Automatic parking method, target vehicle and computer readable storage medium

Abstract

The invention discloses an automatic parking method, a target vehicle and a computer readable storage medium. The method relates to the field of target vehicles, and comprises the following steps: starting an automatic parking function in response to a received automatic parking instruction; determining that the distance between the mobile terminal associated with the target vehicle and the target vehicle is greater than a preset distance threshold; and / or, it is determined that the face area of a user associated with the vehicle-mounted machine account is lower than a threshold value through an image shot by a vehicle-mounted camera of the target vehicle, and the mobile terminal associated with the target vehicle is the mobile terminal corresponding to the vehicle-mounted machine account currently logging in the target vehicle; the parking image data of the target vehicle is transmitted to the mobile terminal, and the parking image data is used for displaying the automatic parking process of the target vehicle on the mobile terminal. According to the invention, the technical problem of poor user experience of automatic parking in related technologies is solved.

Description

Technical Field

[0001] The present invention relates to the field of target vehicles, and in particular to an automatic parking method, a target vehicle and a computer-readable storage medium. Background Art

[0002] With the improvement of economic level, target vehicles have become more and more popular. More and more individuals and families have purchased target vehicles as daily commuting tools, and some individuals and families have even purchased multiple target vehicles to meet the needs of daily life. With the rapid development of the target vehicle industry, more and more users no longer use target vehicles as a commuting tool. Users have higher requirements for the functions of target vehicles, and automatic parking is one of the user's needs. In the related art, it is difficult for users to know the specific status of parking after the target vehicle automatically parks, resulting in poor use of the parking function.

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

[0004] The embodiments of the present invention provide an automatic parking method, a target vehicle, and a computer-readable storage medium to at least solve the technical problem of poor user experience of automatic parking in the related art.

[0005] According to one aspect of an embodiment of the present invention, an automatic parking method is provided, comprising: in response to receiving an automatic parking instruction, starting an automatic parking function; determining that the distance between a mobile terminal associated with a target vehicle and the target vehicle is greater than a preset distance threshold; and / or determining that the face area of ​​a user associated with a vehicle-mounted account recognized by an image captured by an on-board camera of the target vehicle is lower than a threshold, wherein the mobile terminal associated with the target vehicle is a mobile terminal corresponding to the vehicle-mounted account currently logged in to the target vehicle; transmitting parking image data of the target vehicle to the mobile terminal, wherein the parking image data is used to display the process of automatic parking of the target vehicle on the mobile terminal.

[0006] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0007] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0008] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0009] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0010] Through the above steps, in response to receiving the automatic parking instruction, the automatic parking function is started; it is determined that the distance between the mobile terminal associated with the target vehicle and the target vehicle is greater than a preset distance threshold; and / or it is determined that the face area of ​​the user associated with the vehicle account recognized by the image captured by the vehicle camera of the target vehicle is lower than the threshold, wherein the mobile terminal associated with the target vehicle is the mobile terminal corresponding to the vehicle account currently logged in to the target vehicle; the parking image data of the target vehicle is transmitted to the mobile terminal, wherein the parking image data is used to display the process of automatic parking of the target vehicle on the mobile terminal, thereby improving the user experience of automatic parking; it is easy to notice that the system can accurately determine whether the user needs parking image data by intelligently analyzing the real-time location and observation status of the user, thereby avoiding unnecessary information push, making information transmission more timely and effective, meeting the user's remote monitoring needs for the parking process, and enhancing the user's perception and trust in the automatic parking function, thereby achieving the technical effect of improving the user experience, and then solving the technical problem of poor user experience of automatic parking in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0012] Figure 1 is a flow chart of an automatic parking method according to an embodiment of the present invention;

[0013] Figure 2 is a flowchart of another optional automatic parking method according to an embodiment of the present invention;

[0014] Figure 3 is a schematic structural diagram of an optional automatic parking device according to an embodiment of the present invention;

[0015] Figure 4 is a schematic diagram of interaction between a target vehicle and a mobile terminal according to an embodiment of the present application;

[0016] Figure 5 is a schematic diagram of parking image data according to an embodiment of the present application;

[0017] Figure 6 is a schematic diagram of another parking image data according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0020] According to an embodiment of the present invention, an embodiment of an automatic parking method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0021] The embodiment of the present application provides an automatic parking method. The automatic parking method can be used to provide an automatic parking function for preset application scenarios. The above-mentioned preset application scenarios may include the following scenarios in the vehicle field: commuting automatic driving scenarios, artificial intelligence (AI) driving scenarios for family cars, automatic parking assistance (APA) scenarios (such as memory parking for owned parking spaces in garages, smart parking for designated parking spaces in parking lots, etc.), and intelligent navigation assistance (Navigation Guided Pilot, NGP) scenarios in urban areas or high-speed areas. In addition, the above-mentioned preset application scenarios may also include, but are not limited to: automatic parking scenarios for smart driving trucks or unmanned trucks in the field of logistics and transportation, automatic parking scenarios for self-driving agricultural vehicles in the agricultural field, automatic parking scenarios for drones, and automatic warehousing scenarios for intelligent robots (such as cleaning robots, service robots, delivery robots, etc.).

[0022] When the above-mentioned preset application scenario is a scenario in a field other than the target vehicle field, those skilled in the art should be able to understand that the target vehicle in the above-mentioned automatic parking method can be replaced with other objects (such as drones, robots, etc.), and accordingly, the parking lot can be replaced with parking areas related to other objects. On this basis, in the embodiment of the present application, the specific implementation of the above-mentioned automatic parking method is exemplified by taking the target vehicle field as an example.

[0023] Figure 1 is a flow chart of an automatic parking method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0024] Step S102, in response to receiving the automatic parking instruction, starting the automatic parking function.

[0025] The above-mentioned target vehicle refers to a target vehicle with an automatic parking function, and the above-mentioned target vehicle can be parked by automatic parking after the user gets off the vehicle, wherein the above-mentioned target vehicles include but are not limited to: electric vehicles, electric trucks, electric trucks, electric buses, gasoline-powered vehicles, gasoline-powered trucks, gasoline-powered trucks, gasoline-powered buses, hybrid vehicles, hybrid-powered trucks, hybrid-powered trucks or hybrid-powered buses, etc.

[0026] The above parking instruction is a signal or command that can be triggered by a variety of methods, including but not limited to voice instructions, touch instructions, gesture recognition instructions, voice shortcut instructions, distance sensing instructions, and door handle touch instructions. The triggering methods of these instructions cover in-vehicle operations and remote control after leaving the vehicle, reflecting the flexibility and extensiveness of instruction reception.

[0027] Voice command: Users can issue commands to the built-in voice assistant of the target vehicle or the voice assistant on the mobile device, such as "start parking", "automatic parking" or "find a parking space", and the system will recognize and execute the corresponding parking operation. This method is particularly suitable for use when the user is far away from the target vehicle, and parking can be initiated without physical contact.

[0028] Touch control command on mobile terminal: After leaving the target vehicle, the user can select the target parking space and issue parking command through the application on the smartphone or the shortcut function of the operating system, such as notification bar, smart island, etc. This method makes full use of the portability and networking capabilities of mobile devices, allowing users to remotely control the parking process even if they are far away from the target vehicle.

[0029] Car-side touch commands: In the car, users can select the target parking space and confirm the parking command through the interactive display interface of the car. This is a traditional operation method, but it provides intuitive parking space selection and parking start functions before the user leaves the car.

[0030] Gesture recognition commands: The target vehicle’s camera can recognize specific user gestures as a trigger for parking commands. For example, the user can make a preset gesture, such as waving or a specific sequence of gestures, to initiate automatic parking. This operation can still be used after the user leaves the target vehicle, providing new possibilities for inputting parking commands.

[0031] Voice Shortcuts: For Apple device users, the shortcut function allows you to say specific voice commands, such as "Park my car", to start the parking process. This fully utilizes the convenience of smart voice assistants, making parking control more intelligent and user-friendly.

[0032] Distance sensing command: Through the ultra-wideband wireless communication technology of the target vehicle, when the mobile device carried by the user leaves the target vehicle at a certain distance, the parking procedure is automatically triggered. This method utilizes the high-precision distance measurement capability to achieve automatic parking start without active user operation.

[0033] Door handle capacitive switch command: When the user touches the capacitive sensor on the door handle of the target vehicle when leaving the target vehicle, the target vehicle automatically starts the parking process after sensing the user's departure signal. This is an intuitive and user-friendly way to start parking, especially when the mobile device carried by the user cannot use Bluetooth or network connection.

[0034] The above-mentioned automatic parking command refers to the command issued by the user to the target vehicle system through the in-vehicle large screen, voice assistant, mobile phone application or other interactive methods, requiring the target vehicle to automatically find and park in a suitable parking space. When the user has a parking demand, the user can trigger this command through simple operation to start the automatic parking function.

[0035] When the user is in the car or out of the car, he / she sends an automatic parking command to the target vehicle system through various interactive methods (such as clicking on the large screen on the car, voice control, and mobile phone application touch). After receiving the automatic parking command, the target vehicle system begins to respond, including but not limited to: starting the target vehicle's surround view camera and radar system to capture real-time images and distance data of the surrounding environment; activating the target vehicle's automatic parking control unit to prepare for the parking task; checking the target vehicle's status to ensure that it is in the appropriate conditions for preparing for parking, such as engaging the appropriate gear and confirming that there are no obstacles around the target vehicle. After the system completes the above preparations, the automatic parking function is officially started. The target vehicle begins to look for a suitable parking space. This process may be based on the real-time data captured by the target vehicle's sensors (such as cameras and radars), using the target vehicle's positioning and environmental recognition technology to automatically identify and select a suitable parking space. After determining the target parking space, the target vehicle system controls the target vehicle's steering, acceleration, braking and other actions, so that the target vehicle automatically drives to the target parking space and performs parking operations until it is completely parked in the parking space.

[0036] For example, the user can select the automatic parking function on the large screen in the car and issue the automatic parking command through touch or voice command. The system responds to the command, activates the surround camera and radar system of the target vehicle, starts to analyze the surrounding environment, and identifies available parking spaces. The user then gets out of the car and closes the door, and the automatic parking program of the target vehicle is started. According to the surrounding environment and the pre-selected parking space, the target vehicle automatically adjusts its position and finally parks in the target parking space. During this process, the user can monitor the parking progress of the target vehicle in real time through the mobile phone application to ensure the safety of the parking process.

[0037] Through the above steps, users can start the automatic parking function in a simple way without complicated manual operations, saving time and energy. The target vehicle system can automatically identify parking spaces in the surrounding environment, avoiding the trouble of users looking for parking spaces and improving the efficiency and accuracy of parking. Especially at night, in low light or crowded parking lots, the advantages of the automatic parking function are more obvious. It can help users quickly locate available parking spaces and park safely, improving the driving experience and the intelligence level of the target vehicle.

[0038] The activation of the automatic parking function has become more user-friendly. Users only need to perform simple operations to activate the automatic parking program without having to manually search for parking spaces or perform parking operations in complex environments. This significantly improves the parking experience and also demonstrates the potential of the target vehicle's intelligent technology in improving driving safety, convenience and user experience.

[0039] The target parking space can be determined based on the automatic parking function. The target parking space refers to the parking space that the user wants the target vehicle to park in, which is determined by the target vehicle system based on the parking instruction after receiving the parking instruction. The parking space can be automatically identified by the target vehicle's perception system around the target vehicle, or it can be manually selected by the user through the in-car screen or mobile device.

[0040] The above-mentioned environmental images refer to the environmental images inside the target vehicle. These images can be used to monitor whether there are people or other obstacles in the vehicle, ensure that the target vehicle executes parking instructions when no one is in the vehicle, and ensure safety.

[0041] The above-mentioned mobile terminal refers to a device associated with the target vehicle, which can receive parking image data and other information sent by the target vehicle, including but not limited to smart phones, smart watches, tablet computers, etc. These mobile terminals communicate with the cloud platform of the target vehicle through network connection to achieve remote monitoring and control.

[0042] The above-mentioned parking image data refers to the images of the target vehicle's surrounding environment acquired by the external camera on the target vehicle. These images are transmitted to the mobile terminal in real time during the automatic parking process, allowing the user to view the parking process in real time and take necessary intervention measures to ensure the safety and accuracy of parking.

[0043] In an optional embodiment, after receiving the parking instruction, the environmental perception system (including cameras, radars, etc.) of the target vehicle starts working, and identifies and marks all available parking spaces based on the current position and surrounding environment of the target vehicle. The system presents this parking space information on the interactive display interface of the target vehicle or the user's mobile device for the user to choose. The perception system of the target vehicle can automatically identify suitable parking spaces. This recognition process takes into account factors such as the size, shape, whether it is occupied, and the distance from the current position of the target vehicle. The user can select a target parking space from the list of parking spaces identified by the system and issue a confirmation instruction through touch, voice, or gesture. After the confirmation instruction is received by the target vehicle system, the parking space will be used as the parking target.

[0044] Through the above steps, the user can use the most suitable command sending method according to his own environment and preferences. At the same time, the system's automatic identification of parking spaces is combined with user confirmation to avoid parking failures caused by improper selection of target parking spaces. In addition, the linkage mechanism between parking commands and user status ensures that the system will start parking only after the user safely leaves the target vehicle, thereby improving the safety of the automatic parking process and user experience.

[0045] For example, the user uses the voice command "start leaving the car and parking in" in the car, and the voice recognition system of the target vehicle receives and interprets the command. The car computer then presents the available parking spaces around on the display interface, and the user can select one of the parking spaces and confirm. After confirmation, the target vehicle will monitor whether the user has safely left the target vehicle, and check whether the user's mobile phone has exceeded the safe distance. Once all conditions are met, the target vehicle will automatically park at the target parking space selected by the user, and at the same time, the parking image data of the target vehicle's surrounding environment will be obtained in real time through the external camera on the target vehicle, and these images will be transmitted to the user's mobile phone application, thereby improving the user experience of automatic parking. This highly perceptive and user-friendly parking process solves the problem of poor user experience of automatic parking in related technologies. Through real-time image feedback and safe distance monitoring, it greatly improves the user's sense of security and trust in the automatic parking system.

[0046] Step S104, determining that the distance between the mobile terminal associated with the target vehicle and the target vehicle is greater than a preset distance threshold; and / or determining that the facial area of ​​the user associated with the vehicle account recognized by the image captured by the on-board camera of the target vehicle is lower than a threshold.

[0047] Among them, the mobile terminal associated with the target vehicle is the mobile terminal corresponding to the vehicle computer account currently logged in to the target vehicle.

[0048] The above steps are the key mechanism for determining whether it is necessary to send parking image data to the user's mobile terminal.

[0049] After the vehicle-mounted camera captures images during the parking function, the vehicle-mounted camera of the target vehicle starts to work and captures images of the target vehicle's surroundings, including images that may contain the user's face.

[0050] The above-mentioned face recognition and area analysis is that the system analyzes the image captured by the vehicle-mounted camera, identifies whether it contains the face of the user associated with the mobile terminal, and calculates the area of ​​the face in the image.

[0051] The above-mentioned determination of the face status is that the system checks whether the recognized face area is lower than a preset threshold, which may be a face area threshold. The above-mentioned lower than the preset threshold may also determine that the user's face is not recognized at all. The above-mentioned parking image data sending decision is that if the system determines that the user's face area is lower than the threshold or the face is not recognized at all, it means that the user may not turn back to pay attention to the parking situation of the target vehicle. At this time, the system sends the parking image data to the user's mobile phone so that the user can remotely monitor the parking process. On the contrary, if the recognized face area is larger, it means that the user is paying attention to the parking process, and the system may not need to send the parking image data.

[0052] The above-mentioned below-threshold covers multiple application scenarios, including both the situation where the face is not recognized and the situation where the area of ​​the recognized face does not meet the preset standard. Below the threshold usually refers to a measurement method for the system to analyze and judge whether the data under specific conditions meets the preset standard. When the system performs face detection and area analysis based on the image captured by the on-board camera of the target vehicle, below the threshold means that the area of ​​the face recognized by the system in the image is not enough to ensure the user's effective attention to the parking process. Specifically, if the system fails to recognize the face of the user associated with the car account at all, this is regarded as an extreme case of below the threshold, that is, the face area is zero, which obviously does not meet the preset standard. On the other hand, even if the system recognizes a face, but its area is much smaller than the preset face area threshold, this also falls into the category of below the threshold, indicating that the user may be facing away from the vehicle or distracted, and fails to effectively pay attention to the parking process.

[0053] In an optional embodiment, the user selects the "leave the car and park in" function and starts the parking process by clicking on the large screen, using a voice assistant, or using a mobile phone application. After the user gets off the car, the system analyzes the image captured by the on-board camera to determine whether the user has turned back to pay attention to the parking situation. If the system recognizes that the user has turned back but the face area is small, it may mean that the user has turned back, but due to the long distance, angle problems, or other factors, he or she cannot clearly observe the parking process. At this time, the system will send the parking image data to the user's mobile phone application to ensure that the user can remotely monitor the parking progress and understand the parking situation of the target vehicle. On the contrary, if the system recognizes that the user's face area is large, it means that the user has turned back near the target vehicle and can clearly observe the parking situation. The system may determine that there is no need to send parking image data to save resources and bandwidth.

[0054] The above steps analyze the user's facial state in the image captured by the vehicle camera and intelligently determine whether it is necessary to send parking image data to the user's mobile terminal, thereby ensuring that the user fully perceives and controls the parking process and avoiding unnecessary resource consumption. When the user does not turn around or turns around but cannot clearly observe the parking situation, the parking image data is automatically sent to ensure that the user can remotely monitor the parking progress, which increases the practicality, safety and user experience of the automatic parking function.

[0055] The above mechanism enhances the safety and user-friendliness of the automatic parking function. Through accurate face recognition and area analysis, the system can intelligently determine whether the user is paying attention to the parking process, and thus decide whether to send parking image data. This not only avoids the repeated sending of image data when the user has clearly observed the parking process, reducing resource consumption and network bandwidth usage, but also ensures that when the user does not look back or looks back but cannot clearly observe the parking process, the user can obtain parking image data in time and understand the progress of parking, thereby improving the user's sense of control and trust in the parking function. In addition, this mechanism can also help users park safely and efficiently in various complex environments, especially in the case of insufficient light, obstructed vision, or potential obstacles such as pedestrians and other target vehicles around the target vehicle. By remotely monitoring the parking image data, users can take timely measures to ensure the safety of the parking process.

[0056] For example, a user leaves the car and parks in an underground parking lot. The user clicks on the large screen to start the parking function, then gets out of the car and walks towards the parking lot exit. The system continuously captures environmental images around the target vehicle through the on-board camera and analyzes the user's face that may be contained therein. If the system recognizes that the user is looking back, but the face area is small, it means that the user has turned back but may not be able to clearly observe the parking process due to distance, angle or light problems. At this time, the system will automatically send the parking image data to the user's mobile phone application, and the user can remotely monitor the parking progress through the application to ensure parking safety. On the contrary, if the system recognizes that the user is looking back and the face area is large, it means that the user is looking back near the target vehicle and can clearly observe the parking process. At this time, the system may determine that there is no need to send parking image data, saving resources and network bandwidth, while ensuring that the user has direct perception and control of the parking process.

[0057] The above process fully demonstrates the intelligence and user-friendliness of the automatic parking system. Through the analysis of facial status, the system can intelligently determine whether it is necessary to send parking image data, which not only ensures the user's full perception of the parking process, but also avoids waste of resources. Especially in the scene of leaving the car and parking in, this mechanism can significantly improve the safety of parking and user experience.

[0058] The above mechanism not only improves the safety and efficiency of parking, but also enhances the user-friendliness and intelligence of the automatic parking function. Through accurate face recognition and area analysis, the system can intelligently determine whether the user is paying attention to the parking process, and decide whether to send parking image data accordingly. This decision-making mechanism ensures that the parking image data can be obtained in a timely manner when the user needs it, and understands the parking progress and the surrounding environment of the target vehicle, thereby improving the sense of control and trust in the parking function, especially for the scene of leaving the car and parking in. This mechanism can significantly improve the parking experience. At the same time, by avoiding sending redundant image data when the user has clearly observed the parking process, resource consumption and network bandwidth occupation are reduced, and the overall operation efficiency and user satisfaction of the system are improved.

[0059] The above steps are not only an important supplement to the realization of the automatic parking system function, but also reflect the intelligent decision-making logic, which can intelligently adjust the function response according to the user's behavior status, ensuring the practicality of the function and reflecting the accurate grasp of user needs. The introduction of this mechanism not only improves the safety and efficiency of automatic parking, but also enhances the user experience, promotes the innovative application of smart car technology in the parking field, and provides new technical paths and solutions for the development of the smart car field. Through this mechanism, the user perception and intelligent response capabilities of the automatic parking function have been significantly improved, providing users with a safer, more convenient and intelligent parking experience.

[0060] Step S106, transmitting the parking image data of the target vehicle to the mobile terminal.

[0061] Among them, the parking image data is used to display the automatic parking process of the target vehicle on the mobile terminal.

[0062] The above steps are intended to enhance the user experience during automatic parking and ensure that users can understand the parking status of the target vehicle in a timely and accurate manner, especially in the scenario of leaving the vehicle and parking in.

[0063] The above-mentioned parking image data refers to the image information of the target vehicle's surrounding environment captured by the on-board camera and other video acquisition equipment during the target vehicle's automatic parking process, including the entire process of the target vehicle parking into the parking space. These image data can be real-time video streams or interval-shot image sequences, which are used to reflect the target vehicle's position, changes in the surrounding environment, and parking status during the parking process.

[0064] The mobile terminal mentioned above may refer to a smart device carried by a user, such as a smart phone, a smart watch, etc., which can receive parking image data from the target vehicle. In this scenario, the mobile terminal specifically refers to the mobile phone of the user corresponding to the current account logged into the target vehicle.

[0065] The above-mentioned image data collection can be performed after the automatic parking function is started, and the on-board camera on the target vehicle starts to record the parking process and generate parking image data.

[0066] The above transmission decision is that the system determines whether the user needs to receive parking image data by analyzing the user's behavior (such as whether the user looks back, etc.). If the user looks back and can clearly see the parking process, the system may determine that there is no need to send the image data; conversely, if the user does not look back, or looks back but cannot see the parking process, the system will decide to send the parking image data.

[0067] The above data transmission is based on the transmission decision. The system transmits the parking image data to the user's mobile phone application through the established communication connection.

[0068] In the scenario of leaving the car and parking, the user selects the parking position on the large screen in the car, activates the parking function by clicking to confirm or voice command, and then gets out of the car. The system monitors the user's behavior through the on-board camera. If the user looks back and can clearly see the parking process, the system determines that the user has mastered the parking situation and may not need to send parking image data. However, if the user does not look back, or looks back but cannot see the parking process (possibly due to distance, angle or ambient light issues), the system transmits the parking image data to the user's mobile phone application, allowing the user to remotely monitor the parking process to ensure safe and successful parking.

[0069] The above steps realize the intelligent transmission of parking image data, avoiding unnecessary information push, saving resources and improving user experience. By dynamically analyzing the user's behavior status, the system can accurately determine the user's perception of the parking process and decide whether to send parking image data accordingly. This decision-making mechanism ensures that users can obtain parking information in a timely manner when needed, enhancing their sense of control and trust in the parking function.

[0070] For example, a user uses the parking function in the underground parking lot of a shopping mall. After the user confirms the parking space through the large screen, the automatic parking is triggered, the car door is closed, and the user walks to the entrance of the mall. During this process, the on-board camera continuously monitors the user's behavior. If the system recognizes through the camera that the user looks back to observe the parking process, and can judge from the user's actions and expressions that the user has a clear perception of the parking progress, the system may decide not to send the parking image data to save resources. However, if the system recognizes that the user does not look back, or looks back but cannot clearly observe the parking process due to dim light or the angle of the target vehicle position, the system will decide to send the parking image data to the user's mobile phone application. The user can view the parking process through the mobile phone application in the mall, and can ensure the safety and success of parking even in low light or obstructed vision. After parking is completed, the system pushes the parking completion information, including the image of the final parking position, so that the user can have an intuitive understanding of the parking result.

[0071] The above process realizes the accurate transmission of parking image data by intelligently judging the user's perception of the parking process, which not only ensures the practicality of the function, but also reflects the accurate grasp of user needs. Through this mechanism, the automatic parking function not only improves the safety and efficiency of parking, but also significantly enhances the user experience, especially in the scene of leaving the car and parking in. This mechanism can effectively improve the intelligence and controllability of parking, promote the development and application of intelligent parking technology, and provide new ideas for technological innovation in the field of intelligent vehicles.

[0072] Through the above steps, resource management during the automatic parking process is improved, and the user experience and safety are significantly improved. Through intelligent analysis of user behavior, the system can determine the user's perception of the parking process and decide whether to send parking image data accordingly, avoiding unnecessary information push, saving resources and improving the efficiency and accuracy of information transmission. In addition, this mechanism ensures that parking information can be obtained in a timely manner when the user needs it, enhancing the sense of control and trust in the parking function, especially in the scene of leaving the car and parking in, the user can monitor the parking progress in real time while staying away from the target vehicle, understand whether the parking is smooth, and the location and surrounding environment of the target vehicle after parking, thereby improving the safety of parking and the convenience of users. Through this mechanism, the automatic parking function realizes a more intelligent, efficient and user-friendly parking experience.

[0073] Through the above steps, in response to receiving the automatic parking instruction, the automatic parking function is started; it is determined that the distance between the mobile terminal associated with the target vehicle and the target vehicle is greater than a preset distance threshold; and / or it is determined that the face area of ​​the user associated with the vehicle account recognized by the image captured by the vehicle camera of the target vehicle is lower than the threshold, wherein the mobile terminal associated with the target vehicle is the mobile terminal corresponding to the vehicle account currently logged in to the target vehicle; the parking image data of the target vehicle is transmitted to the mobile terminal, wherein the parking image data is used to display the process of automatic parking of the target vehicle on the mobile terminal, thereby improving the user experience of automatic parking; it is easy to notice that the system can accurately determine whether the user needs parking image data by intelligently analyzing the real-time location and observation status of the user, thereby avoiding unnecessary information push, making information transmission more timely and effective, meeting the user's remote monitoring needs for the parking process, and enhancing the user's perception and trust in the automatic parking function, thereby achieving the technical effect of improving the user experience, and then solving the technical problem of poor user experience of automatic parking in related technologies.

[0074] In the above embodiment of the present application, the facial area of ​​the user associated with the vehicle computer account is identified to be lower than a threshold, including: the facial image of the user associated with the vehicle computer account is not identified in the image, or the facial area of ​​the user associated with the vehicle computer account is identified in the image to be lower than 50% of the preset facial area.

[0075] In this embodiment, the onboard camera of the target vehicle is used to monitor the behavior of the user associated with the mobile terminal to further confirm whether the parking image data needs to be transmitted to the user.

[0076] After the automatic parking function is activated, the target vehicle's onboard camera starts working and continuously captures images of the environment around the target vehicle. These images will be used to analyze the user's position and observation status.

[0077] The above-mentioned face recognition and area analysis is that the system analyzes the image captured by the vehicle camera, identifies whether it contains the face of the user associated with the mobile terminal, and calculates the area of ​​the face in the image. The area will be compared with the preset face area threshold.

[0078] The above-mentioned decision to send parking image data is that if the face of the user associated with the mobile terminal is not recognized in the image taken by the vehicle camera, or even if it is recognized, the face area is lower than 50% of the preset area threshold, the system believes that the user may not have turned back to pay attention to the parking process, or turned back but failed to effectively observe the parking situation. At this time, the system will decide to transmit the parking image data to the user's mobile terminal to ensure that the user can remotely monitor the parking progress and understand whether the parking is completed successfully.

[0079] In an optional embodiment, the user selects a parking location on the large screen inside the car and activates the automatic parking function by clicking to confirm or using voice commands. After the user gets off the car, the on-board camera continues to monitor the situation around the target vehicle, especially the user's behavior. If the user's face is not recognized in the image captured by the on-board camera, or even if the user's face is recognized, but the area is less than 50% of the preset area threshold, the system will determine that the user may not have turned around or turned around to fail to effectively observe the parking situation, and then send the parking image data to the user's mobile phone application. The user can remotely monitor the parking progress through the mobile phone to ensure the safety and smoothness of the parking process.

[0080] By dynamically monitoring the user's behavior, the transmission of parking image data is ensured to be more intelligent and timely. By analyzing the area of ​​the user's face in the image captured by the vehicle camera, the system can accurately determine the user's perception of the parking process and decide whether to send parking image data. This decision-making mechanism avoids the situation where the image data is repeatedly sent when the user has effectively observed the parking process, reducing resource consumption and network bandwidth usage, while ensuring that the user can obtain parking information in a timely manner when needed, enhancing the sense of control and trust in the parking function.

[0081] For example, a user uses the automatic parking function in an underground parking lot in a shopping mall. After the user confirms the parking space through the large screen, the automatic parking is triggered, the car door is closed, and the user walks to the entrance of the mall. During this process, the on-board camera continues to monitor the user's behavior. If the on-board camera does not recognize the user's face in the image taken after the user gets off the car, or the recognized face area is less than 50% of the preset area threshold, this means that the user may not have looked back to observe the parking process, or looked back but failed to observe effectively. At this time, the system transmits the parking image data to the user's mobile phone application. The user monitors the parking process in real time through the mobile phone application in the mall, understands the progress of the target vehicle parking into the parking space, and ensures the safety and success of parking even in low light or obstructed vision. After parking is completed, the user receives parking completion information through the mobile phone application, including the location of the target vehicle after parking and the surrounding environment image.

[0082] This process achieves accurate transmission of parking image data by intelligently judging the user's perception of the parking process, which not only ensures the practicality of the function, but also reflects the accurate grasp of user needs. By analyzing the images taken by the on-board camera, the system can determine whether the user needs to remotely monitor the parking process, avoid unnecessary information push, improve the efficiency and accuracy of information transmission, and thus solve the technical problem of poor user experience of automatic parking in related technologies. Through this mechanism, the automatic parking function not only improves the safety and efficiency of parking, but also significantly enhances the user experience.

[0083] In the above embodiment of the present application, the facial area of ​​the user associated with the vehicle-mounted account is recognized to be lower than a threshold value through the image captured by the on-board camera of the target vehicle, including: obtaining the position of the mobile terminal associated with the target vehicle relative to the target vehicle; according to the position, continuously obtaining the environmental image collected by at least one on-board target camera corresponding to the position; starting the timing from the receipt of the automatic parking instruction, and recognizing in the environmental image that the facial area of ​​the user associated with the vehicle-mounted account is lower than the threshold value within a first time period; or starting the timing from the time after the receipt of the automatic parking instruction reaches a second time period, and recognizing in the environmental image that the facial area of ​​the user associated with the vehicle-mounted account is lower than the threshold value within a third time period.

[0084] The above positions can be moved and changed, so the vehicle needs to intelligently select the appropriate on-board camera for image acquisition according to the change of the user's position to achieve a better face detection effect. After the automatic parking function is activated, the system continues to track the location information of the mobile terminal (such as the user's mobile phone) associated with the target vehicle. This information can reflect the real-time distance between the user and the vehicle, as well as the user's moving direction. According to the real-time location of the mobile terminal, the system intelligently selects at least one on-board target camera to collect environmental images. For example, if the user is moving in front of the vehicle, the system will give priority to using the camera at the front of the vehicle for acquisition; if the user walks backward, the system switches to the rear or surround view camera to ensure that the user's face image can be captured. The system starts timing, and starts face area detection in the third time period from the first time period when the automatic parking instruction is received, or after the second time period after the instruction is received. If the recognized face area is lower than the preset threshold, this may mean that the user is far away from the vehicle, facing away from the vehicle, or distracted, and the parking process cannot be effectively monitored.

[0085] Furthermore, when the system determines that the user's facial area is below a threshold, it will automatically transmit parking image data to the user's mobile terminal to ensure that the user can view the parking progress and surrounding environment in real time through the mobile phone. Even if the user fails to pay continuous attention to the parking process, remote monitoring can enhance the user's perception and trust in the parking function.

[0086] When the user's position can move and change, the intelligent selection of the appropriate on-board camera for image acquisition not only improves the accuracy of face detection, but also ensures that the user's face information can be continuously captured when the distance between the user and the vehicle changes. This intelligent adjustment mechanism enables the system to adapt to the behavior patterns and needs of different users, improves the transmission strategy of parking image data, and improves the efficiency and accuracy of information transmission, thereby significantly improving the user satisfaction and safety of the automatic parking function.

[0087] In an embodiment of the present application, in order to further enhance the user experience of automatic parking, the system adopts an intelligent image data transmission strategy based on user behavior and location.

[0088] When the system receives an automatic parking command from a user via a mobile terminal (such as a mobile phone), it first obtains the location information of the mobile terminal relative to the target vehicle to determine whether the user is near the target vehicle or has left. Based on the user's real-time location, the system selects the corresponding on-board target camera to capture images of the area where the mobile terminal is located. This process ensures that the system can capture images containing the user's image for subsequent face recognition and area analysis.

[0089] The first situation: the user turns around and leaves. Starting from the receipt of the automatic parking command, the system continuously captures images of the area where the user is located through the on-board camera within the preset first time period. If the face of the user associated with the mobile terminal is not recognized during this period, the system will determine that the user has left the target vehicle and has not turned back to observe the parking situation.

[0090] It should be noted that the preset first time period is less than or equal to the time required for the target vehicle to automatically park, which means that the system will continue to try to capture the user's face during the parking process of the target vehicle until the parking is completed or the first time period ends.

[0091] The second situation: the user takes a look and then leaves. After receiving the automatic parking command, the timing starts after the preset second time period has passed. In the subsequent third time period, the system continuously captures images of the area where the user is through the vehicle camera. If the system does not recognize the face of the user associated with the mobile terminal in this third time period, the system will determine that the user has left after briefly observing the parking situation.

[0092] The second and third time periods are set to take into account that after issuing a parking instruction, the user may look back briefly to observe the parking progress, and then leave the target vehicle after confirming that the parking is normal. If the system does not recognize the user's face within the third time period, it will be considered that the user has left the target vehicle to a safe distance and will no longer pay attention to the parking process.

[0093] For example, after the user activates the automatic parking function on the large screen in the car or through the mobile phone application, the system immediately starts to monitor the user's behavior. If the user leaves the target vehicle immediately after issuing the command, the system fails to capture the user's face within the preset first time period, and sends the parking image data to the user's mobile terminal, allowing the user to remotely monitor the parking process to ensure parking safety. Similarly, if the user observes the parking situation briefly after issuing the command and then leaves the target vehicle, the system starts timing after the preset second time period. If the user's face is not recognized within the third time period, the parking image data will also be transmitted to meet the user's need to remotely monitor the parking process.

[0094] Through accurate time and behavior judgment, the system can intelligently decide whether to transmit parking image data to the user. During the automatic parking process of the target vehicle, the system continuously attempts to capture the user's face. After the user leaves the target vehicle to a safe distance, the system can automatically send parking image data to the user's mobile terminal without the user's active request. This process not only improves the efficiency and accuracy of information transmission and avoids waste of resources, but also significantly enhances the user's perception and control of the parking process, improving the user experience of automatic parking. In particular, when the user may not be able to continue to pay attention to the parking process, this mechanism can ensure that the user is aware of the progress of parking, increase the practicality of the automatic parking function, and reduce potential safety risks.

[0095] For example, taking the automatic parking scenario of the target vehicle in the underground parking lot of a shopping mall as an example, after the user triggers the automatic parking command through the mobile phone application, he may leave the target vehicle immediately because he is in a hurry to go to the mall (the first case). The system starts the on-board camera and tries to capture the user's face within the preset first time period. Since the user has left, the system determines that the user has not turned back to observe the parking situation, and then transmits the parking image data to the user's mobile phone application to ensure that the user can remotely monitor the parking progress. Another situation is that after the user issues the parking command, he briefly turns back to observe the parking situation and then leaves the target vehicle. The system starts timing after the preset second time period and tries to capture the user's face within the third time period. If the user's face is not recognized, the system will also transmit the parking image data to the user's mobile phone application to meet the user's need to remotely monitor the parking process.

[0096] The above process realizes the accurate transmission of parking image data by intelligently judging the user's attention to the parking process, which not only ensures the improvement of user experience, but also reflects the accurate grasp of user needs. Especially in the scene of leaving the car and parking, this mechanism can effectively improve the safety and controllability of parking, and avoid the waste of resources of redundant transmission of parking image data when the user has left the target vehicle and no longer pays attention to the parking process, thereby significantly improving the efficiency and user experience of automatic parking, promoting the development and application of intelligent parking technology, and providing new ideas and directions for technological innovation in the field of intelligent vehicles. Through this mechanism, the automatic parking function is not only more mature and intelligent in technology, but also has achieved a major breakthrough in user experience. Especially in the case that the user may not be able to continue to pay attention to the parking process for various reasons, this mechanism can ensure the user's real-time understanding and control of the parking progress, significantly improving the safety and convenience of parking.

[0097] Through this mechanism, the automatic parking function is not only more mature and intelligent in technology, but also has achieved a major breakthrough in user experience. In particular, when users may not be able to continue to pay attention to the parking process for various reasons, this mechanism can ensure that users have real-time understanding and control of the parking progress, significantly improving the safety and convenience of parking. This is because the system intelligently determines whether parking image data needs to be transmitted within an appropriate time period based on the behavioral habits and real-time location information of different users, effectively avoiding the waste of resources, while also ensuring the timeliness and accuracy of information transmission, providing users with a more personalized and intelligent automatic parking experience, thereby effectively improving the user experience of automatic parking and solving the technical problem of poor user experience of automatic parking in related technologies.

[0098] In the above embodiment of the present application, the facial area of ​​the user associated with the vehicle-mounted account recognized by the image captured by the on-board camera of the target vehicle is lower than a threshold, including: obtaining all images captured by the turned-on on-board camera; starting timing from the receipt of the automatic parking instruction, and not recognizing the face of the user associated with the vehicle-mounted account in the image within a first time period; or starting timing from the second time period after the receipt of the automatic parking instruction, and not recognizing the face of the user associated with the vehicle-mounted account in the image within a third time period.

[0099] In an optional embodiment, the system monitors the images collected by all on-board cameras of the target vehicle to determine whether the user is paying attention to the parking process, and thus decides whether to send the parking image data remotely. When the automatic parking function is activated, the system immediately turns on all on-board cameras and starts to continuously collect images of the target vehicle's surroundings, which will be used for subsequent face recognition and analysis.

[0100] In the first case, the user turns around and walks away after clicking on the automatic parking command with the mobile phone. From the moment the automatic parking command is received, the system starts timing and performs face detection within the preset first time period. If the face of the user associated with the mobile terminal is not recognized within this time period, the system will assume that the user did not turn around to observe the parking process and needs to send parking image data for remote monitoring. It is worth noting that the preset first time period is less than or equal to the time required for the target vehicle to automatically park, ensuring that the system can continuously detect user behavior during the parking process.

[0101] In the second case, the user clicks on the automatic parking and then looks at the car for a while or a short while before leaving. After receiving the automatic parking command, the system waits for the preset second time period and then starts face detection in the third time period. If the face of the user associated with the mobile terminal in the image cannot be recognized in the third time period, the system will determine that the user left after a short observation, and the parking image data will also need to be sent to the user's mobile terminal.

[0102] Based on the face detection results in the above two situations, the system decides whether to transmit the parking image data of the target vehicle to the mobile terminal associated with the target vehicle to meet the user's needs for remote monitoring of the parking process.

[0103] In an optional embodiment, the user activates the automatic parking function through a mobile phone application or a large screen in the car, and then gets out of the car. The system turns on all on-board cameras, starts collecting images, and performs real-time analysis based on the user's behavior. If the user leaves immediately after starting parking, the system fails to recognize the user's face within the preset first time period, and sends the parking image data to the user's mobile phone application to ensure that the user can remotely monitor the parking progress. On the contrary, if the user observes the parking situation briefly after starting parking and then leaves, the system starts detecting the user's face after the preset second time period, and fails to recognize it within the third time period, and also transmits the parking image data to the user's mobile phone application.

[0104] The above mechanism ensures that the transmission of parking image data is more timely and refined by intelligently analyzing the user's behavior. The system can automatically send parking image data to the mobile terminal when the user does not look back or leaves after a short look, avoiding excessive consumption of resources. It also ensures that the user has full perception and control over the parking process, improving the user experience of the automatic parking function. In particular, when the user leaves the target vehicle at different time periods, this mechanism can intelligently adjust the transmission strategy of image data to meet the behavior patterns and needs of different users.

[0105] For example, take the case where the target vehicle uses the automatic parking function in the parking lot of a shopping mall. After the user confirms the parking position through the mobile phone application, the automatic parking is triggered immediately, and then the target vehicle is left (the first case). During the preset first time period, the system attempts to recognize the user's face through the vehicle camera. Since the user has left, the user's face cannot be recognized, and the system sends the parking image data to the user's mobile phone application. Another case is that after the user issues the parking command, he briefly observes the parking progress, and leaves the target vehicle after confirming that everything is normal. The system starts timing after the preset second time period, and performs face detection in the third time period. The user's face is also not recognized, so the parking image data is transmitted to the user's mobile phone application.

[0106] This process achieves accurate transmission of parking image data by intelligently analyzing the user's attention to the parking process and real-time location, avoiding unnecessary information push and saving resources, while ensuring the user's real-time understanding and control of the parking process, thereby significantly improving the functionality and user experience of automatic parking. In particular, for situations where users leave the target vehicle at different time points, this mechanism can respond flexibly to meet the user's real-time needs, improve the safety and convenience of automatic parking, and solve the problem of insufficient user experience of automatic parking in related technologies.

[0107] In the above embodiment of the present application, before the step of transmitting the parking image data to the mobile terminal, the method also includes: respectively acquiring multiple sub-environment image data around the target vehicle through multiple vehicle-mounted cameras, and fusing the multiple sub-environment image data to obtain the parking image data of the target vehicle, wherein the parking image data includes: real-scene image data of a parking bird's-eye view panoramic environment, or 3D rendered image data of a parking bird's-eye view panoramic environment.

[0108] In the embodiment of the present application, in order to provide more comprehensive and intuitive parking image data, the system obtains multiple sub-environment image data around the target vehicle through multiple vehicle-mounted cameras, and then fuses these sub-environment image data to generate parking image data including parking overhead panoramic environment real image data or parking overhead panoramic environment 3D rendering image data. The following is a detailed explanation and scenario description:

[0109] The above-mentioned sub-environmental image data refers to environmental image data captured by various vehicle-mounted cameras and including different perspectives of the surroundings of the target vehicle. These data will be used for subsequent image fusion processing.

[0110] The above-mentioned parking bird's-eye view panoramic environment real-scene image data is generated by fusing multiple sub-environment image data, and displays the surrounding environment of the target vehicle from a bird's-eye view, and can provide an actual environment view during the parking process.

[0111] The above-mentioned 3D rendering image data of the parking bird's-eye view panoramic environment is also generated by fusing multiple sub-environment image data and presents the bird's-eye view panoramic image data of the target vehicle's surrounding environment using 3D rendering technology, which can provide a more three-dimensional and realistic parking environment view.

[0112] In an optional embodiment, multiple on-board cameras respectively obtain sub-environment image data: after the automatic parking function is activated, the vehicle's multiple on-board cameras start working and shoot environmental image data around the target vehicle from different perspectives. These data include elements such as the target vehicle, parking spaces, pedestrians, and obstacles. The system fuses multiple sub-environment image data to generate parking image data from a bird's-eye view. The fusion process may include image stitching, perspective correction, 3D rendering and other technologies to ensure that the generated parking image data clearly and comprehensively displays the parking environment. The processed parking image data, whether in the form of real-life images or 3D rendered images, will be transmitted to the user's mobile terminal so that the user can remotely monitor the parking process and understand the vehicle's location and surrounding environment.

[0113] In an optional embodiment, after the user activates the automatic parking function through the large screen in the car or the mobile phone application, the vehicle's multiple on-board cameras (such as front, rear, left, right cameras, surround view cameras, etc.) start working and respectively capture the sub-environment image data around the target vehicle. Subsequently, the system fuses these sub-environment image data to generate 3D rendering image data of the panoramic parking environment from a bird's-eye view, including the dynamic path of the vehicle parking into the parking space, a three-dimensional display of the surrounding environment, clear signs of the parking space, and possible 3D models of obstacles. This processing process ensures that even if the user leaves the car to park, he can view the entire process of the vehicle parking into the parking space in real time through the mobile phone, understand the vehicle's position and surrounding environment, and ensure the safety and accuracy of parking.

[0114] By fusing the sub-environment image data captured by multiple on-board cameras and generating parking image data from a bird's-eye view, the practicality and user experience of the automatic parking function are significantly improved. Both real-life image data and 3D rendered image data provide users with a more comprehensive and intuitive view of the parking environment, enhancing their trust in the parking function and their satisfaction with the use of the function. In the scenario where users leave the car and park, this mechanism not only improves the safety and controllability of the parking process, but also significantly enhances the user experience, promotes the development and application of intelligent parking technology, and provides a new direction for technological innovation in the field of intelligent vehicles.

[0115] For example, using the automatic parking function as an example, after the user confirms the parking position through the mobile phone application, the automatic parking is triggered immediately. The vehicle's multiple on-board cameras start working, capturing environmental image data around the target vehicle from different angles. Subsequently, the system fuses these environmental image data to generate 3D rendered image data of the panoramic environment of the parking bird's-eye view, including the dynamic path of the vehicle parking into the parking space, clear markings of the parking space, a three-dimensional display of the surrounding environment, and a 3D model of potential obstacles. Even after the user leaves the vehicle, he can view the processed parking image data in real time through the mobile phone application, clearly understand the vehicle dynamics and changes in the surrounding environment during the parking process, and ensure the safety and smoothness of the parking process.

[0116] By intelligently processing the environmental image data captured by the on-board camera, the system realizes the fusion of multiple sub-environmental image data to overhead panoramic environmental image data, providing users with an intuitive, clear and three-dimensional view of the parking process. This not only improves the user's perception and trust in the parking function, but also enhances the safety and controllability of the parking process. In particular, in the scenario where the user leaves the car and parks, the user can remotely monitor the parking process through the mobile phone and understand the three-dimensional changes of the vehicle position and the surrounding environment, thereby effectively improving the user experience of automatic parking and solving the technical problem of poor user experience of automatic parking in related technologies. By fusing the sub-environmental image data captured by multiple on-board cameras, the system can provide users with a more comprehensive, intuitive and three-dimensional view of the parking environment, avoiding the user's understanding bias and distrust caused by single-view image data, and significantly improving the user satisfaction and safety of the automatic parking function.

[0117] Through this mechanism, the automatic parking function is not only more mature and intelligent in technology, but also has achieved a major breakthrough in user experience. In particular, in the scenario of leaving the vehicle and parking in, the system can ensure that even if the user is far away from the vehicle, he can remotely monitor the parking process through clear, intuitive and three-dimensional parking image data, which significantly improves the safety and convenience of parking and solves the technical problem of poor user experience of automatic parking in related technologies. This process generates parking image data from a bird's-eye view by intelligently integrating sub-environment image data captured by multiple on-board cameras, including real-life image data of the parking bird's-eye view panoramic environment or 3D rendering image data of the parking bird's-eye view panoramic environment, providing users with a more comprehensive, intuitive and three-dimensional view of the parking environment, avoiding the user's understanding bias caused by single-view image data, significantly improving the user satisfaction and safety of the automatic parking function, promoting the development and application of intelligent parking technology, and providing new directions and ideas for technological innovation in the field of smart cars.

[0118] In the embodiment of the present application, the environmental image data obtained from the vehicle camera is processed into parking image data. This conversion process is intended to ensure that the user can clearly and intuitively understand the vehicle position and surrounding environment during the parking process, thereby improving the user experience of automatic parking. The following is a detailed explanation and scenario description:

[0119] The above-mentioned environmental image data refers to the original video or image data of the vehicle's surrounding environment captured by the on-board camera during the automatic parking process, including all visible elements such as vehicles, pedestrians, other traffic participants, static obstacles, etc.

[0120] The above-mentioned parking image data is processed environmental image data, which can be a panoramic image from a bird's-eye view, a dynamically rendered image of the parking path, or an image sequence of key moments of parking. Its purpose is to provide users with an intuitive and clear view of the parking process.

[0121] After the automatic parking function is activated, the vehicle's onboard camera starts working and continuously captures the environmental image data around the vehicle. After receiving the environmental image data, the system converts it into parking image data that is easy for users to understand through image processing and analysis algorithms. This may include image stitching to form a panoramic image from a bird's-eye view, dynamic rendering of the parking path, annotation of obstacles around the vehicle, and capture of key parking moments. The processed parking image data is transmitted to the user's mobile terminal (such as a mobile phone) through a cloud platform or a direct communication connection, so that the user can remotely monitor the parking process.

[0122] In an optional embodiment, the user activates the automatic parking function through the large screen in the car or the mobile phone application. The vehicle's on-board camera immediately begins to capture image data of the vehicle's surroundings, including obstacles on the parking path, parking spaces, and the dynamics of the vehicle itself. The system processes these environmental image data into panoramic parking image data from a bird's-eye view, including an animated path for the vehicle to park in a parking space, a clear display of the surrounding environment, and changes in the vehicle's position, and then transmits the parking image data to the user's mobile phone application. Even if the user is far away from the vehicle, he can view the vehicle's parking progress and surrounding environment in real time through his mobile phone to ensure the safety and accuracy of parking.

[0123] By processing the environmental image data captured by the on-board camera into user-friendly parking image data, the practicality and user experience of the automatic parking function are improved. The processing of environmental image data ensures that users can intuitively understand the vehicle dynamics and changes in the surrounding environment during the parking process, avoiding the confusion caused by the difficulty in parsing the original image data. The processed parking image data not only shows the parking path, but also provides information about possible obstacles around the vehicle, allowing users to have a more comprehensive understanding of the parking environment when remotely monitoring the parking process, thereby improving trust in the automatic parking function and user satisfaction.

[0124] For example, after the user confirms the parking position through the mobile phone application, automatic parking is triggered immediately. The on-board camera starts working and captures the original image data of the vehicle's surrounding environment, including vehicles, pedestrians, stationary obstacles, etc. Subsequently, the system processes these original image data into parking image data from a bird's-eye view, including the dynamic path of the vehicle parking into the parking space, clear markings of the parking space, a complete presentation of the surrounding environment, and possible obstacle annotations. Even after leaving the vehicle, the user can view the processed parking image data in real time through the mobile phone application to understand the parking progress and surrounding environment, ensuring the safety and smoothness of the parking process.

[0125] This process realizes the visualization and easy understanding of parking image data by intelligently processing the environmental image data captured by the on-board camera, greatly improving the practicality and user experience of the automatic parking function. Through intuitive image data, users can clearly understand the vehicle dynamics and changes in the surrounding environment during the parking process, which enhances their trust in the parking function and their satisfaction with the use. Especially for the parking scene, this mechanism not only improves the safety and efficiency of parking, but also significantly enhances the user experience, promotes the development and application of intelligent parking technology, and provides new directions and ideas for technological innovation in the field of smart cars.

[0126] Through this mechanism, the automatic parking function realizes the intelligent conversion of environmental image data to parking image data, providing users with an intuitive and clear view of the parking process. This not only improves the user's perception and trust in the parking function, but also enhances the safety and controllability of the parking process. In particular, in the scenario where the user leaves the car and parks, the user can remotely monitor the parking process through the mobile phone, understand the vehicle position and changes in the surrounding environment, thereby effectively improving the user experience of automatic parking and solving the problem of insufficient user experience of automatic parking in related technologies. By processing environmental image data into parking image data, the system can provide users with an easy-to-understand view of the parking process, avoiding the confusion and distrust of users due to the difficulty in parsing the original image data, thereby improving the user satisfaction and safety of the automatic parking function.

[0127] Optionally, the method further includes: in response to receiving a stop parking instruction sent by the mobile terminal, controlling the target vehicle to stop parking, wherein the stop parking instruction is generated by acting on an interactive interface of the mobile terminal, and the interactive interface is used to display parking image data.

[0128] The above-mentioned stop parking instruction refers to an instruction sent by the user to the target vehicle through the above-mentioned mobile terminal to stop the target vehicle for automatic parking. In the present application, the user can generate the above-mentioned stop parking instruction by interacting with the above-mentioned mobile terminal, wherein the above-mentioned stop parking instruction includes but is not limited to: touch instructions, voice instructions or action instructions, etc.

[0129] In an optional embodiment, the user can observe the automatic parking situation of the target vehicle through the parking image data displayed on the interactive interface of the mobile terminal. The user can send a stop parking instruction to the target vehicle through the mobile terminal to stop the target vehicle for automatic parking. After receiving the above stop parking instruction, the target vehicle is controlled to stop parking.

[0130] When the stop parking instruction is a touch instruction, the user can control the mobile terminal to generate a stop parking instruction by touching a virtual button on the interactive interface of the mobile terminal. After the mobile terminal generates the stop parking instruction, the stop parking instruction is sent to the target vehicle. After receiving the stop parking instruction, the target vehicle is controlled to stop parking.

[0131] In the case where the stop parking instruction is a voice instruction, a specific voice can be set in advance, and the user can control the mobile terminal to generate a stop parking instruction by speaking the specific voice. When the user speaks the specific voice, the mobile terminal detects the specific voice and generates a stop parking instruction. After the mobile terminal generates the above stop parking instruction, it sends the above stop parking instruction to the target vehicle. After receiving the above parking instruction, the target vehicle is controlled to stop parking.

[0132] In the case where the stop parking instruction is an action instruction, a specific action can be set in advance. The user can control the mobile terminal to generate a stop parking instruction by making a specific action. The camera device on the mobile terminal obtains the user's image information and recognizes the user's action through the processor. When the specific action is recognized, a stop parking instruction is generated. After the mobile terminal generates the above-mentioned stop parking instruction, the above-mentioned stop parking instruction is sent to the target vehicle. After receiving the above-mentioned parking instruction, the target vehicle is controlled to stop parking.

[0133] In this application, by setting the stop parking command, the user can control the target vehicle to stop automatic parking at any time according to needs, which effectively improves the controllability of automatic parking and allows the user to stop in time when seeing an emergency during parking, effectively improving the safety of automatic parking and improving the user experience.

[0134] Optionally, determining a target parking space according to a parking instruction includes: capturing an environmental image around the target vehicle; identifying preset identification information in the environmental image to obtain at least one parking space, wherein the preset identification information is information for identifying a parking space; and in response to receiving a touch instruction for at least one parking space, determining the target parking space from the at least one parking space based on the touch instruction.

[0135] This optional implementation is intended to optimize the process of determining the target parking space in the automatic parking system. It identifies the parking space through preset identification information in the environmental image and determines the specific target parking space in combination with user touch commands, thereby improving the accuracy of parking space selection and the convenience of user interaction.

[0136] The above-mentioned environmental image refers to the panoramic or partial image around the target vehicle, which is used to capture and analyze information such as parking spaces, obstacles, road signs, etc. The preset identification information refers to specific visual elements used to identify parking spaces in the environmental image, such as ground lines, parking space numbers, arrow indications, etc. By identifying these preset identification information, the system can accurately determine the location, size and availability of parking spaces in the surrounding environment.

[0137] In an optional embodiment, the surround view camera of the target vehicle or the camera in a specific direction is activated to capture the environmental image around the target vehicle, including the detailed image of the parking area. The system processes the collected environmental image and identifies the preset identification information therein, such as ground lines, parking space numbers, etc., to locate and distinguish different parking spaces. The system presents at least one identified parking space information to the user, and the user can view the parking space options in the surrounding environment through interactive methods such as the in-vehicle large screen, mobile phone application or voice assistant. After viewing the parking space information, the user issues a touch command for a specific parking space by touching the parking space icon on the in-vehicle large screen or mobile phone application, and the system determines the specific target parking space from multiple parking spaces based on the command.

[0138] In an optional embodiment, the user selects the automatic parking function on the large screen in the car, and the surround-view camera on the target vehicle starts working to capture the environmental images around the target vehicle. The system analyzes these environmental images, identifies the preset identification information therein, such as parking space lines, parking space numbers or arrow indicators, and automatically detects the available parking spaces in the parking lot. Subsequently, the system presents the information of at least one parking space detected on the large screen in the car, and the identified parking space number or logo is displayed next to each parking space. The user touches the parking space icon on the large screen in the car to select the desired parking space as the parking target. After receiving the user's touch command, the system determines the parking space as the target parking space, and prepares for the subsequent automatic parking and parking image data transmission.

[0139] Through the above steps, the present application has applied for intelligent selection of target parking spaces and user interaction in the automatic parking system, which significantly improves the accuracy of parking space selection and the convenience of user operation. The system can automatically analyze the environmental image around the target vehicle, identify preset identification information, detect and distinguish different parking spaces, and reduce the need for users to manually search for parking spaces. Users can select a target parking space from multiple parking spaces through touch commands, which simplifies the operation process and improves the user-friendliness of the automatic parking function. In addition, by identifying parking spaces through environmental images, it can also avoid users from making mistakes in selecting parking spaces due to blocked vision or other factors, thereby improving the accuracy and safety of parking.

[0140] For example, a car user arrives at a parking lot at night, the lights are dim, and the parking spaces are not clearly marked. The user selects the automatic parking function on the large screen in the car, and the surround camera is activated to capture the environmental image around the target vehicle. The system processes the environmental image and identifies the preset identification information therein, such as automatically detecting three available parking spaces around based on the ground lines and parking space numbers. Subsequently, the information of the three parking spaces is displayed on the large screen on the car, and each parking space has its number and brief description (such as "large parking space", "compact parking space", etc.) next to it. The user selects a large parking space near the entrance as the parking target by touching the large screen on the car. After receiving the user's touch command, the system determines the large parking space as the target parking space and starts the automatic parking program. The user then gets off the car and uses the remote monitoring function of the mobile phone application to view the panoramic image of the parking in real time, understand the progress of parking, and when encountering obstacles during parking, promptly suspend parking through the mobile phone application to ensure parking safety. After parking is completed, the mobile phone application pushes the parking completion information, including the photo of the target vehicle after parking, so that the user has an intuitive understanding of the parking result. This process not only improves parking efficiency and safety, but also simplifies the process of users finding and selecting parking spaces in complex or low-light environments, greatly enhancing users' trust and satisfaction with the automatic parking function, and achieving a more intelligent, convenient and safe parking experience.

[0141] Through such implementation, the automatic parking system can not only automatically identify and distinguish the surrounding parking spaces, but also provide users with an intuitive way to select parking spaces, ensuring the accuracy of parking space selection and the safety of parking. Especially at night or in low-light environments, the advantages of this function are more obvious, significantly improving the flexibility and user-friendliness of automatic parking technology in practical applications.

[0142] Optionally, the method further includes: in the process of controlling the target vehicle to park at the target parking space, collecting parking image data of the target vehicle from a preset angle.

[0143] The above-mentioned preset angle refers to a pre-set angle for collecting parking image data of the target vehicle, wherein the above-mentioned preset angle can be set according to the state of the target vehicle, the above-mentioned preset angle can also be set manually according to experience and needs, and the above-mentioned preset angle can also be set according to the actual application scenario.

[0144] In an optional embodiment, during the process of controlling the target vehicle to automatically park at the target parking space, the parking image data of the target vehicle is collected from a preset angle by a camera device installed on the target vehicle. The preset angle may be shooting from the top of the target vehicle downward, or shooting from the side of the target vehicle outward, or a combination of multiple shooting angles may be used to obtain the parking image data.

[0145] In the present application, by presetting angles, users can obtain parking image data at required shooting angles as needed, thereby effectively improving the applicability of automatic parking. Moreover, since users can obtain parking image data at various angles as needed, users can determine the preset shooting angle as an angle that is prone to scratching other vehicles based on the situation of the parking space, thereby effectively improving the safety of automatic parking.

[0146] Optionally, the method also includes: in the process of the target vehicle parking at the target parking space, in response to detecting an obstacle, controlling the target vehicle to stop parking and generating obstacle prompt information; sending the obstacle prompt information to the mobile terminal, wherein the obstacle prompt information is used to prompt the target vehicle that it encounters an obstacle during the parking process.

[0147] The above-mentioned obstacle prompt information refers to information sent to the mobile terminal and used to prompt the user that an obstacle appears during the automatic parking process, wherein the above-mentioned obstacle prompt information includes but is not limited to: sound prompt information, image prompt information, light prompt information or vibration prompt information, etc.

[0148] In an optional embodiment, while the target vehicle is parking at the target parking space, the parking path of the target vehicle can be monitored by a camera device. When an obstacle is detected on the parking path of the target vehicle, the target vehicle is controlled to stop parking, and obstacle prompt information is generated and sent to the mobile terminal to prompt the user that an obstacle is encountered during the automatic parking process.

[0149] In another optional embodiment, while the target vehicle is parking at the target parking space, the parking path of the target vehicle can also be monitored through a large model. When an obstacle is detected on the parking path of the target vehicle, the target vehicle is controlled to stop parking, and obstacle prompt information is generated and sent to the mobile terminal to prompt the user that an obstacle is encountered during the automatic parking process.

[0150] Exemplarily, when the above prompt information is sound prompt information, obstacle prompt information is generated and sent to the user's mobile terminal. After the mobile terminal receives the obstacle prompt information, it prompts the user through sound to remind the user that the target vehicle encounters an obstacle during automatic parking.

[0151] In this application, obstacle prompt information is generated to remind the user that the target vehicle encounters an obstacle during automatic parking, which effectively improves the safety of the target vehicle during parking, and notifies the user in time, effectively improves the controllability of automatic parking, and improves the user experience.

[0152] Optionally, the method further includes: generating parking completion prompt information after the target vehicle is successfully parked in the target parking space; and sending the parking completion prompt information to the mobile terminal, wherein the parking completion prompt information is used to prompt that the target vehicle is successfully parked in the target parking space.

[0153] The above-mentioned parking completion prompt information refers to the prompt information generated after the target vehicle is successfully parked in the target parking space to prompt the user that the parking is successful. Among them, the above-mentioned parking completion prompt information includes but is not limited to: sound prompt information, image prompt information, light prompt information or vibration prompt information, etc.

[0154] In an optional embodiment, when the camera equipment installed on the target vehicle detects that the target vehicle has successfully parked in the target parking space, a parking completion prompt message is generated and the parking completion prompt message is sent to the mobile terminal of the target vehicle to prompt the user that the target vehicle has successfully parked in the target parking space.

[0155] In this application, by setting a parking completion prompt message, after the target vehicle is parked in the target parking space, the user is promptly prompted through the user's mobile terminal that the target vehicle has been successfully parked, which effectively improves the practicality of automatic parking of the target vehicle and improves the user experience.

[0156] Optionally, the method also includes: in response to receiving a control instruction from a mobile terminal, controlling the target vehicle to park in a target parking space based on the control instruction, wherein the control instruction is generated by sending a preset voice to the mobile terminal, or the control instruction is generated by a touch operation acting on the mobile terminal.

[0157] The above-mentioned preset voice refers to a pre-set voice used to control the target vehicle to park in the target parking space, wherein the above-mentioned preset voice can be set according to the state of the target vehicle, the above-mentioned preset voice can also be set manually according to experience and needs, and the above-mentioned preset voice can also be set according to the actual application scenario.

[0158] In an optional embodiment, after the user leaves the target vehicle, the user can send a preset voice to the mobile terminal, or the user can control the mobile terminal to generate the above control instruction through touch operation. After the control instruction is generated, the mobile terminal sends the above control instruction to the above target vehicle. After receiving the control instruction from the mobile terminal, the target vehicle controls the target vehicle to park at the target parking space according to the control instruction.

[0159] In the present application, by setting control instructions, the user can control the target vehicle to perform automatic parking through a mobile terminal, which effectively improves the controllability of automatic parking and enhances the user experience.

[0160] Combine the following Figure 2 A preferred embodiment of the present invention is described in detail, wherein: Figure 2 is a flowchart of another optional automatic parking method according to an embodiment of the present invention, such as Figure 2 As shown, the method comprises the following steps:

[0161] Step S201, displaying at least one parking space on the target vehicle interactive screen.

[0162] In an optional embodiment, when a user needs to park, the user can look for a nearby parking space. After finding a parking space, the user can send a parking instruction to the target vehicle. After receiving the parking instruction sent by the user, the target vehicle can display at least one parking space in the interactive display interface of the target vehicle.

[0163] Step S202: determining a target parking space from at least one parking space.

[0164] In an optional embodiment, the user determines a target parking space among at least one parking space according to demand.

[0165] Step S203: the user gets off the vehicle and closes the door.

[0166] In an optional embodiment, after the user determines the target parking space, he / she gets out of the car and closes the door, at which time the user can leave the parking lot.

[0167] Step S204: the user sends a control instruction via the mobile terminal.

[0168] In an optional embodiment, the user can generate the control instruction by sending a preset voice to the mobile terminal, or the user can control the mobile terminal through touch operation. After the control instruction is generated, the mobile terminal sends the control instruction to the target vehicle.

[0169] Step S205: the target vehicle starts to park in the target parking space.

[0170] In an optional embodiment, after receiving the control instruction from the mobile terminal, the target vehicle is controlled to park at the target parking space according to the control instruction.

[0171] Step S206: The user views the parking image data via the mobile terminal.

[0172] In an optional embodiment, during the process of controlling the target vehicle to automatically park at the target parking space, the parking image data of the target vehicle is collected from a preset angle by a camera device installed on the target vehicle. The preset angle may be shooting from the top of the target vehicle downward, or shooting from the side of the target vehicle outward, or a combination of multiple shooting angles may be used to obtain the parking image data.

[0173] Step S207: the target vehicle parks in the target parking space, and a parking completion prompt message is sent to the mobile terminal.

[0174] In an optional embodiment, when the camera equipment installed on the target vehicle detects that the target vehicle has successfully parked in the target parking space, a parking completion prompt message is generated and the parking completion prompt message is sent to the mobile terminal of the target vehicle to prompt the user that the target vehicle has successfully parked in the target parking space.

[0175] According to another aspect of an embodiment of the present invention, an automatic parking device is further provided. The device can execute the automatic parking method of the above embodiment. The specific implementation method and preferred application scenario are the same as those of the above embodiment. Figure 3 is a schematic structural diagram of an optional automatic parking device according to an embodiment of the present invention, such as Figure 3 As shown, the device 300 includes: a starting module 302, which starts the automatic parking function in response to receiving an automatic parking instruction; a determination module 304, which determines that the distance between the mobile terminal associated with the target vehicle and the target vehicle is greater than a preset distance threshold; and / or determines that the face area of ​​the user associated with the vehicle-mounted account recognized by the image captured by the vehicle-mounted camera of the target vehicle is lower than the threshold, wherein the mobile terminal associated with the target vehicle is the mobile terminal corresponding to the vehicle-mounted account currently logged in to the target vehicle; a transmission module 306, which transmits the parking image data of the target vehicle to the mobile terminal, wherein the parking image data is used to display the process of automatic parking of the target vehicle on the mobile terminal.

[0176] Optionally, the determination module is used to determine that a facial image of a user associated with the vehicle computer account is not recognized in the image, or that a facial area of ​​the user associated with the vehicle computer account is less than 50% of a preset facial area.

[0177] Optionally, the determination module is used to obtain the position of a mobile terminal associated with the target vehicle relative to the target vehicle; based on the position, continuously obtain environmental images captured by at least one vehicle-mounted target camera corresponding to the position; start timing from the receipt of the automatic parking instruction, and within a first time period, recognize in the environmental image that the face area of ​​the user associated with the vehicle computer account is lower than a threshold; or, start timing from the time after the receipt of the automatic parking instruction reaches a second time period, and within a third time period, recognize in the environmental image that the face area of ​​the user associated with the vehicle computer account is lower than a threshold.

[0178] Optionally, the determination module is used to obtain all images captured by the turned on vehicle-mounted camera; starting the timing from the receipt of the automatic parking command, within a first time period, the face of the user associated with the vehicle computer account is not recognized in the image; or starting the timing from the second time period after the receipt of the automatic parking command, within a third time period, the face of the user associated with the vehicle computer account is not recognized in the image.

[0179] Optionally, the device is also used to obtain multiple sub-environment image data around the target vehicle through multiple vehicle-mounted cameras, and fuse the multiple sub-environment image data to obtain parking image data of the target vehicle, wherein the parking image data includes: real-scene image data of the parking bird's-eye view panoramic environment, or 3D rendering image data of the parking bird's-eye view panoramic environment.

[0180] Optionally, the device is also used to control the target vehicle to stop parking in response to receiving a stop parking instruction sent by a mobile terminal, wherein the stop parking instruction is generated by acting on an interactive interface of the mobile terminal, and the interactive interface is used to display parking image data.

[0181] Optionally, the device is also used to control the target vehicle to stop parking and generate obstacle prompt information in response to detecting an obstacle during the process of the target vehicle parking at the target parking space; the obstacle prompt information is sent to the mobile terminal, wherein the obstacle prompt information is used to prompt the target vehicle that it encounters an obstacle during the parking process.

[0182] Optionally, the device is also used to generate a parking completion prompt message after the target vehicle is successfully parked in the target parking space; and send the parking completion prompt message to the mobile terminal, wherein the parking completion prompt message is used to prompt that the target vehicle has successfully parked in the target parking space.

[0183] Optionally, the device is also used to control the target vehicle to park in the target parking space based on the control instruction in response to receiving a control instruction from the mobile terminal, wherein the control instruction is generated by sending a preset voice to the mobile terminal, or the control instruction is generated by a touch operation acting on the mobile terminal.

[0184] Figure 4is a schematic diagram of interaction between a target vehicle and a mobile terminal according to an embodiment of the present application, such as Figure 4 As shown, after receiving the automatic parking instruction, the target vehicle can start the automatic parking function. After starting the automatic parking function, the distance between the target vehicle and the mobile terminal can be detected by the on-board camera, and / or the face of the user associated with the mobile terminal can be detected. When the distance between the target vehicle and the mobile terminal is greater than a preset distance threshold, and / or the image captured by the on-board camera of the target vehicle does not recognize the face of the user associated with the mobile terminal, or the face area of ​​the user associated with the mobile terminal is recognized to be lower than the preset face area, the parking image data of the target vehicle can be transmitted to the mobile terminal so that the user of the mobile terminal can view the automatic parking process of the target vehicle on the mobile terminal, thereby improving the user experience.

[0185] Figure 5 is a schematic diagram of parking image data according to an embodiment of the present application, such as Figure 5 As shown, the process image of the target vehicle parking into the garage can be displayed on the mobile terminal, so that the user can know the 3D parking image of the vehicle through the mobile terminal at a long distance or without viewing the parking status, so that the user can understand the current status of the parking. Figure 6 is a schematic diagram of another parking image data according to an embodiment of the present application, such as Figure 6 As shown, the result image of the target vehicle entering the garage can be displayed on the mobile terminal, so that the user can know through the mobile terminal that the vehicle has been successfully parked in the garage at a long distance or without viewing the parking status, thereby improving the user experience.

[0186] An embodiment of the present application further provides a target vehicle, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0187] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0188] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0189] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0190] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0191] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0192] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0193] 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 over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0194] 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. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0195] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0196] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic parking method, applied to a target vehicle, characterized in that: include: In response to receiving an automatic parking instruction, activating an automatic parking function; Determining that a distance between a mobile terminal associated with the target vehicle and the target vehicle is greater than a preset distance threshold; and / or, determining that the face area of ​​the user associated with the vehicle-mounted account identified by the image captured by the vehicle-mounted camera of the target vehicle is lower than a threshold, wherein the mobile terminal associated with the target vehicle is the mobile terminal corresponding to the vehicle-mounted account currently logged in to the target vehicle; The parking image data of the target vehicle is transmitted to the mobile terminal, wherein the parking image data is used to display the automatic parking process of the target vehicle on the mobile terminal.

2. The automatic parking method according to claim 1, characterized in that: The recognition that the face area of ​​the user associated with the vehicle machine account is lower than a threshold includes: The facial image of the user associated with the vehicle computer account is not recognized in the image, or the facial area of ​​the user associated with the vehicle computer account recognized in the image is less than 50% of the preset facial area.

3. The automatic parking method according to claim 1, characterized in that: The face area of ​​the user associated with the vehicle machine account is recognized to be lower than the threshold through the image captured by the vehicle camera of the target vehicle, including: Acquire the position of the mobile terminal associated with the target vehicle relative to the target vehicle; According to the position, continuously acquiring an environment image captured by at least one vehicle-mounted target camera corresponding to the position; Starting from the receipt of the automatic parking instruction, within a first time period, the face area of ​​the user associated with the vehicle machine account identified in the environment image is lower than a threshold; Alternatively, the timing starts when the time after the automatic parking instruction is received reaches the second time period, and within the third time period, the facial area of ​​the user associated with the vehicle computer account recognized in the environmental image is lower than a threshold.

4. The automatic parking method according to claim 1, characterized in that: The face area of ​​the user associated with the vehicle machine account is recognized to be lower than the threshold through the image captured by the vehicle camera of the target vehicle, including: Acquire all images captured by the turned-on vehicle-mounted camera; Starting from the receipt of the automatic parking instruction, within a first time period, no face of the user associated with the vehicle machine account is recognized in the image; Alternatively, the timing starts from a second time period after the automatic parking instruction is received, and the face of the user associated with the vehicle computer account is not recognized in the image within a third time period.

5. The automatic parking method according to claim 1, characterized in that: Before the step of transmitting the parking image data to the mobile terminal, the method further includes: Multiple sub-environment image data around the target vehicle are respectively obtained through multiple vehicle-mounted cameras, and the multiple sub-environment image data are fused to obtain parking image data of the target vehicle, wherein the parking image data includes: real-scene image data of a parking bird's-eye view panoramic environment, or 3D rendering image data of a parking bird's-eye view panoramic environment.

6. The automatic parking method according to any one of claims 1 to 5, characterized in that: The method further comprises: In response to receiving a stop parking instruction sent by the mobile terminal, the target vehicle is controlled to stop parking, wherein the stop parking instruction is generated by acting on an interactive interface of the mobile terminal, and the interactive interface is used to display the parking image data.

7. The automatic parking method according to any one of claims 1 to 5, characterized in that: The method further comprises: In the process of the target vehicle parking at the target parking space, in response to detecting an obstacle, the target vehicle is controlled to stop parking and obstacle prompt information is generated; The obstacle prompt information is sent to the mobile terminal, wherein the obstacle prompt information is used to prompt the target vehicle to encounter the obstacle during parking.

8. The automatic parking method according to any one of claims 1 to 5, characterized in that: The method further comprises: After the target vehicle is successfully parked in the target parking space, generating parking completion prompt information; The parking completion prompt information is sent to the mobile terminal, wherein the parking completion prompt information is used to prompt that the target vehicle has successfully parked in the target parking space.

9. The automatic parking method according to any one of claims 1 to 5, characterized in that: The method further comprises: In response to receiving a control instruction from the mobile terminal, the target vehicle is controlled to park in a target parking space based on the control instruction, wherein the control instruction is generated by sending a preset voice to the mobile terminal, or the control instruction is generated by a touch operation acting on the mobile terminal.

10. A target vehicle, characterized in that: include: A memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 9 when running.

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