Parking space availability judgment method, system and device and vehicle

Abstract

The invention provides a parking space availability judgment method, system and device and a vehicle, and the method comprises the steps: determining an initial parking position based on an obtained panoramic image and ultrasonic distance measurement information; based on the space size of the initial parking position and the surrounding environment information of the vehicle, in combination with the size of the vehicle, carrying out availability judgment on the initial parking position, and visually displaying a judgment result in a vehicle machine screen; according to the scheme, the availability of the parking space is automatically judged before parking, meanwhile, the risk of the available parking space is evaluated, and the availability and the risk of the parking space are prompted to a user in real time, so that the problem that the user cannot know the parking risk in advance due to the fact that the parking space is only roughly recognized in a traditional scheme is effectively solved, and the user experience is improved. And the risks of scratching in the parking process and incapability of getting off the vehicle after parking is completed due to narrow space are extremely easily caused.

Description

Technical Field

[0001] The present invention belongs to the technical field related to intelligent driving assistance, and in particular relates to a method, system, device and vehicle for determining the availability of a parking space. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Due to the limited number and small space of parking spaces in cities, drivers need to spend a long time to find a suitable parking space. For an increasing number of drivers with poor sense of direction, parking is also a more difficult problem, which will bring a poor driving experience to the drivers.

[0004] In traditional parking operations, the driver mainly analyzes the availability of the target parking space by visually observing the surrounding environment of the target parking space, and then relies on the rearview mirror and left and right mirrors to control the vehicle to park and enter the garage, thereby verifying the availability of the target parking space. This solution has certain limitations because it is mainly based on the subjective judgment of the driver. It not only wastes time, but also easily causes friction and collision during parking at night or in rainy days, which may seriously cause traffic accidents, resulting in loss of personnel and social property, and threatening people's life safety; at the same time, for some intelligent parking methods, although it can judge the availability of parking spaces, it is only a judgment of available or unavailable, lacking the judgment of the overall situation of the parking space, and it is easy to cause the vehicle to be scratched due to the narrow parking space or obstacles around the parking space, or the problem of people being unable to get off the car due to the narrow space after parking successfully.

[0005] Therefore, there is an urgent need for a method that can quickly and accurately determine the availability of parking spaces to improve the parking safety of drivers. Summary of the invention

[0006] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a parking space availability judgment method, system, device and vehicle, which can quickly and accurately analyze and judge whether the current target parking space can allow the vehicle to be parked safely, thereby reducing the risk of scratches during parking and the risk of being unable to get out of the vehicle after parking due to narrow space.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a method for determining parking space availability, which is applied to a vehicle equipped with a panoramic imaging system and an ultrasonic probe, the method comprising:

[0009] Determine an initial parking position based on the obtained panoramic image and ultrasonic ranging information;

[0010] Based on the space size of the initial parking position and the surrounding environment information of the vehicle, combined with the size of the vehicle, the availability of the initial parking position is judged, and the judgment result is visualized on the vehicle screen;

[0011] Among them, the availability judgment of the initial parking position is specifically as follows: if there is no obstacle in the current parking space, there is no obstacle within the preset range of the own vehicle, and the part of the space size of the initial parking position that exceeds the size of the own vehicle meets the preset requirements, then the parking position is available; if there is no obstacle in the current parking space, there is no obstacle within the preset range of the own vehicle, and the part of the space size of the initial parking position that exceeds the size of the own vehicle does not meet the preset requirements, then the parking position is risky; if there is an obstacle in the current parking space, there is an obstacle within the preset range of the own vehicle, and the space size of the initial parking position is less than or equal to the size of the own vehicle, then the parking position is unavailable.

[0012] Furthermore, the initial parking position is determined based on the obtained panoramic image and ultrasonic ranging information, specifically: parking space searches are performed based on the on-board panoramic imaging system and the ultrasonic probe respectively, and based on the parking space search results obtained by the on-board panoramic imaging system and the ultrasonic probe, the final initial parking position is determined according to a preset priority.

[0013] Furthermore, the final initial parking position is determined according to a preset priority, specifically: if the panoramic imaging system detects a parking space but the ultrasonic probe does not, the parking space detected by the panoramic imaging system is recommended; if the ultrasonic probe detects a parking space and there is an overlap with the parking space detected by the panoramic imaging system, the parking space detected by the panoramic image is recommended; if there is no overlap, the parking space detected by the ultrasonic probe is recommended.

[0014] Further, the parking position is divided into a parking space without parking lines and a parking space with parking lines according to whether there are parking lines. For a parking space without parking lines, the ultrasonic probe is used to determine the parking space, which specifically includes the following processing:

[0015] The transmitter based on the ultrasonic probe will emit high-frequency ultrasonic pulses to the surrounding area and receive the reflected pulses;

[0016] By measuring the time difference between the transmitted pulse and the received reflected pulse, the distance between the obstacle and the ultrasonic sensor is calculated;

[0017] During the automatic parking process, the distance between the vehicle and obstacles is continuously scanned;

[0018] Based on the distance information fed back by each ultrasonic probe, an environmental map around the vehicle is constructed to identify the initial parking space;

[0019] When the reference vehicle target is detected, the size and position of the parking space next to the reference vehicle target are measured based on an ultrasonic probe to determine whether the current initial parking space is suitable for parking the vehicle.

[0020] Furthermore, for parking spaces with parking lines, parking line detection is performed based on the parking line monitoring algorithm built into the panoramic imaging system. When three straight lines with a length exceeding a preset length are detected and two adjacent straight lines among the three straight lines form two right angles, it is considered that an initial parking space is detected.

[0021] Furthermore, the judgment result is visualized on the vehicle screen, specifically: the initial parking position is displayed in real time in the reversing image or 360° panoramic image of the vehicle screen, and the initial parking position is selected by a parking space frame; wherein, different colors of parking space frames are used for the initial parking position being available, the initial parking position being risky, and the parking position being unavailable.

[0022] Furthermore, the vehicle screen is also used to display an interactive interface, which is used to receive user operations on the position movement or direction rotation of the target parking space frame; and based on the relevant information of the target parking space frame after the user's operation, execute a judgment on whether the parking space to which the target parking space frame belongs is available.

[0023] In a second aspect, the present invention provides a parking space availability determination system, which is applied to a vehicle equipped with a panoramic imaging system and an ultrasonic probe, and the system comprises:

[0024] an initial parking position determining unit, which is used to determine an initial parking position based on the obtained panoramic image and ultrasonic ranging information;

[0025] A parking space availability judgment unit is used to judge the availability of the initial parking position based on the space size of the initial parking position and the surrounding environment information of the own vehicle, combined with the size of the own vehicle, and visualize the judgment result on the vehicle screen; wherein, the availability judgment of the initial parking position is specifically as follows: if there is no obstacle in the current parking space, there is no obstacle within the preset range of the own vehicle, and the part of the space size of the initial parking position exceeding the size of the own vehicle meets the preset requirements, then the parking position is available; if there is no obstacle in the current parking space, there is no obstacle within the preset range of the own vehicle, and the part of the space size of the initial parking position exceeding the size of the own vehicle does not meet the preset requirements, then the parking position is risky; if there is an obstacle in the current parking space, there is an obstacle within the preset range of the own vehicle, and the space size of the initial parking position is less than or equal to the size of the own vehicle, then the parking position is unavailable.

[0026] In a third aspect, the present invention provides a parking space availability judgment device, comprising an ultrasonic probe, a panoramic imaging system and a controller, wherein the ultrasonic probe and the panoramic imaging system are respectively connected to the controller, and the controller executes the above-mentioned parking space availability judgment method.

[0027] In a fourth aspect, the present invention provides a vehicle, which adopts the above-mentioned method for determining the availability of a parking space.

[0028] One or more of the above technical solutions have the following beneficial effects:

[0029] The present invention provides a method, system, device and vehicle for determining the availability of a parking space. The solution automatically determines the availability of a parking space before parking, and at the same time, performs a risk assessment on the available parking spaces, and provides real-time reminders of the availability and risk of parking spaces to users, thereby effectively solving the problem that traditional solutions only roughly identify parking spaces, and users cannot know the parking risks in advance, which easily leads to the risk of scratches during parking and the risk of being unable to get out of the vehicle after parking is completed due to narrow space.

[0030] The solution described in the present invention is designed as an independent module, and can be easily integrated into existing vehicles with or without autonomous parking functions. The vehicle only needs to have an ultrasonic probe and a panoramic impact system, and no additional hardware is required.

[0031] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0033] Figure 1 A flow chart of a method for determining parking space availability according to an embodiment of the present invention;

[0034] Figure 2(a) to Figure 2(c) A schematic diagram of parking space types according to an embodiment of the present invention;

[0035] Figure 3(a) to Figure 3(b) A schematic diagram of the parking space search principle according to an embodiment of the present invention;

[0036] Figure 4(a) to Figure 4(c) Schematic diagram of the parking space search process in a specific implementation. DETAILED DESCRIPTION

[0037] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0038] It should be noted that the terms used herein are for describing specific embodiments only and are not intended to be limiting of exemplary embodiments according to the present invention.

[0039] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0040] In one or more embodiments, Figure 1 As shown, the present application provides a method for determining the availability of a parking space, which is applied to a vehicle equipped with a panoramic imaging system and an ultrasonic probe. The main technical concept of the solution described in this embodiment is: based on the on-board sensors (i.e., the panoramic imaging camera and the ultrasonic probe), the vehicle's surrounding environment information is perceived and then integrated to determine the initial parking position; based on the sensor perception fusion data combined with the built-in algorithm of the existing on-board controller, the semantic information of the vehicle's surrounding environment is acquired, a local coordinate system is established, the actual position of the vehicle is confirmed, and a safe and reasonable parking path is planned, thereby realizing the core content of the solution described in this embodiment: based on the acquired information, whether the current vehicle meets the parking space release conditions is determined. If the release conditions are met, the user is reminded that the target parking space is available. If not, the user is informed that the parking space of the target parking space is not met, and it is recommended to find other parking spaces for parking.

[0041] Specifically, the method described in this embodiment includes the following processing steps:

[0042] Step 1: Determine the initial parking position based on the obtained panoramic image and ultrasonic ranging information;

[0043] First, we need to define parking spaces: in daily life, parking spaces are usually divided into horizontal parking spaces, vertical parking spaces, and inclined parking spaces. To better define parking spaces, the solution described in this embodiment sets L min Minimum horizontal length and W min The minimum vertical width defines the parking space size. For inclined parking spaces, set α req Defined by the inclination angle.

[0044] It should be noted that since the minimum horizontal length and minimum vertical width of parking spaces vary in different countries and regions, for actual applications in different countries and regions, it is necessary to collect standard parking space data information for various scenarios in different countries and regions in the early stage.

[0045] like Figure 2(a) to Figure 2(c)As shown, commonly used parking space types are displayed, including horizontal parking spaces, vertical parking spaces and inclined parking spaces.

[0046] In a specific implementation, the initial parking position is determined based on the obtained panoramic image and ultrasonic ranging information, specifically: a parking space search is performed based on the on-board panoramic imaging system and the ultrasonic probe respectively, and based on the parking space search results obtained by the on-board panoramic imaging system and the ultrasonic probe, the final initial parking position is determined according to a preset priority.

[0047] In a specific implementation, the final initial parking position is determined according to a preset priority, specifically: if the panoramic imaging system detects a parking space but the ultrasonic probe does not, the parking space detected by the panoramic imaging system is recommended; if the ultrasonic probe detects a parking space and there is an overlap with the parking space detected by the panoramic imaging system, the parking space detected by the panoramic image is recommended first; if there is no overlap, the parking space detected by the ultrasonic probe is recommended first.

[0048] In a specific implementation, the parking position is divided into a parking space without parking lines and a parking space with parking lines according to whether there are parking lines. For a parking space without parking lines, the determination is performed based on an ultrasonic probe, which specifically includes the following processing:

[0049] The transmitter based on the ultrasonic probe will emit high-frequency ultrasonic pulses to the surrounding area and receive the reflected pulses;

[0050] By measuring the time difference between the transmitted pulse and the received reflected pulse, the distance between the obstacle and the ultrasonic sensor is calculated;

[0051] During the automatic parking process, the distance between the vehicle and obstacles is continuously scanned;

[0052] Based on the distance information fed back by each ultrasonic probe, an environmental map around the vehicle is constructed to identify the initial parking space;

[0053] When the reference vehicle target is detected, the size and position of the parking space next to the reference vehicle target are measured based on an ultrasonic probe to determine whether the current initial parking space is suitable for parking the vehicle.

[0054] Specifically, the ultrasonic probe is used to identify parking spaces without parking lines. The working principle is as follows:

[0055] 1) Ultrasonic emission, the ultrasonic sensor consists of a transmitter and a receiver. When the system starts the parking space detection function, the transmitter will emit high-frequency ultrasonic pulses to the surrounding area.

[0056] 2) Ultrasonic propagation and reflection. The transmitted ultrasonic pulse propagates at the speed of sound in the air. When the pulse encounters an object (such as a wall, vehicle or other obstacle), it will be reflected back.

[0057] 3) Receive the reflected pulse. The receiver of the ultrasonic sensor will monitor the reflected pulse and detect the time of the echo.

[0058] 4) Calculate the distance. The sensor system measures the time difference between the transmitted pulse and the received echo, and uses the known speed of sound (about 343 meters per second in air) to calculate the distance between the obstacle and the ultrasonic sensor. The distance calculation formula is: distance = (speed of sound * time difference) / 2.

[0059] 5) Parking space recognition

[0060] In the automatic parking system, multiple ultrasonic sensors around the vehicle work together to continuously scan the distance between the vehicle and obstacles. The system builds an environmental map around the vehicle and identifies available parking spaces by analyzing the distance information fed back by each sensor.

[0061] 6) Determine the size and location of the parking space

[0062] When the sensor detects the reference vehicle target, the sensor will further measure the size and position of the parking space next to the reference vehicle target to confirm whether it is suitable for parking the vehicle.

[0063] Therefore, the system can guide the vehicle to park accurately in the parking space based on the parking space information provided by the ultrasonic sensor to avoid collision with surrounding obstacles. The principle of ultrasonic parking space recognition relies on accurate time measurement and distance calculation, providing strong technical support for modern intelligent parking systems and significantly improving the safety and efficiency of parking.

[0064] In a specific implementation, for parking spaces with parking lines, parking line detection is performed based on the parking line monitoring algorithm built into the panoramic imaging system. When three straight lines with a length exceeding a preset length are detected, and the adjacent straight lines among the three straight lines form two right angles, it is considered that an initial parking space is detected.

[0065] In more implementation methods, the above settings can only realize the detection of horizontal parking spaces and vertical parking spaces. In order to realize the monitoring of inclined parking spaces, the scheme described in this embodiment goes back to detect the length and spacing distance of two parallel lines. When the current length and distance reach the set threshold conditions, it is considered that an inclined initial parking space is detected.

[0066] Specifically, in daily parking scenarios, there are usually parking spaces with and without parking lines. For parking spaces without parking lines, ultrasonic probes are mainly used to search for parking spaces, as shown in Figure 3(a) and Figure 3(b), where V is the driving direction, SD1 is the lateral distance between the ultrasonic sensor of the vehicle and the target parking space on the side, and the distance is required to be between 0.3m and 2.0m. For horizontal parking spaces, if the probe detects no obstacles within the safe distance (vehicle length + 1m) to the front and rear of the reference vehicle, and the probe detects no obstacles within the depth distance SD2 = (SD1 + vehicle width + 0.8m), then the horizontal parking space is released. For vertical parking spaces, if the probe detects no obstacles within the safe distance (vehicle width + 0.86m) to the left and right sides of the reference vehicle, and the probe detects no obstacles within the depth distance SD2 = (SD1 + vehicle length + 1m), then the vertical parking space is released.

[0067] For parking spaces with parking lines, the system performs parking line detection through a parking line detection algorithm based on a panoramic imaging system (hereinafter referred to as AVM for convenience). If a line longer than 1m is detected (dashed or solid), it is virtualized into a straight line. If three such straight lines are detected and form two right angles, it is considered to be a parking line. Obstacle detection is performed in the parking line. If there is no obstacle, it is considered that there is a parking space.

[0068] AVM and ultrasonic probes search for parking spaces separately. The scheme described in this embodiment fuses the parking space data from AVM and ultrasonic probes and provides the final candidate parking space, which is confirmed by the driver through the interactive interface. The scheme described in this embodiment will prioritize the detected parking positions, as follows: If the AVM system detects a parking space, but the ultrasonic probe does not, the system recommends the AVM parking space; if the ultrasonic probe detects a parking space and it overlaps with the parking space detected by the AVM system, the AVM parking space is recommended first, and if they do not overlap, the ultrasonic parking space is recommended;

[0069] Step 2: Based on the space size of the initial parking position and the surrounding environment information of the vehicle, combined with the size of the vehicle, the availability of the initial parking position is judged, and the judgment result is visualized on the vehicle screen;

[0070] Among them, the availability judgment of the initial parking position is specifically as follows: if there is no obstacle in the current parking space, there is no obstacle within the preset range of the own vehicle, and the part of the space size of the initial parking position that exceeds the size of the own vehicle meets the preset requirements, then the parking position is available; if there is no obstacle in the current parking space, there is no obstacle within the preset range of the own vehicle, and the part of the space size of the initial parking position that exceeds the size of the own vehicle does not meet the preset requirements, then the parking position is risky; if there is an obstacle in the current parking space, there is an obstacle within the preset range of the own vehicle, and the space size of the initial parking position is less than or equal to the size of the own vehicle, then the parking position is unavailable.

[0071] In a specific implementation, the judgment result is visualized on the vehicle screen, specifically: the initial parking position is displayed in real time in the reversing image or 360° panoramic image on the vehicle screen, and the initial parking position is selected by a parking space frame; wherein, different colors of parking space frames are used for the initial parking position being available, the initial parking position being risky, and the parking position being unavailable.

[0072] In a specific implementation, the vehicle screen is also used to display an interactive interface, which is used to receive user operations on the position movement or direction rotation of the target parking space frame; and based on the relevant information of the target parking space frame after the user's operation, execute a judgment on whether the parking space to which the target parking space frame belongs is available.

[0073] In specific implementation, the solution described in this embodiment uses a camera and an ultrasonic probe to perceive the actual scene, and obtains three results through analysis and judgment:

[0074] If there are obstacles in the current parking space, obstacles within the preset range of the vehicle, and the space size of the initial parking position is smaller than or equal to the size of the vehicle, the parking space is unavailable. The parking space frame will be displayed in red to remind the user that the current parking space is unavailable.

[0075] If there are no obstacles in the current parking space, no obstacles within the preset range of the vehicle, and the initial parking space exceeds the size of the vehicle and does not meet the preset requirements, and the parking space line is close to the surrounding obstacles, the parking space frame will be displayed in yellow, indicating that the current parking space is relatively small, reminding the driver to drive carefully during parking, pay attention to the gap between the surrounding obstacles when opening the door, and it may be inconvenient to get on and off the car;

[0076] If there are no obstacles in the current parking space, there are no obstacles within the preset range of the vehicle, and the space size of the initial parking position exceeds the size of the vehicle and meets the preset requirements, the parking position is available. At this time, the parking space box is set to display green, indicating that the vehicle is far away from the surrounding obstacles, the parking space is relatively spacious, and getting on and off the vehicle is relatively convenient.

[0077] In the specific implementation, the human-computer interaction interface uses the auxiliary lines to guide the driver to park according to the reference planned path. The tire driving direction can be indicated by a blue line according to the steering wheel angle signal, and the color of the planned parking path can be indicated by other color lines. The line map is displayed in the panoramic imaging system display interface. When the two lines overlap, it means that the parking is successfully completed. It should be noted that the focus of the solution described in this embodiment is not on the planning and determination of the parking path, and the existing parking path planning scheme is relatively mature, so it is not repeated here.

[0078] In addition, considering the complexity of the scene and the driver's demand for functional diversity, the solution described in this embodiment sets a self-selected parking space option function in addition to searching for parking spaces in the HMI (Human-Machine Interface) interface. After the user clicks on this option to enter the function, the parking space editing interface is entered. The user can drag the target parking space frame to move the position and rotation direction. After the setting is completed, the system will analyze the target parking space selected by the user and determine whether the current parking space is available. If the conditions are met, the user is prompted that the current parking space is available. If the conditions are not met, the user is prompted that the current parking space is unavailable and it is recommended to find other parking spaces. Among them, the available, available but risky, and unavailable cars are set by different colors.

[0079] Specifically, Figure 4(a) to Figure 4(c) As shown, each pre-selected parking space displays a different color grating. If the pre-selected parking space does not meet the parking space release requirements, it is indicated by a red grating, which means that the system believes that the current parking space cannot meet the safe parking requirements (that is, the car is unavailable); if the distance between the pre-selected parking space and the surrounding obstacles is less than 60cm (the specific distance can be set according to actual needs), the parking space is indicated by a yellow grating, which means that the system believes that the current parking space can meet the parking requirements (that is, the car is available), but there are risks and you need to pay attention to the surrounding environment; if the distance between the pre-selected parking space and the surrounding obstacles is greater than 60cm, the parking space is indicated by a green grating, which means that the system believes that the current parking space can meet the parking requirements (that is, the car is available) and the risk is low.

[0080] Specifically, Figure 4(a) to Figure 4(c) As shown, in addition to using parking space frames with different color gratings on the vehicle screen to indicate the availability of parking spaces, text or voice prompts can also be provided. For example: as shown in FIG4(a), for available parking spaces, the vehicle screen displays “The safety space around the current parking space is sufficient. Please start parking.”; as shown in FIG4(b), for available but risky parking spaces, the vehicle screen displays “The safety space around the current parking space is small. Please be careful when parking!”; as shown in FIG4(c), for unavailable parking spaces, the vehicle screen displays “The current parking space cannot be parked. It is recommended to find another parking space.”

[0081] In one or more embodiments, corresponding to the above method, this embodiment provides a parking space availability determination system, which is applied to a vehicle equipped with a panoramic imaging system and an ultrasonic probe, and the system includes:

[0082] an initial parking position determining unit, which is used to determine an initial parking position based on the obtained panoramic image and ultrasonic ranging information;

[0083] A parking space availability judgment unit is used to judge the availability of the initial parking position based on the space size of the initial parking position and the surrounding environment information of the own vehicle, combined with the size of the own vehicle, and visualize the judgment result on the vehicle screen; wherein, the availability judgment of the initial parking position is specifically as follows: if there is no obstacle in the current parking space, there is no obstacle within the preset range of the own vehicle, and the part of the space size of the initial parking position exceeding the size of the own vehicle meets the preset requirements, then the parking position is available; if there is no obstacle in the current parking space, there is no obstacle within the preset range of the own vehicle, and the part of the space size of the initial parking position exceeding the size of the own vehicle does not meet the preset requirements, then the parking position is risky; if there is an obstacle in the current parking space, there is an obstacle within the preset range of the own vehicle, and the space size of the initial parking position is less than or equal to the size of the own vehicle, then the parking position is unavailable.

[0084] In more embodiments, the present embodiment provides a parking space availability judgment device, including an ultrasonic probe, a panoramic imaging system and a controller, wherein the ultrasonic probe and the panoramic imaging system are respectively connected to the controller, and the controller executes the above-mentioned parking space availability judgment method.

[0085] Specifically, the hardware of the parking space availability judgment device consists of 12 ultrasonic probes, 4 panoramic cameras (the number of panoramic cameras in the panoramic imaging system) and a controller. When the user activates the intelligent parking space judgment system function, the system obtains the response semantic information and distance information through the panoramic camera, and then combines the distance information of the surround-view ultrasonic probe through the built-in algorithm to obtain accurate obstacle location information, and judges the availability of the current pre-selected parking space based on a parking space availability judgment method built into the controller.

[0086] In more embodiments, this embodiment provides a vehicle, which adopts the above-mentioned method for determining parking space availability.

[0087] In a specific implementation, the vehicle may also include RF (Radio Frequency) circuits, memories including one or more computer-readable storage media, input units, display units, sensors, audio circuits, WiFi (Wireless Fidelity) modules, processors including one or more processing cores, and power supplies. Those skilled in the art will appreciate that the above components do not limit the vehicle and may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently. Among them:

[0088] RF circuits can be used for receiving and sending signals during information transmission or calls. In particular, after receiving the downlink information of the base station, it is handed over to one or more processors for processing; in addition, uplink data is sent to the base station. Usually, the RF circuit includes but is not limited to an antenna, at least one amplifier, a tuner, one or more oscillators, a user identity module (SIM) card, a transceiver, a coupler, an LNA (Low Noise Amplifier), a duplexer, etc. In addition, the RF circuit can also communicate with the network and other devices through wireless communication. The wireless communication can use any communication standard or protocol, including but not limited to GSM (Global System of Mobile communication), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), email, SMS (Short Messaging Service), etc.

[0089] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the vehicle (such as audio data, a phone book, etc.), etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory may also include a memory controller to provide the processor and the input unit with access to the memory.

[0090] The input unit can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control. Specifically, the input unit may include a touch-sensitive surface and other input devices. The touch-sensitive surface, also known as a touch display or touchpad, can collect the user's touch operations on or near it (such as the user's operation on or near the touch-sensitive surface using any suitable object or accessory such as a finger, stylus, etc.), and drive the corresponding connection device according to a pre-set program. Optionally, the touch-sensitive surface may include a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor, and can receive and execute the command sent by the processor. In addition, the touch-sensitive surface can be implemented using multiple types such as resistive, capacitive, infrared and surface acoustic wave. In addition to the touch-sensitive surface, the input unit may also include other input devices. Specifically, other input devices may include, but are not limited to, one or more of a physical keyboard, function keys (such as a volume control key, a switch key, etc.), a trackball, a mouse, a joystick, and the like.

[0091] The display unit can be used to display information input by the user or information provided to the user and various graphical user interfaces of the vehicle, which can be composed of graphics, text, icons, videos and any combination thereof. The display unit may include a display panel. Optionally, the display panel may be configured in the form of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), etc. Further, the touch-sensitive surface may cover the display panel. When the touch-sensitive surface detects a touch operation on or near it, it is transmitted to the processor to determine the type of touch event, and then the processor provides corresponding visual output on the display panel according to the type of touch event. The touch-sensitive surface and the display panel are implemented as two independent components to implement input and output functions, but in some embodiments, the touch-sensitive surface can be integrated with the display panel to implement input and output functions.

[0092] The vehicle may also include at least one sensor, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display panel according to the brightness of the ambient light, and the proximity sensor may turn off the display panel and / or backlight when the vehicle moves to the ear. As a type of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used for applications that identify the posture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; as for other sensors that can be configured in the vehicle, such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., they will not be repeated here.

[0093] The audio circuit, speaker, and microphone can provide an audio interface between the user and the vehicle. The audio circuit can convert the received audio data into an electrical signal and transmit it to the speaker, which converts it into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit and converted into audio data. The audio data is then processed by the output processor and sent to another vehicle through the RF circuit, or the audio data is output to a memory for further processing. The audio circuit may also include an earphone jack to provide communication between an external headset and the vehicle.

[0094] WiFi is a short-range wireless transmission technology. The vehicle can help users send and receive emails, browse web pages, and access streaming media through the WiFi module, which provides users with wireless broadband Internet access. Although the WiFi module is shown, it is understandable that it is not a necessary component of the vehicle and can be omitted as needed without changing the essence of the invention.

[0095] The processor is the control center of the vehicle, using various interfaces and lines to connect various parts of the entire mobile phone, and by running or executing software programs and / or modules stored in the memory, and calling data stored in the memory, it executes various functions of the vehicle and processes data, thereby monitoring the mobile phone as a whole. Optionally, the processor may include one or more processing cores; preferably, the processor may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor.

[0096] The vehicle also includes a power source (such as a battery) for supplying power to various components. Preferably, the power source can be logically connected to the processor through a power management system, so that the power management system can manage charging, discharging, and power consumption. The power source can also include one or more DC or AC power sources, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0097] Although not shown, the vehicle may also include a camera, a Bluetooth module, etc., which will not be described in detail here. Specifically in this embodiment, the display unit of the vehicle is a touch screen display, and the vehicle also includes a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by one or more processors. The one or more programs include a method for executing the method shown in the above embodiment.

[0098] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining parking space availability, which is applied to a vehicle equipped with a panoramic imaging system and an ultrasonic probe, and is characterized in that: The method comprises: Determine an initial parking position based on the obtained panoramic image and ultrasonic ranging information; Based on the space size of the initial parking position and the surrounding environment information of the vehicle, combined with the size of the vehicle, the availability of the initial parking position is judged, and the judgment result is visualized on the vehicle screen; Among them, the availability judgment of the initial parking position is specifically as follows: if there is no obstacle in the current parking space, there is no obstacle within the preset range of the own vehicle, and the part of the space size of the initial parking position that exceeds the size of the own vehicle meets the preset requirements, then the parking position is available; if there is no obstacle in the current parking space, there is no obstacle within the preset range of the own vehicle, and the part of the space size of the initial parking position that exceeds the size of the own vehicle does not meet the preset requirements, then the parking position is risky; if there is an obstacle in the current parking space, there is an obstacle within the preset range of the own vehicle, and the space size of the initial parking position is less than or equal to the size of the own vehicle, then the parking position is unavailable.

2. A method for determining parking space availability according to claim 1, characterized in that: The initial parking position is determined based on the obtained panoramic image and ultrasonic ranging information, specifically: a parking space search is performed based on the on-board panoramic imaging system and the ultrasonic probe respectively, and based on the parking space search results obtained by the on-board panoramic imaging system and the ultrasonic probe, the final initial parking position is determined according to a preset priority.

3. A method for determining parking space availability according to claim 1, characterized in that: The final initial parking position is determined according to a preset priority, specifically: if the panoramic imaging system detects a parking space but the ultrasonic probe does not, the parking space detected by the panoramic imaging system is recommended; if the ultrasonic probe detects a parking space and there is an overlap with the parking space detected by the panoramic imaging system, the parking space detected by the panoramic imaging is recommended first; if there is no overlap, the parking space detected by the ultrasonic probe is recommended first.

4. A method for determining parking space availability according to claim 1, characterized in that: The parking position is divided into a parking space without parking lines and a parking space with parking lines according to whether there are parking lines. For a parking space without parking lines, the ultrasonic probe is used to determine the parking space, which specifically includes the following processing steps: The transmitter based on the ultrasonic probe will emit high-frequency ultrasonic pulses to the surrounding area and receive the reflected pulses; By measuring the time difference between the transmitted pulse and the received reflected pulse, the distance between the obstacle and the ultrasonic sensor is calculated; During the automatic parking process, the distance between the vehicle and obstacles is continuously scanned; Based on the distance information fed back by each ultrasonic probe, an environmental map around the vehicle is constructed to identify the initial parking space; When the reference vehicle target is detected, the size and position of the parking space next to the reference vehicle target are measured based on an ultrasonic probe to determine whether the current initial parking space is suitable for parking the vehicle.

5. A method for determining parking space availability according to claim 1, characterized in that: For parking spaces with parking lines, parking line detection is performed based on the parking line monitoring algorithm built into the panoramic imaging system. When three straight lines with a length exceeding the preset length are detected and the adjacent straight lines among the three straight lines form two right angles, it is considered that an initial parking space is detected.

6. A method for determining parking space availability according to claim 1, characterized in that: The judgment result is visualized and displayed on the vehicle screen, specifically: the initial parking position is displayed in real time in the reversing image or 360° panoramic image on the vehicle screen, and the initial parking position is selected by a parking space frame; wherein, different colors of parking space frames are used for the initial parking position being available, the initial parking position being risky, and the parking position being unavailable.

7. A method for determining parking space availability according to claim 1, characterized in that: The vehicle screen is also used to display an interactive interface, which is used to receive user operations on the position movement or direction rotation of the target parking space frame; and based on the relevant information of the target parking space frame after the user's operation, determine whether the parking space to which the target parking space frame belongs is available.

8. A parking space availability judgment system, which is applied to a vehicle equipped with a panoramic imaging system and an ultrasonic probe, characterized in that: The system comprises: an initial parking position determining unit, which is used to determine an initial parking position based on the obtained panoramic image and ultrasonic ranging information; A parking space availability judgment unit is used to judge the availability of the initial parking position based on the space size of the initial parking position and the surrounding environment information of the own vehicle, combined with the size of the own vehicle, and visualize the judgment result on the vehicle screen; wherein, the availability judgment of the initial parking position is specifically as follows: if there is no obstacle in the current parking space, there is no obstacle within the preset range of the own vehicle, and the part of the space size of the initial parking position that exceeds the size of the own vehicle meets the preset requirements, then the parking position is available; if there is no obstacle in the current parking space, there is no obstacle within the preset range of the own vehicle, and the part of the space size of the initial parking position that exceeds the size of the own vehicle does not meet the preset requirements, then the parking position is risky; if there is an obstacle in the current parking space, there is an obstacle within the preset range of the own vehicle, and the space size of the initial parking position is less than or equal to the size of the own vehicle, then the parking position is unavailable.

9. A parking space availability determination device, characterized in that: It comprises an ultrasonic probe, a panoramic imaging system and a controller, wherein the ultrasonic probe and the panoramic imaging system are respectively connected to the controller, and the controller executes a parking space availability judgment method as described in any one of claims 1-7.

10. A vehicle, characterized in that: A parking space availability determination method as described in any one of claims 1 to 7 is adopted.

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