking space searched by the vehicle in the parking space group as the reference parking space of the parking space group.

[0016] In a possible implementation, if the parking state of the vehicle is a parking space search state, the initial parking space in the corresponding parking space group is optimized according to the reference parking space, and the optimized initial parking space is obtained and displayed, including: obtaining the total length of the entrance sides of each initial parking space in the corresponding parking space group, and optimizing the entrance sides of each initial parking space in the parking space group according to the total length of the entrance sides of each initial parking space; obtaining the side length and the angle between the entrance side and the side side of the reference parking space in the corresponding parking space group, and optimizing other sides of each initial parking space in the parking space group according to the side length and the angle between the entrance side and the side side, and obtaining and displaying the optimized initial parking space; wherein the other sides are sides other than the entrance sides of the initial parking spaces.

[0017] In a possible implementation, based on the side length of the reference parking space and the angle between the entrance side and the side, optimizing other sides of each initial parking space in the parking space group, obtaining and displaying the optimized initial parking space, includes: determining a corresponding side length threshold according to the angle between the entrance side and the side of the reference parking space; if the side length of the reference parking space is greater than or equal to the corresponding side length threshold, optimizing other sides of each initial parking space in the parking space group according to the side length of the reference parking space and the angle between the entrance side and the side of the reference parking space, obtaining and displaying the optimized initial parking space; if the side length of the reference parking space is less than the corresponding side length threshold, optimizing other sides of each initial parking space in the parking space group according to the corresponding side length threshold and the angle between the entrance side and the side of the reference parking space, obtaining and displaying the optimized initial parking space.

[0018] In a possible implementation, the parking state of the vehicle includes a parking space state; wherein, if the parking state of the vehicle is the parking space state, the corresponding reference parking space determination strategy is: if the parking space group includes the target parking space, then the target parking space is determined as the reference parking space of the parking space group; if the parking space group does not include the target parking space, then the first initial parking space searched by the vehicle in the parking space group is determined as the reference parking space of the parking space group.

[0019] In a possible implementation, if the parking state of the vehicle is a parking space state, and the corresponding parking space group includes a target parking space, the initial parking space in the corresponding parking space group is optimized according to the reference parking space, and the optimized initial parking space is obtained and displayed, including: obtaining the entrance side length, side side length, and the angle between the entrance side and the side of the reference parking space; optimizing other initial parking spaces in the parking space group according to the entrance side length, side side length, and the angle between the entrance side and the side of the reference parking space, and obtaining and displaying other optimized initial parking spaces; and displaying the reference parking space.

[0020] In a possible implementation, optimizing other initial parking spaces in the parking space group according to the entrance edge length, side edge length, and the angle between the entrance edge and the side edge of the reference parking space, obtaining and displaying the other initial parking spaces after optimization, includes: obtaining the total length of the entrance edges of each initial parking space in the corresponding parking space group, and optimizing the entrance edges of each other initial parking space in the parking space group according to the total length of the entrance edges of each initial parking space in the corresponding parking space group and the entrance edge length of the reference parking space; determining the corresponding side edge according to the angle between the entrance edge and the side edge of the reference parking space; length threshold; if the side length of the reference parking space is greater than or equal to the corresponding side length threshold, then according to the side length of the reference parking space and the angle between the entrance side and the side of the reference parking space, the other sides of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space; if the side length of the reference parking space is less than the corresponding side length threshold, then according to the corresponding side length threshold and the angle between the entrance side and the side of the reference parking space, the other sides of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space.

[0021] In a second aspect, an embodiment of the present application provides a parking space display device, including:

[0022] An acquisition module, used to acquire environmental information of the location of the vehicle after the automatic parking function of the vehicle is turned on, and determine at least one initial parking space according to the environmental information;

[0023] A processing module, configured to group the at least one initial parking space according to a preset parking space area division strategy and a common edge relationship determination strategy to obtain at least one parking space group; wherein the parking space group includes at least one of the initial parking spaces;

[0024] A determination module, used for acquiring a parking state of a vehicle, and determining a reference parking space determination strategy corresponding to the parking space group according to the parking state;

[0025] The display module is used to determine the reference parking space of the corresponding parking space group according to the reference parking space determination strategy, and optimize the initial parking space in the corresponding parking space group according to the reference parking space to obtain and display the optimized initial parking space.

[0026] In a possible implementation, the processing module is specifically used to perform parking area division processing on the spatial area where the vehicle is located according to a preset parking area division strategy to obtain a parking area sequence; wherein the parking area sequence includes at least one parking area and a serial number of each parking area; according to the parking area sequence, the at least one initial parking space is sorted to obtain an initial parking space sequence; wherein the initial parking space sequence includes the serial number of each initial parking space; according to the preset common edge relationship determination strategy, the common edge relationship determination processing is performed on two initial parking spaces with adjacent serial numbers in the initial parking space sequence in turn, and the at least one initial parking space is grouped according to the result of the common edge relationship determination processing to obtain the at least one parking space group.

[0027] In a possible implementation, the processing module is further specifically used to obtain the center point position of the initial parking space, and determine the parking area to which the initial parking space belongs based on the center point position of the initial parking space; and sort the at least one initial parking space based on the serial number of the parking area to which the initial parking space belongs and a preset sorting strategy to obtain the initial parking space sequence.

[0028] In a possible implementation, the preset common edge relationship determination strategy includes one or more of the following: the difference between the entrance edges of two initial parking spaces with adjacent serial numbers is less than a difference threshold; the ratio of the distance between the midpoints of the entrance edges of two initial parking spaces with adjacent serial numbers to the total length of the entrance edges of the two initial parking spaces with adjacent serial numbers is within a preset ratio range threshold; at least one relative distance between two initial parking spaces with adjacent serial numbers is less than a preset distance threshold; the angle between two initial parking spaces with adjacent serial numbers is less than a preset angle threshold.

[0029] In a possible implementation, a result of the common edge relationship determination process includes that two initial parking spaces with adjacent serial numbers are common edge parking spaces, and two initial parking spaces with adjacent serial numbers are non-common edge parking spaces; the processing module is further specifically used to determine the two initial parking spaces with adjacent serial numbers as the result of the common edge relationship determination process as the same parking space group, to obtain the at least one parking space group.

[0030] In a possible implementation, the parking state of the vehicle includes a parking space search state; wherein, if the parking state of the vehicle is the parking space search state, the corresponding reference parking space determination strategy is: determining the first initial parking space searched by the vehicle in the parking space group as the reference parking space of the parking space group.

[0031] In a possible implementation, if the parking state of the vehicle is a parking space search state, the display module is specifically used to obtain the total length of the entrance sides of each initial parking space in the corresponding parking space group, and optimize the entrance sides of each initial parking space in the parking space group according to the total length of the entrance sides of each initial parking space; obtain the side length of the reference parking space in the corresponding parking space group and the angle between the entrance side and the side, and optimize other sides of each initial parking space in the parking space group according to the side length of the reference parking space and the angle between the entrance side and the side, to obtain and display the optimized initial parking space; wherein the other sides are sides other than the entrance side of the initial parking space.

[0032] In a possible implementation, the display module is further specifically used to determine a corresponding side length threshold according to an angle between the entrance edge and the side of the reference parking space; if the side length of the reference parking space is greater than or equal to the corresponding side length threshold, then according to the side length of the reference parking space and the angle between the entrance edge and the side of the reference parking space, the other sides of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space; if the side length of the reference parking space is less than the corresponding side length threshold, then according to the corresponding side length threshold and the angle between the entrance edge and the side of the reference parking space, the other sides of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space.

[0033] In a possible implementation, the parking state of the vehicle includes a parking space state; wherein, if the parking state of the vehicle is the parking space state, the corresponding reference parking space determination strategy is: if the parking space group includes the target parking space, then the target parking space is determined as the reference parking space of the parking space group; if the parking space group does not include the target parking space, then the first initial parking space searched by the vehicle in the parking space group is determined as the reference parking space of the parking space group.

[0034] In a possible implementation, if the parking state of the vehicle is a parking space state, and the corresponding parking space group includes a target parking space, the display module is specifically used to obtain the entrance side length, side side length, and the angle between the entrance side and the side side of the reference parking space; optimize other initial parking spaces in the parking space group according to the entrance side length, side side length, and the angle between the entrance side and the side side of the reference parking space, obtain and display the other initial parking spaces after optimization; and display the reference parking space.

[0035] In a possible implementation manner, the display module is further specifically used to obtain the total length of the entrance sides of each initial parking space in the corresponding parking space group, and optimize the entrance sides of each other initial parking space in the parking space group according to the total length of the entrance sides of each initial parking space in the corresponding parking space group and the entrance side length of the reference parking space; determine the corresponding side length threshold according to the angle between the entrance side and the side of the reference parking space; if the side length of the reference parking space is greater than or equal to the corresponding side length threshold, then optimize the other sides of each initial parking space in the parking space group according to the side length of the reference parking space and the angle between the entrance side and the side of the reference parking space, and obtain and display the optimized initial parking space; if the side length of the reference parking space is less than the corresponding side length threshold, then optimize the other sides of each initial parking space in the parking space group according to the corresponding side length threshold and the angle between the entrance side and the side of the reference parking space, and obtain and display the optimized initial parking space.

[0036] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0037] The memory stores computer-executable instructions;

[0038] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0039] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0040] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0041] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising an electronic device that implements the first aspect above and / or various possible implementations of the first aspect.

[0042] The parking space display method, electronic device and vehicle provided in the embodiments of the present application obtain environmental information of the location of the vehicle after the automatic parking function of the vehicle is turned on, and determine at least one initial parking space according to the environmental information, group the at least one initial parking space according to the preset parking space area division strategy and the common edge relationship determination strategy to obtain at least one parking space group, obtain the parking state of the vehicle, and determine the reference parking space determination strategy corresponding to the parking space group according to the parking state, determine the reference parking space of the corresponding parking space group according to the reference parking space determination strategy, and optimize the initial parking space in the corresponding parking space group according to the reference parking space, obtain and display the optimized initial parking space, wherein the reference parking space is determined from the parking space group to optimize the initial parking space in the corresponding parking space group, which can improve the pertinence of the optimization process, thereby improving the accuracy of the display of the parking space, and further, in the process of determining the reference parking space of the parking space group, the reference parking space determination strategy corresponding to the parking space group is determined according to the parking state of the vehicle, which can improve the rationality of the reference parking space determination, thereby improving the rationality of the display of the parking space, and in combination with the above description, the user experience in the automatic parking process can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0044] Figure 1 Schematic diagram of the process of the parking space display method provided in this application Figure 1 ;

[0045] Figure 2 Schematic diagram of the process of the parking space display method provided in this application Figure 2 ;

[0046] Figure 3 An example diagram of the parking area sequence provided for this application;

[0047] Figure 4 Schematic diagram of the process of the parking space display method provided in this application Figure 3

[0048] Figure 5 This is a comparison diagram of examples before and after the optimization process provided in this application;

[0049] Figure 6 Schematic diagram of the process of the parking space display method provided in this application Figure 4 ;

[0050] Figure 7 A schematic diagram of the structure of the parking space display device provided in this application;

[0051] Figure 8A schematic diagram of the structure of the electronic device provided in this application.

[0052] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0053] 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 implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0054] In the prior art, each parking space is determined and displayed in a virtual interface based on the environmental information perceived by the vehicle. However, due to factors such as the accumulated deviation of the wheel speed odometer positioning and the parking space perception detection error, problems such as overlapping of adjacent parking spaces or inconsistent parking space sizes may occur, affecting the user's automatic parking experience.

[0055] The parking space display method provided by the present application obtains environmental information of the location of the vehicle after the automatic parking function of the vehicle is turned on, and determines at least one initial parking space according to the environmental information, groups the at least one initial parking space according to a preset parking space area division strategy and a common edge relationship determination strategy to obtain at least one parking space group, obtains the parking state of the vehicle, and determines a reference parking space determination strategy corresponding to the parking space group according to the parking state, determines a reference parking space of the corresponding parking space group according to the reference parking space determination strategy, and optimizes the initial parking space in the corresponding parking space group according to the reference parking space, obtains and displays the optimized initial parking space, wherein the reference parking space is determined from the parking space group to optimize the initial parking space in the corresponding parking space group, which can improve the pertinence of the optimization process, thereby improving the accuracy of the display of the parking space, and further, in the process of determining the reference parking space of the parking space group, the reference parking space determination strategy corresponding to the parking space group is determined according to the parking state of the vehicle, which can improve the rationality of the reference parking space determination, thereby improving the rationality of the display of the parking space, and in combination with the above description, the user experience during the automatic parking process can be improved.

[0056] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0057] Figure 1 Schematic diagram of the process of the parking space display method provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0058] Step S101: After the automatic parking function of the vehicle is turned on, environmental information of the location of the vehicle is obtained, and at least one initial parking space is determined according to the environmental information.

[0059] Specifically, after the vehicle turns on the automatic parking function, the environmental information of the vehicle's location can be obtained, and at least one initial parking space can be determined based on the environmental information. Among them, the automatic parking function of the car (Automated Parking Assist, APA for short), that is, the automatic parking assistance system, refers to the function that the system can automatically park the vehicle into a parking space without manual intervention.

[0060] The present application does not limit the environmental information of the vehicle's location. Optionally, the environmental information of the vehicle's location may be information collected by sensors deployed on the vehicle. The present application does not limit the sensors deployed on the vehicle. Any sensor may be used as the sensor deployed on the vehicle provided by the present application. Optionally, the sensor may be at least one of a camera, radar, ultrasonic and other sensors.

[0061] Among them, the present application does not limit the process of determining at least one initial parking space based on environmental information. Any process that can determine at least one initial parking space based on environmental information can be used as the process of determining at least one initial parking space based on environmental information provided by the present application. Optionally, information about parking space markings, obstacles, etc. around the vehicle can be obtained from environmental information through algorithms such as image recognition and deep learning algorithms, and then at least one initial parking space can be determined based on the vehicle size and the information about parking space markings, obstacles, etc. around the vehicle obtained from above.

[0062] Step S102: group at least one initial parking space according to a preset parking space area division strategy and a common edge relationship determination strategy to obtain at least one parking space group.

[0063] Specifically, after determining at least one initial parking space, the at least one initial parking space may be grouped according to a preset parking space area division strategy and a common edge relationship determination strategy to obtain at least one parking space group. The preset parking space area division strategy is a preset strategy for dividing the space area where the vehicle is located into at least one parking space area. The common edge relationship determination strategy is a preset strategy for determining whether there is a common edge relationship between two adjacent initial parking spaces.

[0064] Among them, the present application does not limit the process of grouping at least one initial parking space according to the preset parking space area division strategy and the common edge relationship determination strategy to obtain at least one parking space group. Optionally, the spatial area where the vehicle is located can be divided into parking space areas according to the preset parking space area division strategy to obtain a parking space area sequence; wherein the parking space area sequence includes at least one parking space area and a serial number of each parking space area; then, according to the parking space area sequence, at least one initial parking space is sorted to obtain an initial parking space sequence; wherein the initial parking space sequence includes the serial number of each initial parking space; then, according to the preset common edge relationship determination strategy, two initial parking spaces with adjacent serial numbers in the initial parking space sequence are sequentially subjected to common edge relationship determination processing, and at least one initial parking space is grouped according to the result of the common edge relationship determination processing to obtain at least one parking space group.

[0065] The present application does not limit the number of initial parking spaces included in the parking space group. Optionally, the parking space group includes at least one initial parking space.

[0066] Among them, in the process of determining the parking space group, the parking space area division strategy and the common edge relationship determination strategy are used for division, which improves the rationality and efficiency of the parking space group division, thereby improving the rationality and efficiency of the parking space display and improving the user experience during automatic parking.

[0067] Step S103: Acquire the parking status of the vehicle, and determine a reference parking space determination strategy corresponding to the parking space group according to the parking status.

[0068] Specifically, the parking status of the vehicle may be acquired, and a reference parking space determination strategy corresponding to the parking space group may be determined according to the parking status.

[0069] The parking state of the vehicle indicates the stage of the vehicle in the automatic parking process. The automatic parking process of the vehicle includes multiple stages, such as searching for a parking space, parking in a parking space, etc.

[0070] The reference parking space determination strategy refers to a preset strategy for determining a reference parking space in a parking space group. The reference parking space refers to an initial parking space used as a reference in at least one initial parking space in a parking space group. Specifically, when the parking status of the vehicle is different, the initial parking space used as a reference in the parking space group may be different. Therefore, the reference parking space determination strategy corresponding to the parking space group can be determined according to the parking status.

[0071] Step S104: Determine the reference parking space of the corresponding parking space group according to the reference parking space determination strategy, and optimize the initial parking space in the corresponding parking space group according to the reference parking space to obtain and display the optimized initial parking space.

[0072] Specifically, after determining the reference parking space determination strategy corresponding to the parking space group according to the parking state, the reference parking space of the corresponding parking space group can be determined according to the reference parking space determination strategy determined in step S103. If the determined reference parking space determination strategy is different, the corresponding process of determining the reference parking space of the corresponding parking space group according to the reference parking space determination strategy is also different. The process of determining the reference parking space of the corresponding parking space group according to the reference parking space determination strategy corresponds to the determined reference parking space determination strategy.

[0073] Specifically, after the reference parking space of the corresponding parking space group is determined according to the reference parking space determination strategy, the initial parking space in the corresponding parking space group can be optimized according to the determined reference parking space, and the optimized initial parking space is obtained and displayed. If the determined reference parking space is different, the process of optimizing the initial parking space in the corresponding parking space group according to the reference parking space, and obtaining and displaying the optimized initial parking space is also different. The process of optimizing the initial parking space in the corresponding parking space group according to the reference parking space, and obtaining and displaying the optimized initial parking space corresponds to the determined reference parking space.

[0074] The method for displaying parking spaces provided in the embodiment of the present application obtains environmental information of the location of the vehicle after the automatic parking function of the vehicle is turned on, determines at least one initial parking space according to the environmental information, groups the at least one initial parking space according to a preset parking space area division strategy and a common edge relationship determination strategy to obtain at least one parking space group, obtains the parking state of the vehicle, determines a reference parking space determination strategy corresponding to the parking space group according to the parking state, determines a reference parking space of the corresponding parking space group according to the reference parking space determination strategy, and optimizes the initial parking space in the corresponding parking space group according to the reference parking space, obtains and displays the optimized initial parking space, wherein the reference parking space is determined from the parking space group to optimize the initial parking space in the corresponding parking space group, which can improve the pertinence of the optimization process, thereby improving the accuracy of the display of the parking space, and further, in the process of determining the reference parking space of the parking space group, the reference parking space determination strategy corresponding to the parking space group is determined according to the parking state of the vehicle, which can improve the rationality of the reference parking space determination, thereby improving the rationality of the display of the parking space, and in combination with the above description, the user experience in the automatic parking process can be improved.

[0075] Figure 2 Schematic diagram of the process of the parking space display method provided in this application Figure 2 ,like Figure 2 As shown, in this embodiment Figure 1 Based on the embodiment, a process of grouping at least one initial parking space according to a preset parking space area division strategy and a common edge relationship determination strategy to obtain at least one parking space group is described in detail. The method includes:

[0076] Step S201: According to a preset parking space area division strategy, a parking space area division process is performed on the space area where the vehicle is located to obtain a parking space area sequence.

[0077] Specifically, according to the preset parking area division strategy, the parking area division process can be performed on the space area where the vehicle is located to obtain a parking area sequence. The parking area sequence is a sequence composed of parking areas. The parking area is an area obtained after the space area where the vehicle is located is divided. The parking area sequence includes at least one parking area and a sequence number of each parking area.

[0078] Among them, the preset parking area division strategy is a preset strategy for dividing the space area where the vehicle is located into parking areas. Optionally, the preset parking area division strategy can be a division process using the extension lines of the four sides of the vehicle as the dividing lines of each area. Then, the nine parking areas obtained after the division process are marked with serial numbers to obtain a corresponding parking area sequence, wherein the parking area sequence includes 9 parking areas. Optionally, the parking area in front of the right side of the vehicle can be marked as parking area 1, and parking areas 2 to 8 can be marked in sequence in a counterclockwise direction, and the parking area where the vehicle is located can be marked as parking area 9.

[0079] Figure 3 This is an example diagram of the parking area sequence provided for this application.

[0080] The direction indicated by the arrow is the direction in which the front of the vehicle is pointed. The parking area sequence includes parking area 1 to parking area 9. Figure 3 as shown in .

[0081] Step S202: sort at least one initial parking space according to the parking space area sequence to obtain an initial parking space sequence.

[0082] Specifically, at least one initial parking space may be sorted according to the parking space area sequence determined in step S201 to obtain an initial parking space sequence. The initial parking space sequence is a sequence obtained by marking each initial parking space with a serial number. The initial parking space sequence includes the serial number of each initial parking space.

[0083] Among them, the present application does not limit the process of sorting at least one initial parking space according to the parking space area sequence to obtain the initial parking space sequence. Optionally, the process of sorting at least one initial parking space according to the parking space area sequence to obtain the initial parking space sequence may include: first obtaining the center point position of the initial parking space, and determining the parking space area to which the initial parking space belongs according to the center point position of the initial parking space. Then, according to the sequence number of the parking space area to which the initial parking space belongs and the preset sorting strategy, sorting the at least one initial parking space to obtain the initial parking space sequence.

[0084] Optionally, in the process of determining the parking area to which the initial parking space belongs according to the center point position of the initial parking space, the parking area where the center point position of the initial parking space is located may be determined as the parking area to which the initial parking space belongs.

[0085] The preset sorting strategy is a preset strategy for sorting at least one initial parking space. Optionally, the preset sorting strategy may be to sort at least one initial parking space in each parking space area in a counterclockwise direction.

[0086] like Figure 3 As shown, parking area 1 to parking area 4 and parking area 9 do not include initial parking spaces; therefore, the initial parking spaces included in parking area 5 to parking area 8 are sorted in sequence, wherein parking area 5 includes two initial parking spaces, parking area 6 includes one initial parking space, parking area 7 includes one initial parking space, and parking area 8 includes one initial parking space, wherein, in each parking area of ​​parking area 5 to parking area 8, at least one initial parking space included therein is sorted in a counterclockwise direction in sequence and marked as initial parking space 1 to initial parking space 6 in sequence. Figure 3 shown.

[0087] Step S203: according to a preset common edge relationship determination strategy, perform common edge relationship determination processing on two initial parking spaces with adjacent serial numbers in the initial parking space sequence in turn, and group at least one initial parking space according to the result of the common edge relationship determination processing to obtain at least one parking space group.

[0088] Specifically, according to the preset common edge relationship determination strategy, the common edge relationship determination process can be performed on two initial parking spaces with adjacent serial numbers in the initial parking space sequence determined in step S202 in sequence. Figure 3As shown, if the initial parking space sequence includes initial parking space 1-initial parking space 2, therefore, according to the preset common edge relationship determination strategy, the common edge relationship determination processing can be performed on the initial parking space 1 and the initial parking space 2, the initial parking space 2 and the initial parking space 3, the initial parking space 3 and the initial parking space 4, the initial parking space 4 and the initial parking space 5, and the initial parking space 5 and the initial parking space 6 in turn.

[0089] Optionally, the preset common edge relationship determination strategy may include one or more of the following: the difference between the entrance edges of two initial parking spaces with adjacent serial numbers is less than a difference threshold. The ratio of the distance between the midpoints of the entrance edges of two initial parking spaces with adjacent serial numbers to the total length of the entrance edges of the two initial parking spaces with adjacent serial numbers is within a preset ratio range threshold. At least one relative distance between two initial parking spaces with adjacent serial numbers is less than a preset distance threshold. The angle between two initial parking spaces with adjacent serial numbers is less than a preset angle threshold.

[0090] Specifically, the entrance edge of the initial parking space is the edge corresponding to the entrance of the parking space among the four edges of the initial parking space. Figure 3 As shown, the entrance edge of the initial parking space 1-initial parking space 6 is the edge corresponding to the connection line between the endpoint 0 and the endpoint 3 of the initial parking space, wherein the entrance edge of the initial parking space 1-initial parking space 6 is as follows Figure 3 shown.

[0091] Specifically, the difference between the entrance edges of two initial parking spaces with adjacent serial numbers is less than the difference threshold, for example, Figure 3 As shown, for the initial parking space 1 and the initial parking space 2, if the difference between the distance between the endpoint 0 and the endpoint 3 of the initial parking space 1 and the distance between the endpoint 0 and the endpoint 3 of the initial parking space 2 is less than the difference threshold, for example, 0.2m, then it is determined that the difference between the entrance edges of the initial parking space 1 and the initial parking space 2 is less than the difference threshold.

[0092] Among them, if the difference between the entrance edges of two initial parking spaces with adjacent serial numbers is less than the difference threshold, it is determined that the difference between the entrance edges of the two initial parking spaces with adjacent serial numbers is small, and the two initial parking spaces with adjacent serial numbers can be determined as the initial parking spaces in the same parking space group. Therefore, it can be used as one of the preset common edge relationship determination strategies.

[0093] Specifically, the ratio of the distance between the midpoints of the entrance edges of two initial parking spaces with adjacent serial numbers to the total length of the entrance edges of the two initial parking spaces with adjacent serial numbers is within a preset ratio range threshold, for example, Figure 3As shown, for the initial parking space 1 and the initial parking space 2, if the ratio of the distance between the midpoint between the endpoint 0 and the endpoint 3 of the initial parking space 1 and the midpoint between the endpoint 0 and the endpoint 3 of the initial parking space 2 to the distance between the endpoint 0 of the initial parking space 1 and the endpoint 3 of the initial parking space 2 is within a preset ratio range threshold, for example, within 0.9-1.2, then it is determined that the ratio of the distance between the midpoints of the entrance edges of the initial parking space 1 and the initial parking space 2 to the total length of the entrance edges of the initial parking space 1 and the initial parking space 2 is within the preset ratio range threshold.

[0094] Among them, if the ratio of the distance between the midpoints of the entrance edges of two initial parking spaces with adjacent serial numbers to the total length of the entrance edges of the two initial parking spaces with adjacent serial numbers is within the preset ratio range threshold, then if the entrance edges of the two initial parking spaces with adjacent serial numbers are closely spaced, or have a small overlap, the two initial parking spaces with adjacent serial numbers can be determined as the initial parking spaces in the same parking space group, and therefore, can be used as one of the preset common edge relationship determination strategies.

[0095] Specifically, at least one relative distance between two initial parking spaces with adjacent serial numbers is less than a preset distance threshold, for example, Figure 3 As shown, for the initial parking space 1 and the initial parking space 2, the distance between the endpoint 3 of the initial parking space 1 and the endpoint 0 of the initial parking space 2, or the distance between the endpoint 2 of the initial parking space 1 and the endpoint 1 of the initial parking space 2, or the distance between the midpoint of the endpoint 2 and the endpoint 3 of the initial parking space 1 and the midpoint of the endpoint 0 and the endpoint 1 of the initial parking space 2, is one of the at least one relative distance. For the initial parking space 1 and the initial parking space 2, if the relative distance described above is less than a preset distance threshold, for example, 0.5m, it is determined that the distance between the midpoints of the entrance edges of the initial parking space 1 and the initial parking space 2 is less than the preset distance threshold with at least one relative distance between the initial parking space 1 and the initial parking space 2.

[0096] Among them, if at least one relative distance between two initial parking spaces with adjacent serial numbers is less than a preset distance threshold, it is determined that if the distance between two initial parking spaces with adjacent serial numbers is small, the two initial parking spaces with adjacent serial numbers can be determined as the initial parking spaces in the same parking space group. Therefore, it can be used as one of the preset common edge relationship determination strategies.

[0097] Specifically, the angle between two initial parking spaces with adjacent serial numbers is less than a preset angle threshold. Figure 3As shown, for the initial parking space 1 and the initial parking space 2, the angle between the initial parking space 1 and the initial parking space 2 is the angle between the extension line of the line connecting the endpoint 0 and the endpoint 3 of the initial parking space 1 and the extension line of the line connecting the endpoint 0 and the endpoint 3 of the initial parking space 2. For the initial parking space 1 and the initial parking space 2, if the angle described above is less than a preset angle threshold, for example, 20°, it is determined that the angle between the initial parking space 1 and the initial parking space 2 is less than the preset angle threshold.

[0098] Among them, if the angle between two initial parking spaces with adjacent serial numbers is less than a preset angle threshold, it is determined that the two initial parking spaces with adjacent serial numbers are relatively flush, and the two initial parking spaces with adjacent serial numbers can be determined as the initial parking spaces in the same parking space group. Therefore, it can be used as one of the preset common edge relationship determination strategies.

[0099] Optionally, the result of the common edge relationship determination process may include that two initial parking spaces with adjacent serial numbers are common edge parking spaces, and two initial parking spaces with adjacent serial numbers are non-common edge parking spaces.

[0100] Specifically, if two initial parking spaces with adjacent serial numbers satisfy each of the preset common edge relationship determination strategies, the two initial parking spaces with adjacent serial numbers are determined to be common edge parking spaces; otherwise, the two initial parking spaces with adjacent serial numbers are determined not to be common edge parking spaces.

[0101] Optionally, if the result of the common edge relationship determination processing includes that two initial parking spaces with adjacent serial numbers are common edge parking spaces, and two initial parking spaces with adjacent serial numbers are non-common edge parking spaces, then grouping the at least one initial parking space according to the result of the common edge relationship determination processing to obtain at least one parking space group may include: determining the two initial parking spaces whose serial numbers are common edge parking spaces as the result of the common edge relationship determination processing as the same parking space group to obtain at least one parking space group.

[0102] For example, Figure 3 As shown, initial parking space 1 to initial parking space 4 are parking space group 1, and initial parking space 5 and initial parking space 6 are parking space group 2.

[0103] The embodiment of the present application provides a process for grouping at least one initial parking space according to a preset parking space area division strategy and a common edge relationship determination strategy to obtain at least one parking space group. The process comprises: performing parking space area division on the spatial area where the vehicle is located according to the preset parking space area division strategy to obtain a parking space area sequence; sorting at least one initial parking space according to the parking space area sequence to obtain an initial parking space sequence; performing common edge relationship determination on two initial parking spaces with adjacent sequence numbers in the initial parking space sequence in turn according to the preset common edge relationship determination strategy; and grouping at least one initial parking space according to the result of the common edge relationship determination to obtain at least one parking space group. In the process of determining the parking space group, the initial parking space group is determined according to the initial parking space sequence, which can ensure the comprehensiveness and regularity of the grouping, thereby improving the reliability of the optimization processing of the initial parking spaces in the parking space group, and further improving the user experience during the automatic parking process.

[0104] Optionally, if the parking space group includes only one initial parking space, the process of determining the reference parking space and optimizing the initial parking space in the parking space group according to the reference parking space is not performed.

[0105] Optionally, if the parking space group includes only one initial parking space, the side length and the angle between the entrance side and the side of the initial parking space can be determined, and the corresponding side length threshold can be determined based on the angle between the entrance side and the side of the reference parking space. The side length of the initial parking space is then optimized based on the side length threshold. For example, if the side length of the initial parking space is less than the side length threshold, the side length of the initial parking space is adjusted to the side length threshold.

[0106] Optionally, if a new initial parking space appears, for example, a vehicle parked in a parking space drives out of the parking space, optionally, the parking area to which the new initial parking space belongs can be determined first, and then, based on the parking area to which the new initial parking space belongs, at least one parking space group to which the new initial parking space may belong is determined, and for each parking space group in the at least one parking space group, the process described in step S203 is repeated, wherein the common edge relationship determination strategy is used to perform common edge relationship determination processing on two initial parking spaces with adjacent sequence numbers in the initial parking space sequence in turn. If it is determined that the new initial parking space belongs to one of the at least one parking space groups, the parking space group is updated; otherwise, if it is determined that the new initial parking space does not belong to any of the at least one parking space groups, the new initial parking space can be determined as a new parking space group.

[0107] Optionally, if an existing initial parking space is deleted, for example, an initial parking space is occupied by other vehicles, optionally, the parking space group to which the deleted initial parking space belongs can be determined first, and if the deleted initial parking space is located at the edge of the parking space group, the parking space group is updated; otherwise, the parking space group is divided into two new parking space groups.

[0108] In a possible embodiment, the parking state of the vehicle includes a parking space search state, wherein the parking space search state indicates a stage in which the vehicle searches for a parking space in a spatial area where the vehicle is located after the automatic parking function is turned on.

[0109] If the parking state of the vehicle is a parking space search state, the corresponding reference parking space determination strategy is: determining the first initial parking space searched by the vehicle in the parking space group as the reference parking space of the parking space group.

[0110] Specifically, if the parking state of the vehicle is the parking space search state, then for each parking space group, the first initial parking space searched by the vehicle is the strongest reference. Therefore, the first initial parking space searched by the vehicle in the parking space group can be determined as the reference parking space of the parking space group.

[0111] The present application does not limit the process of determining the first initial parking space searched by the vehicle in the parking space group. Optionally, the first initial parking space passed by the vehicle in the driving direction of the parking space group can be determined as the first initial parking space searched by the vehicle in the parking space group. Figure 3 As shown, in parking space group 1, initial parking space 1 can be determined as a reference parking space, and in parking space group 2, initial parking space 5 can be determined as a reference parking space.

[0112] Figure 4 Schematic diagram of the process of the parking space display method provided in this application Figure 3 ,like Figure 4 As shown, in this embodiment Figure 1 or Figure 2 Based on the embodiment, if the parking state of the vehicle is a parking space search state, the process of optimizing the initial parking space in the corresponding parking space group according to the reference parking space, and obtaining and displaying the optimized initial parking space is described in detail, and the method includes:

[0113] Step S401: Obtain the total length of the entrance edges of each initial parking space in the corresponding parking space group, and optimize the entrance edges of each initial parking space in the parking space group according to the total length of the entrance edges of each initial parking space.

[0114] Specifically, the total length of the entrance edges of the initial parking spaces in the corresponding parking space group can be obtained. The total length of the entrance edges of the initial parking spaces in the parking space group is the distance between the initial endpoint of the entrance edge of the initial parking space with the smallest serial number in the parking space group and the terminal endpoint of the entrance edge of the initial parking space with the largest serial number in the parking space group. For example, Figure 3 As shown, for parking space group 1, the total length of the entrance edges of each initial parking space is the distance between endpoint 0 of initial parking space 1 and endpoint 3 of initial parking space 4.

[0115] Specifically, after obtaining the total length of the entrance edges of each initial parking space in the corresponding parking space group, the entrance edges of each initial parking space in the parking space group can be optimized according to the total length of the entrance edges of each initial parking space. The present application does not limit the process of optimizing the entrance edges of each initial parking space in the parking space group according to the total length of the entrance edges of each initial parking space. Optionally, the number of initial parking spaces in the parking space group can be obtained, and the ratio of the total length of the entrance edges of each initial parking space to the number of initial parking spaces can be determined as the length of the entrance edges of the initial parking spaces after optimization.

[0116] Step S402: Obtain the side length and the angle between the entrance side and the side of the reference parking space of the corresponding parking space group, and optimize the other sides of each initial parking space in the parking space group according to the side length and the angle between the entrance side and the side of the reference parking space, and obtain and display the optimized initial parking space.

[0117] Specifically, the side length of the reference parking space of the corresponding parking space group and the angle between the entrance side and the side may be obtained. Figure 3 As shown, for parking space group 1, the reference parking space is parking space group 1, and the side length and the angle between the entrance side and the side of the reference parking space are the angle between the side corresponding to the line connecting endpoints 0 and 3 and the side corresponding to the line connecting endpoints 0 and 1, or the angle between the side corresponding to the line connecting endpoints 3 and 0 and the side corresponding to the line connecting endpoints 3 and 2. If the initial parking space is a rectangular parking space, the angle between the entrance side and the side of the reference parking space is 90°; if the initial parking space is a non-rectangular parking space, the angle between the entrance side and the side of the reference parking space is not 90°.

[0118] Specifically, after obtaining the angle between the entrance edge and the side edge of the reference parking space of the corresponding parking space group, the other edges of each initial parking space in the parking space group can be optimized according to the side edge length and the angle between the entrance edge and the side edge of the reference parking space, and the optimized initial parking space is obtained and displayed. The other edges are edges other than the entrance edge of the initial parking space. For example, Figure 3 As shown, for parking space group 1, the edge corresponding to the connecting line between endpoint 0 and endpoint 3 is the entrance edge, and the edge corresponding to the connecting line between endpoint 0 and endpoint 1, the edge corresponding to the connecting line between endpoint 1 and endpoint 2, and the edge corresponding to the connecting line between endpoint 2 and endpoint 3 are other edges.

[0119] Among them, the present application does not limit the process of optimizing the other sides of each initial parking space in the parking space group according to the side length of the reference parking space and the angle between the entrance side and the side, and obtaining and displaying the optimized initial parking space. Optionally, the process of optimizing the other sides of each initial parking space in the parking space group according to the side length of the reference parking space and the angle between the entrance side and the side, and obtaining and displaying the optimized initial parking space may include: first determining the corresponding side length threshold according to the angle between the entrance side and the side of the reference parking space. Among them, if the side length of the reference parking space is greater than or equal to the corresponding side length threshold, then optimizing the other sides of each initial parking space in the parking space group according to the side length of the reference parking space and the angle between the entrance side and the side of the reference parking space, and obtaining and displaying the optimized initial parking space. Among them, if the side length of the reference parking space is less than the corresponding side length threshold, the other sides of each initial parking space in the parking space group are optimized according to the corresponding side length threshold and the angle between the entrance edge and the side of the reference parking space, and the optimized initial parking space is obtained and displayed.

[0120] Specifically, the side length threshold refers to the threshold of the side length for optimizing the other sides of each initial parking space in the parking space group. If the angle between the entrance side and the side of the reference parking space is 90°, the side length threshold can be set to 5m; if the angle between the entrance side and the side of the reference parking space is not 90°, the side length threshold can be set to a value greater than 5m. Optionally, the specific value can be calculated based on the entrance side length x of the reference parking space and the angle θ between the entrance side and the side, and the obtained side length threshold can be set to 5m+x*cosθ.

[0121] Specifically, after the corresponding side length threshold is determined according to the above process, the process of optimizing other sides can be determined according to the size relationship between the side length of the reference parking space and the corresponding side length threshold. Wherein, if the side length of the reference parking space is greater than or equal to the corresponding side length threshold, the side length of the reference parking space can be determined as the length of the reference side, and the angle between the entrance side of the reference parking space and the side can be determined as the reference angle, and the other sides can be optimized, that is, according to the side length of the reference parking space and the angle between the entrance side of the reference parking space and the side, the other sides of each initial parking space in the parking space group are optimized. Wherein, if the side length of the reference parking space is less than the corresponding side length threshold, the side length threshold can be determined as the length of the reference side, and the angle between the entrance side of the reference parking space and the side can be determined as the reference angle, and the other sides can be optimized, that is, according to the side length threshold and the angle between the entrance side of the reference parking space and the side, the other sides of each initial parking space in the parking space group are optimized.

[0122] Figure 5This is an example comparison diagram before and after the optimization process provided for this application.

[0123] Among them, for Figure 5 In Figure (a1), Ego is the vehicle, Slot1-Slot3 are the three initial parking spaces in the parking space group, and Slot3 is the reference parking space. It shows that the parking space sizes of the three vertical initial parking spaces in the parking space group are inconsistent, and the angle between the entrance edge and the side edge of the reference parking space is 90°; Figure 5 In Figure (a2), Ego is the vehicle, Slot1-Slot3 are the three initial parking spaces in the parking space group, and Slot3 is the reference parking space. It shows that the three vertical initial parking spaces in the parking space group overlap, and the angle between the entrance edge and the side edge of the reference parking space is 90°; Figure 5 In Figure (a3), Ego is the vehicle, and Slot1-Slot3 are the three initial parking spaces in the parking space group after optimization.

[0124] Among them, for Figure 5 In Figure (b1), Ego is the vehicle, Slot1-Slot3 are the three initial parking spaces in the parking space group, and Slot3 is the reference parking space. It shows that the parking space sizes of the three vertical initial parking spaces in the parking space group are inconsistent, and the angle between the entrance edge and the side edge of the reference parking space is not 90°. Figure 5 In Figure (b2), Ego is the vehicle, Slot1-Slot3 are the three initial parking spaces in the parking space group, and Slot3 is the reference parking space. It shows that the three vertical initial parking spaces in the parking space group overlap, and the angle between the entrance edge and the side edge of the reference parking space is not 90°. Figure 5 In Figure (b3), Ego is the vehicle, and Slot1-Slot3 are the three initial parking spaces in the parking space group after optimization.

[0125] Among them, for Figure 5 Figure (c1) in the figure shows that Ego is a vehicle, Slot1- Slot2 are two initial parking spaces in the parking space group, and Slot2 is a reference parking space. It shows that the parking space sizes of the two horizontal initial parking spaces in the parking space group are inconsistent, and the angle between the entrance edge and the side edge of the reference parking space is 90°. Figure 5 In Figure (c2), Ego is the vehicle, Slot1-Slot2 are the two initial parking spaces in the parking space group, and Slot2 is the reference parking space. It shows that the two horizontal initial parking spaces in the parking space group overlap, and the angle between the entrance edge and the side edge of the reference parking space is 90°; Figure 5 In Figure (c3), Ego is the vehicle, and Slot1-Slot2 are the two initial parking spaces in the parking space group after optimization.

[0126] The embodiment of the present application provides a process in which, if the parking state of a vehicle is a parking space search state, the initial parking space in the corresponding parking space group is optimized according to the reference parking space, and the optimized initial parking space is obtained and displayed. The total length of the entrance sides of the initial parking spaces in the corresponding parking space group is obtained, and the entrance sides of the initial parking spaces in the parking space group are optimized according to the total length of the entrance sides of the initial parking spaces, the side length of the reference parking space in the corresponding parking space group and the angle between the entrance side and the side are obtained, and the other sides of the initial parking spaces in the parking space group are optimized according to the side length of the reference parking space and the angle between the entrance side and the side, and the optimized initial parking space is obtained and displayed. In the process of optimizing the initial parking space in the parking space group, different parameters of the initial parking space are optimized respectively in combination with different parameters of the reference parking space, thereby improving the rationality and pertinence of the optimization process and further improving the user experience during the automatic parking process.

[0127] In a possible embodiment, the parking state of the vehicle includes a parking space state. The parking space state indicates the stage in which the vehicle is parked in the target parking space selected by the user after the automatic parking function is turned on. The target parking space refers to the parking space to be parked selected by the user. The present application does not limit the determination of the target parking space. Optionally, the target parking space can be determined in response to the user's selection operation. The user's selection operation is an operation performed by the user based on the optimized initial parking space obtained and displayed in the parking space search state.

[0128] If the parking state of the vehicle is the parking space state, the corresponding reference parking space determination strategy is: if the parking space group includes the target parking space, the target parking space is determined as the reference parking space of the parking space group. If the parking space group does not include the target parking space, the first initial parking space searched by the vehicle in the parking space group is determined as the reference parking space of the parking space group.

[0129] Specifically, if the parking state of the vehicle is the parking space state, then for the parking space group where the target parking space is located, the reference of the target parking space is the strongest, so if the parking space group includes the target parking space, the target parking space is determined as the reference parking space of the parking space group. For other parking space groups, the first initial parking space searched by the vehicle is the strongest reference, so if the parking space group does not include the target parking space, the first initial parking space searched by the vehicle in the parking space group is determined as the reference parking space of the parking space group.

[0130] Among them, the process of determining the first initial parking space searched by the vehicle in the parking space group can refer to the description in the above embodiment, which will not be repeated here.

[0131] Figure 6 Schematic diagram of the process of the parking space display method provided in this application Figure 4 ,like Figure 5 As shown, in this embodiment Figure 1 or Figure 2 or Figure 4 Based on the embodiment, if the parking state of the vehicle is a parking space state, and the corresponding parking space group includes a target parking space, the initial parking space in the corresponding parking space group is optimized according to the reference parking space, and the process of obtaining and displaying the optimized initial parking space is described in detail, the method includes:

[0132] Step S601: Obtain the length of the entrance side, the length of the side side, and the angle between the entrance side and the side side of the reference parking space.

[0133] Specifically, the length of the entrance side, the length of the side, and the angle between the entrance side and the side of the reference parking space can be obtained. For the description of the entrance side, the side, and the angle between the entrance side and the side, please refer to Figure 4 The description in the embodiments will not be repeated here.

[0134] Step S602: Optimize other initial parking spaces in the parking space group according to the entrance side length, side side length and the angle between the entrance side and the side side of the reference parking space, obtain and display other initial parking spaces after optimization; and display the reference parking space.

[0135] Specifically, if the parking state of the vehicle is the parking space state, and the corresponding parking space group includes the target parking space, that is, the target parking space is the reference parking space of the parking space group, the target parking space is not optimized and is directly displayed.

[0136] Specifically, the other initial parking spaces in the parking space group may be optimized based on the entrance side length, side length, and the angle between the entrance side and the side of the reference parking space, and the other initial parking spaces after optimization may be obtained and displayed. Among them, the present application does not limit the process of optimizing the other initial parking spaces in the parking space group based on the entrance side length, side length, and the angle between the entrance side and the side of the reference parking space, and the other initial parking spaces after optimization may be obtained and displayed. Optionally, the other initial parking spaces in the parking space group may be optimized based on the entrance side length, side length, and the angle between the entrance side and the side of the reference parking space, and the other initial parking spaces after optimization may be obtained and displayed. The process of displaying the reference parking space may include:

[0137] First, the total length of the entrance edges of each initial parking space in the corresponding parking space group is obtained, and according to the total length of the entrance edges of each initial parking space in the corresponding parking space group and the entrance edge length of the reference parking space, the entrance edges of other initial parking spaces in the parking space group are optimized.

[0138] Secondly, according to the angle between the entrance edge and the side edge of the reference parking space, the corresponding side edge length threshold is determined.

[0139] Among them, if the side length of the reference parking space is greater than or equal to the corresponding side length threshold, then according to the side length of the reference parking space and the angle between the entrance edge and the side of the reference parking space, the other sides of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space.

[0140] Among them, if the side length of the reference parking space is less than the corresponding side length threshold, the other sides of each initial parking space in the parking space group are optimized according to the corresponding side length threshold and the angle between the entrance edge and the side of the reference parking space, and the optimized initial parking space is obtained and displayed.

[0141] The description of the total length of the entrance edge of each initial parking space in the parking space group may refer to the description in step S401, which will not be repeated here.

[0142] Specifically, after obtaining the total length of the entrance edges of each initial parking space in the corresponding parking space group, the entrance edges of each other initial parking space in the parking space group can be optimized according to the total length of the entrance edges of each initial parking space in the corresponding parking space group and the length of the entrance edge of the reference parking space. Among them, the present application does not limit the process of optimizing the entrance edges of each other initial parking space in the parking space group according to the total length of the entrance edges of each initial parking space in the corresponding parking space group and the length of the entrance edge of the reference parking space. Optionally, the number of initial parking spaces other than the reference parking space in the parking space group can be obtained first, and the difference between the total length of the entrance edges of each initial parking space in the parking space group and the length of the entrance edge of the reference parking space can be calculated, and then the ratio of the calculated interpolation to the number of initial parking spaces other than the reference parking space can be determined as the length of the entrance edges of the other initial parking spaces after optimization.

[0143] Among them, for the description of the process of determining the corresponding side length threshold according to the angle between the entrance side and the side of the reference parking space, reference may be made to the description in step S402, which will not be repeated here. For the description of the process of optimizing the other sides of each initial parking space in the parking space group according to the side length of the reference parking space and the angle between the entrance side and the side of the reference parking space if the side length of the reference parking space is greater than or equal to the corresponding side length threshold, and obtaining and displaying the optimized initial parking space according to the angle between the entrance side and the side of the reference parking space if the side length of the reference parking space is less than the corresponding side length threshold, and optimizing the other sides of each initial parking space in the parking space group according to the corresponding side length threshold and the angle between the entrance side and the side of the reference parking space, and obtaining and displaying the optimized initial parking space, reference may be made to the description in step S402, which will not be repeated here.

[0144] The embodiment of the present application provides a process in which, if the parking state of a vehicle is a parking state, and the corresponding parking space group includes a target parking space, the initial parking space in the corresponding parking space group is optimized according to a reference parking space, and the optimized initial parking space is obtained and displayed. By acquiring the entrance side length, the side side length and the angle between the entrance side and the side side of the reference parking space, other initial parking spaces in the parking space group are optimized according to the entrance side length, the side side length and the angle between the entrance side and the side side of the reference parking space, and the optimized other initial parking spaces are obtained and displayed; and the reference parking space is displayed. In the process of optimizing the initial parking spaces in the parking space group, if the parking space group includes the target parking space, the target parking space is not optimized, and the other initial parking spaces are optimized according to the target parking space. Therefore, on the basis of optimizing the parking space group, the authenticity of the target parking space is guaranteed, and on the basis of further improving the user experience during the automatic parking process, the accuracy of the automatic parking process is improved.

[0145] Optionally, if the parking state of the vehicle is the parking space state, and the corresponding parking space group does not include the target parking space, the initial parking space in the corresponding parking space group is optimized according to the reference parking space, and the process of obtaining and displaying the optimized initial parking space can refer to Figure 4 The description in the illustrated embodiment will not be repeated here.

[0146] Figure 7 A schematic diagram of the structure of the parking space display device provided in this application, such as Figure 7 As shown, the parking space display device 70 provided in this embodiment includes:

[0147] The acquisition module 701 is used to acquire environmental information of the location of the vehicle after the automatic parking function of the vehicle is turned on, and determine at least one initial parking space according to the environmental information;

[0148] The processing module 702 is used to group at least one initial parking space according to a preset parking space area division strategy and a common edge relationship determination strategy to obtain at least one parking space group; wherein the parking space group includes at least one initial parking space;

[0149] The determination module 703 is used to obtain the parking state of the vehicle and determine the reference parking space determination strategy corresponding to the parking space group according to the parking state;

[0150] The display module 704 is used to determine the reference parking space of the corresponding parking space group according to the reference parking space determination strategy, and optimize the initial parking space in the corresponding parking space group according to the reference parking space to obtain and display the optimized initial parking space.

[0151] In a possible embodiment, the processing module 702 is specifically used to perform parking space area division processing on the spatial area where the vehicle is located according to a preset parking space area division strategy to obtain a parking space area sequence; wherein the parking space area sequence includes at least one parking space area and a serial number of each parking space area; according to the parking space area sequence, at least one initial parking space is sorted to obtain an initial parking space sequence; wherein the initial parking space sequence includes the serial number of each initial parking space; according to a preset common edge relationship determination strategy, two initial parking spaces with adjacent serial numbers in the initial parking space sequence are sequentially subjected to common edge relationship determination processing, and at least one initial parking space is grouped according to the result of the common edge relationship determination processing to obtain at least one parking space group.

[0152] In a possible embodiment, the processing module 702 is further specifically used to obtain the center point position of the initial parking space, and determine the parking area to which the initial parking space belongs based on the center point position of the initial parking space; and sort at least one initial parking space based on the serial number of the parking area to which the initial parking space belongs and a preset sorting strategy to obtain the initial parking space sequence.

[0153] In a possible embodiment, the preset common edge relationship determination strategy includes one or more of the following: the difference between the entrance edges of two initial parking spaces with adjacent serial numbers is less than a difference threshold; the ratio of the distance between the midpoints of the entrance edges of two initial parking spaces with adjacent serial numbers to the total length of the entrance edges of the two initial parking spaces with adjacent serial numbers is within a preset ratio range threshold; at least one relative distance between two initial parking spaces with adjacent serial numbers is less than a preset distance threshold; the angle between two initial parking spaces with adjacent serial numbers is less than a preset angle threshold.

[0154] In a possible embodiment, the result of the common edge relationship determination processing includes that two initial parking spaces with adjacent serial numbers are common edge parking spaces, and two initial parking spaces with adjacent serial numbers are non-common edge parking spaces; the processing module 702 is further specifically used to determine that the two initial parking spaces with adjacent serial numbers as the result of the common edge relationship determination processing are common edge parking spaces as the same parking space group, and obtain at least one parking space group.

[0155] In a possible embodiment, the parking state of the vehicle includes a parking space search state; wherein, if the parking state of the vehicle is a parking space search state, the corresponding reference parking space determination strategy is: determining the first initial parking space searched by the vehicle in the parking space group as the reference parking space of the parking space group.

[0156] In a possible embodiment, if the parking state of the vehicle is a parking space search state, the display module 704 is specifically used to obtain the total length of the entrance edges of each initial parking space in the corresponding parking space group, and optimize the entrance edges of each initial parking space in the parking space group according to the total length of the entrance edges of each initial parking space; obtain the side length of the reference parking space in the corresponding parking space group and the angle between the entrance edge and the side edge, and optimize the other edges of each initial parking space in the parking space group according to the side length of the reference parking space and the angle between the entrance edge and the side edge, to obtain and display the optimized initial parking space; wherein the other edges are edges other than the entrance edge of the initial parking space.

[0157] In a possible embodiment, the display module 704 is further specifically used to determine a corresponding side length threshold according to the angle between the entrance edge and the side of the reference parking space; if the side length of the reference parking space is greater than or equal to the corresponding side length threshold, then according to the side length of the reference parking space and the angle between the entrance edge and the side of the reference parking space, the other sides of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space; if the side length of the reference parking space is less than the corresponding side length threshold, then according to the corresponding side length threshold and the angle between the entrance edge and the side of the reference parking space, the other sides of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space.

[0158] In a possible embodiment, the parking state of the vehicle includes a parking space state; wherein, if the parking state of the vehicle is a parking space state, the corresponding reference parking space determination strategy is: if the parking space group includes a target parking space, the target parking space is determined as the reference parking space of the parking space group; if the parking space group does not include the target parking space, the first initial parking space searched by the vehicle in the parking space group is determined as the reference parking space of the parking space group.

[0159] In a possible embodiment, if the parking state of the vehicle is a parking space state, and the corresponding parking space group includes a target parking space, the display module 704 is specifically used to obtain the entrance side length, side side length, and the angle between the entrance side and the side side of the reference parking space; optimize the other initial parking spaces in the parking space group according to the entrance side length, side side length, and the angle between the entrance side and the side side of the reference parking space, obtain and display the other initial parking spaces after optimization; and display the reference parking space.

[0160] In a possible embodiment, the display module 704 is further specifically used to obtain the total length of the entrance sides of each initial parking space in the corresponding parking space group, and optimize the entrance sides of each other initial parking space in the parking space group according to the total length of the entrance sides of each initial parking space in the corresponding parking space group and the entrance side length of the reference parking space; determine the corresponding side length threshold according to the angle between the entrance side and the side of the reference parking space; if the side length of the reference parking space is greater than or equal to the corresponding side length threshold, then optimize the other sides of each initial parking space in the parking space group according to the side length of the reference parking space and the angle between the entrance side and the side of the reference parking space, and obtain and display the optimized initial parking space; if the side length of the reference parking space is less than the corresponding side length threshold, then optimize the other sides of each initial parking space in the parking space group according to the corresponding side length threshold and the angle between the entrance side and the side of the reference parking space, and obtain and display the optimized initial parking space.

[0161] The parking space display device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0162] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 8 As shown, the electronic device 80 provided in this embodiment includes: at least one processor 801 and a memory 802. Optionally, the device 80 also includes a communication component 803. The processor 801, the memory 802 and the communication component 803 are connected via a bus 804.

[0163] In a specific implementation process, at least one processor 801 executes the computer-executable instructions stored in the memory 802, so that at least one processor 801 executes the above method.

[0164] The specific implementation process of the processor 801 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0165] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0166] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0167] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0168] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0169] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0170] The present application also provides a car, comprising an electronic device for implementing the above method.

[0171] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0172] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0173] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0174] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0175] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0176] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0177] 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.

[0178] Finally, it should be noted that those skilled in the art will readily conceive of 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, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for displaying a parking space, characterized in that: include: After the vehicle turns on the automatic parking function, obtain environmental information of the location of the vehicle, and determine at least one initial parking space according to the environmental information; According to a preset parking space area division strategy and a common edge relationship determination strategy, the at least one initial parking space is grouped to obtain at least one parking space group; wherein the parking space group includes at least one of the initial parking spaces; Acquiring a parking state of the vehicle, and determining a reference parking space determination strategy corresponding to the parking space group according to the parking state; According to the reference parking space determination strategy, a reference parking space of a corresponding parking space group is determined, and according to the reference parking space, an initial parking space in the corresponding parking space group is optimized to obtain and display the optimized initial parking space.

2. The method according to claim 1, characterized in that: According to the preset parking space area division strategy and the common edge relationship determination strategy, the at least one initial parking space is grouped to obtain at least one parking space group, including: According to a preset parking area division strategy, the space area where the vehicle is located is divided into parking areas to obtain a parking area sequence; wherein the parking area sequence includes at least one parking area and a sequence number of each parking area; According to the parking space area sequence, the at least one initial parking space is sorted to obtain an initial parking space sequence; wherein the initial parking space sequence includes a serial number of each initial parking space; According to the preset common edge relationship determination strategy, common edge relationship determination processing is performed on two initial parking spaces with adjacent serial numbers in the initial parking space sequence in turn, and the at least one initial parking space is grouped according to the result of the common edge relationship determination processing to obtain the at least one parking space group.

3. The method according to claim 2, characterized in that According to the parking space area sequence, the at least one initial parking space is sorted to obtain an initial parking space sequence, including: Acquire the center point position of the initial parking space, and determine the parking space area to which the initial parking space belongs according to the center point position of the initial parking space; According to the serial number of the parking space area to which the initial parking space belongs and a preset sorting strategy, the at least one initial parking space is sorted to obtain the initial parking space sequence.

4. The method according to claim 2, characterized in that: The preset common edge relationship determination strategy includes one or more of the following: The difference between the entrance edges of two initial parking spaces with adjacent serial numbers is less than the difference threshold; the ratio of the distance between the midpoints of the entrance edges of two initial parking spaces with adjacent serial numbers to the total length of the entrance edges of the two initial parking spaces with adjacent serial numbers is within the preset ratio range threshold; at least one relative distance between two initial parking spaces with adjacent serial numbers is less than the preset distance threshold; the angle between two initial parking spaces with adjacent serial numbers is less than the preset angle threshold.

5. The method according to claim 2, characterized in that: The result of the common edge relationship determination process includes that two initial parking spaces with adjacent serial numbers are common edge parking spaces, and two initial parking spaces with adjacent serial numbers are non-common edge parking spaces; The at least one initial parking space is grouped according to the result of the common edge relationship determination process to obtain the at least one parking space group, including: The result of the common edge relationship determination process is that two initial parking spaces with adjacent serial numbers are common edge parking spaces and are determined as the same parking space group to obtain the at least one parking space group.

6. The method according to any one of claims 1 to 5, characterized in that: The parking status of the vehicle includes a parking space search status; If the parking state of the vehicle is the parking space search state, the corresponding reference parking space determination strategy is: determining the first initial parking space searched by the vehicle in the parking space group as the reference parking space of the parking space group.

7. The method according to claim 6, characterized in that If the parking state of the vehicle is a parking space search state, optimizing the initial parking space in the corresponding parking space group according to the reference parking space, obtaining and displaying the optimized initial parking space, including: Obtaining the total length of the entrance edges of each initial parking space in the corresponding parking space group, and optimizing the entrance edges of each initial parking space in the parking space group according to the total length of the entrance edges of each initial parking space; The side length and the angle between the entrance side and the side of the reference parking space of the corresponding parking space group are obtained, and according to the side length and the angle between the entrance side and the side of the reference parking space, other sides of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space; wherein the other sides are sides other than the entrance side of the initial parking space.

8. The method according to claim 7, characterized in that According to the side length of the reference parking space and the angle between the entrance side and the side, other sides of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space, including: Determine a corresponding side length threshold according to the angle between the entrance edge and the side edge of the reference parking space; If the side length of the reference parking space is greater than or equal to the corresponding side length threshold, then according to the side length of the reference parking space and the angle between the entrance side and the side of the reference parking space, the other sides of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space; If the side length of the reference parking space is less than the corresponding side length threshold, then according to the corresponding side length threshold and the angle between the entrance edge and the side of the reference parking space, the other edges of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space.

9. The method according to any one of claims 1 to 5, characterized in that: The parking state of the vehicle includes a parking space state; Among them, if the parking state of the vehicle is the parked parking space state, the corresponding reference parking space determination strategy is: if the parking space group includes the target parking space, the target parking space is determined as the reference parking space of the parking space group; if the parking space group does not include the target parking space, the first initial parking space searched by the vehicle in the parking space group is determined as the reference parking space of the parking space group.

10. The method according to claim 9, characterized in that If the parking state of the vehicle is a parking space state, and the corresponding parking space group includes a target parking space, optimizing the initial parking space in the corresponding parking space group according to the reference parking space, obtaining and displaying the optimized initial parking space, including: Obtaining the length of the entrance side, the length of the side side, and the angle between the entrance side and the side side of the reference parking space; According to the entrance side length, side side length and the angle between the entrance side and the side side of the reference parking space, other initial parking spaces in the parking space group are optimized to obtain and display other initial parking spaces after optimization; and the reference parking space is displayed.

11. The method according to claim 10, characterized in that According to the entrance side length, side side length and the angle between the entrance side and the side side of the reference parking space, other initial parking spaces in the parking space group are optimized, and other initial parking spaces after optimization are obtained and displayed, including: Obtaining the total length of the entrance edges of each initial parking space in the corresponding parking space group, and optimizing the entrance edges of each other initial parking space in the parking space group according to the total length of the entrance edges of each initial parking space in the corresponding parking space group and the entrance edge length of the reference parking space; Determine a corresponding side length threshold according to the angle between the entrance edge and the side edge of the reference parking space; If the side length of the reference parking space is greater than or equal to the corresponding side length threshold, then according to the side length of the reference parking space and the angle between the entrance side and the side of the reference parking space, the other sides of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space; If the side length of the reference parking space is less than the corresponding side length threshold, then according to the corresponding side length threshold and the angle between the entrance edge and the side of the reference parking space, the other edges of each initial parking space in the parking space group are optimized to obtain and display the optimized initial parking space.

12. A parking space display device, characterized in that: include: An acquisition module, used to acquire environmental information of the location of the vehicle after the automatic parking function of the vehicle is turned on, and determine at least one initial parking space according to the environmental information; A processing module, configured to group the at least one initial parking space according to a preset parking space area division strategy and a common edge relationship determination strategy to obtain at least one parking space group; wherein the parking space group includes at least one of the initial parking spaces; A determination module, used for acquiring a parking state of a vehicle, and determining a reference parking space determination strategy corresponding to the parking space group according to the parking state; The display module is used to determine the reference parking space of the corresponding parking space group according to the reference parking space determination strategy, and optimize the initial parking space in the corresponding parking space group according to the reference parking space to obtain and display the optimized initial parking space.

13. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 11.

14. 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 11 when executed by a processor.

15. 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 11 when being executed by a processor.

16. A vehicle, characterized in that: The invention comprises an electronic device for implementing the method according to any one of claims 1 to 11.

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