Parking space navigation method and device, electronic equipment, storage medium and vehicle

Abstract

The invention discloses a parking space navigation method and device, electronic equipment, a storage medium and a vehicle, and relates to the technical field of vehicle navigation. The method comprises the steps of obtaining a predetermined key position of a parking lot; acquiring a driving record route of the parking lot within a predetermined time period, wherein the driving record route has parking spaces; and according to the predetermined key position and the parking space, route screening is carried out on the driving record route to obtain a parking space navigation route with an idle parking space, and the parking space navigation route comprises the predetermined key position. According to the invention, the idle parking space can be accurately found, and the reliability is high.

Description

Technical Field

[0001] The present application relates to the field of vehicle navigation technology, and in particular to a parking navigation method and device, electronic equipment, storage medium, and vehicle. Background Art

[0002] During the parking process, parking space navigation technology can be used to park the vehicle. For example, the vehicle can find a parking space automatically through unmanned driving, that is, the vehicle can autonomously find a parking space in the garage and park. For another example, the vehicle can autonomously park in a set fixed parking space through the memory parking space and garage route set by the owner. However, these technologies may not necessarily find an empty parking space for the vehicle to park, and the reliability is low. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a parking space navigation method and device, electronic equipment, storage medium, and vehicle, which can improve the accuracy of finding an empty parking space and have high reliability.

[0004] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application provides a parking navigation method, the method comprising:

[0005] Get the scheduled key location of the parking lot;

[0006] Acquire a driving record route of the parking lot within a predetermined period of time, wherein the driving record route has parking spaces;

[0007] The driving record route is screened according to the predetermined key position and the parking space to obtain a parking navigation route with an empty parking space, wherein the parking navigation route includes the predetermined key position.

[0008] Optionally, after obtaining the predetermined key position of the parking lot, the method further includes:

[0009] Get the position of the target vehicle and get the starting position;

[0010] A key position navigation route with the predetermined key position as the end position is generated according to the starting position and the predetermined key position; wherein the key position navigation route is used to navigate the target vehicle, and the parking space navigation route is used to navigate the target vehicle.

[0011] Optionally, the screening of the driving record route according to the predetermined key position and the parking space to obtain a parking navigation route includes:

[0012] Using the driving record route including the predetermined key position as a first parking space navigation route;

[0013] Screening out an empty parking space from the parking spaces, and using the first parking space navigation route including the empty parking space as a second parking space navigation route;

[0014] The parking space navigation route is filtered out from the second parking space navigation route.

[0015] Optionally, the filtering out the parking space navigation route from the second parking space navigation route includes:

[0016] Obtaining the number of available parking spaces on the second parking space navigation route;

[0017] Determining the distance between the vacant parking spaces according to the distance between the predetermined key position and each of the vacant parking spaces;

[0018] generating a route score according to a detection timestamp corresponding to the second parking space navigation route, the number of free parking spaces, and the distance to the free parking spaces;

[0019] The second parking space navigation route is selected according to the route score to obtain the parking space navigation route.

[0020] Optionally, generating a route score according to the detection timestamp corresponding to the second parking space navigation route, the number of free parking spaces, and the distance to the free parking spaces includes:

[0021] Calculate a first score according to the detection timestamp;

[0022] Calculate a second score based on the number of available parking spaces;

[0023] Calculate a third score based on the distance to the free parking space;

[0024] The route score is obtained by performing weighted calculation according to the first score, the second score and the third score.

[0025] Optionally, before obtaining the driving record route of the parking lot within a predetermined period of time, the method further includes:

[0026] Determining the number of reference vehicles in the parking lot within a predetermined period of time to obtain a reference number;

[0027] If the reference number is less than or equal to a first predetermined number threshold, increasing the duration of the predetermined time period;

[0028] If the reference number is greater than or equal to a second predetermined number threshold, reducing the duration of the predetermined period;

[0029] The first predetermined number threshold is smaller than the second predetermined number threshold, and the driving record route is obtained by detecting the reference vehicle.

[0030] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application provides a parking navigation device, the device comprising:

[0031] A key location acquisition module, used to acquire a predetermined key location of a parking lot;

[0032] A route information acquisition module, used to acquire a driving record route of the parking lot within a predetermined period of time, wherein the driving record route has parking spaces;

[0033] The route screening module is used to screen the driving record route according to the predetermined key position and the parking space to obtain a parking navigation route with an empty parking space, wherein the parking navigation route includes the predetermined key position.

[0034] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0035] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0036] To achieve the above objectives, the fifth aspect of an embodiment of the present application proposes a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0037] The parking navigation method and device, electronic device, storage medium, and vehicle proposed in the present application are aimed at the problem that related technologies cannot effectively find vacant parking spaces, resulting in low reliability. In the present application, on the one hand, a predetermined key position of the parking lot is obtained, and on the other hand, a driving record route of the parking lot within a predetermined period of time is obtained, and the driving record route has parking spaces. Finally, the driving record route is screened according to the predetermined key position and the parking space to obtain a parking navigation route with vacant parking spaces, and the parking navigation route includes the predetermined key position. This method can give priority to routes that have been driven through the parking lot within the predetermined period of time and include the predetermined key position and have vacant parking spaces as parking navigation routes, thereby improving the accuracy of the parking navigation route found while still having vacant parking spaces, and having higher reliability.

[0038] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a flow chart of a parking navigation method provided by an embodiment of the present application;

[0040] Figure 2 is a flow chart of a parking navigation method provided by another embodiment of the present application;

[0041] Figure 3 is a flow chart of a parking navigation method provided by another embodiment of the present application;

[0042] Figure 4 yes Figure 1 Flow chart of step 103;

[0043] Figure 5 yes Figure 4 Flowchart of step 403;

[0044] Figure 6 is an example flow chart of the parking navigation method provided in an embodiment of the present application;

[0045] Figure 7 It is a structural schematic diagram of a parking navigation device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0049] Before further describing the embodiments of the present application in detail, the nouns and terms involved in the embodiments of the present application are explained. The nouns and terms involved in the embodiments of the present application are subject to the following interpretations.

[0050] The parking navigation method provided in the embodiment of the present application can be applied to any end of the terminal and the server end, and can also be software running on the server end or the terminal. The server end can be configured as an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application or computer program that implements the parking navigation method, but is not limited to the above forms.

[0051] It should be noted that in each specific implementation method of the present application, when it comes to performing relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent must be obtained first, and the collection, use, and processing of such data will comply with relevant laws, regulations, and standards.

[0052] The parking navigation method, parking navigation device, electronic device, computer-readable storage medium and vehicle provided in the embodiments of the present application are specifically described through the following embodiments. First, the parking navigation method in the embodiments of the present application is described.

[0053] Please refer to Figure 1 , Figure 1 An optional flow chart of a parking navigation method is disclosed. Figure 1 The method may include but is not limited to steps 101 to 103.

[0054] Step 101, obtaining a predetermined key location of a parking lot;

[0055] Step 102, obtaining a driving record route of a parking lot within a predetermined period of time, where the driving record route has parking spaces;

[0056] Step 103 , screening the driving record route according to the predetermined key position and the parking space to obtain a parking navigation route with an available parking space, wherein the parking navigation route includes the predetermined key position.

[0057] In the steps 101 to 103 shown in the embodiment of the present application, the routes that have been driven in the parking lot within the predetermined time period and contain the predetermined key positions and have vacant parking spaces can be given priority as parking navigation routes, thereby improving the accuracy of the parking navigation routes found to still have vacant parking spaces. In addition, since the present application uses the predetermined key positions and the driving record routes for route screening, it can have a certain understanding of the actual situation of the parking lot (such as the parking spaces and drivable roads in the parking lot), thereby reducing the impact of complex and changeable factors in the parking lot (such as changes in the number of parking spaces, changes in drivable roads, etc.) on parking navigation, and can ensure the reliability of finding vacant parking spaces.

[0058] In step 101, a parking lot is an area specially set up for storing vehicles. A parking lot can be an outdoor open space or an indoor building. The main function of a parking lot is to provide a parking place for vehicle drivers to park their vehicles safely. Parking lots are usually classified by purpose and size. Common types include: roadside parking lots, underground parking lots, and multi-storey parking lots.

[0059] The predetermined key position refers to one or more positions set in advance in the parking lot. The predetermined key position can be set according to factors such as vehicle flow, convenience of use and safety. For example, the predetermined key position includes pedestrian entrance and exit positions, charging pile positions, parking fee payment area positions, camera positions, etc. In one example, a user can enter or leave a building through a pedestrian entrance and exit position, such as an elevator entrance position and a staircase entrance position. Buildings include shopping malls, teaching buildings, residences, etc.

[0060] In one embodiment, when the target vehicle arrives at the parking lot, the predetermined key position of the parking lot is obtained. For example, the cloud (server) detects that the target vehicle arrives at the entrance of the parking lot, then starts the parking navigation function, and then starts to obtain the predetermined key position of the parking lot.

[0061] The above-mentioned step of obtaining the predetermined key position of the parking lot may include: determining the type of the target vehicle and obtaining the vehicle type; if the vehicle type characterizes that the target vehicle is an electric vehicle, then determining the charging pile position as the predetermined key position; if the vehicle type characterizes that the target vehicle is a non-electric vehicle, then determining the position other than the charging pile position as the predetermined key position, and the position other than the charging pile position includes at least one of the following: pedestrian entrance and exit position, parking fee payment area position, and camera position.

[0062] The benefit of this embodiment is that the predetermined key positions are dynamically set according to the type of target vehicle, so that targeted services can be provided for different types of vehicles, such as facilitating the charging of electric vehicles using charging piles, and the applicability and flexibility are high.

[0063] In one embodiment, after step 101, refer to Figure 2 The parking navigation method of this embodiment may further include:

[0064] Step 201, obtaining the position of the target vehicle and obtaining the starting position;

[0065] Step 202: Generate a key location navigation route with the predetermined key location as the end location based on the starting location and the predetermined key location.

[0066] The key position navigation route is used to navigate the target vehicle so that the target vehicle drives to the predetermined key position. After obtaining the parking space navigation route, the parking space navigation route is used to navigate the target vehicle so that the target vehicle drives into an empty parking space. In one example, a user inputs a starting position and a predetermined key position into a navigation device (such as a GPS device, a smart phone, or a car navigation system), and the navigation device calculates the key position navigation route based on the starting position and the predetermined key position using pre-stored map data.

[0067] The benefit of the embodiment of the above steps 201 to 202 is that the key position navigation route can be used to guide the target vehicle to the predetermined key position, so that after the parking space navigation route is screened out according to the predetermined key position, the target vehicle can drive from the predetermined key position to the vacant parking space under the guidance of the parking space navigation route, thereby improving the parking space navigation efficiency.

[0068] It should be noted that after the target vehicle reaches the predetermined key position, even if the subsequent steps cannot find the parking navigation route, the owner of the target vehicle can give priority to the vacant parking space near the predetermined key position as the final parking space, thereby improving convenience. In particular, when the predetermined key position is the elevator entrance or the staircase entrance, it can also facilitate the owner to leave the parking lot and enter the building, providing a better user experience and high practicality.

[0069] In step 102, the predetermined time period refers to a pre-set time period, and the duration of the predetermined time period can be 4 hours, 8 hours, 1 day, 2 days, etc. For example, if the current timestamp is 09:00:00 and the duration is 4 hours, then the predetermined time period is 05:00:00 to 09:00:00. The driving record route refers to the driving track and related driving information of the vehicle in the parking lot. The driving record route has parking spaces.

[0070] In one example, a vehicle is in a parking lot, and it drives from the starting point of the route to the end point of the route to obtain a driving trajectory. During the driving process, the radar is turned on to collect images to obtain multiple driving images, and then the driving trajectory and multiple driving images are reported to the cloud. The driving trajectory includes each location point passed by the vehicle. The cloud recognizes and processes each driving image based on the image processing algorithm to obtain the parking space corresponding to the driving trajectory, and then merges the route trajectory and the parking space to obtain the driving record route. A parking space refers to a parking space detected in the parking lot while the vehicle is driving. For example, the parking lot has 100 parking spaces, but according to the driving images reported by the vehicle, only 20 of the 100 parking spaces may be identified, that is, 20 parking spaces corresponding to the driving trajectory are detected. For example, the cloud stores the driving record routes of multiple vehicles, as shown in Table 1:

[0071] Serial number Detection timestamp Vehicle identification Driving record route 1 09:00:00 C01 {L01, (H01, H02, H03)} 2 09:01:00 C02 {L02, (H04, H05, H06)} 3 09:05:00 C03 {L03, (H07, H08, H09)}

[0072] Table 1

[0073] In Table 1, in the record with serial number 1, the vehicle with vehicle identification C01 reports a driving image and a driving trajectory of L01 at the detection timestamp of 09:00:00, and the parking spaces obtained by the cloud based on the driving image recognition include H01, H02, and H03. In the record with serial number 2, the vehicle with vehicle identification C02 reports a driving image and a driving trajectory of L02 at the detection timestamp of 09:01:00, and the parking spaces obtained by the cloud based on the driving image recognition include H04, H05, and H06. In the record with serial number 3, the vehicle with vehicle identification C03 reports a driving image and a driving trajectory of L03 at the detection timestamp of 09:05:00, and the parking spaces obtained by the cloud based on the driving image recognition include H07, H08, and H09. Among them, H01 to H09 all refer to parking spaces.

[0074] It should be noted that the detection timestamp refers to the timestamp corresponding to the driving record route. Generally, the cloud determines the timestamp of the driving trajectory and driving image reported by the vehicle as the detection timestamp, which can also be called the reporting timestamp. In addition to driving images and driving trajectories, vehicles can also report driving time, distance, parking space model and other data to help with parking space navigation.

[0075] In one example, assuming that the scheduled period is 4 hours and the current time is 13:01:00, the driving record routes between 09:01:00 and 13:01:00 should be obtained. Referring to Table 1, {L02, (H04, H05, H06)} and {L03, (H07, H08, H09)} can be obtained.

[0076] In step 103, the parking navigation route refers to a route that guides the parking space into an empty parking space. Considering that the multiple driving record routes stored in the cloud may not be suitable as parking navigation routes, it is necessary to filter the driving record routes according to the predetermined key positions and parking spaces to obtain parking navigation routes with empty parking spaces, and the parking navigation routes contain predetermined key positions. For example, the starting point of the parking navigation route is the predetermined key position, and the end point of the route is a parking space in the parking lot. The parking space corresponding to the end point of the route may be an empty parking space or a non-empty parking space.

[0077] In one embodiment, before step 102, the driving record route is obtained by reference to vehicle detection, and the status of some parking spaces in the driving record route needs to be updated. Specifically, the parking space navigation method provided in this embodiment may also include:

[0078] Acquire a driving record route detected by a reference vehicle in a parking lot, where the driving record route has at least one parking space;

[0079] If the end point of the driving record route is a parking space, the last parking space among the parking spaces on the driving record route is set as a non-vacant parking space;

[0080] If the starting point of the driving record route is a parking space, the first parking space among the parking spaces of the driving record route is set as an empty parking space.

[0081] Specifically, the reference vehicle refers to a vehicle with reporting authority. If the end point of the driving record route is a parking space, it means that the reference vehicle finally drives into the parking space, and the driving record route can be called the parking space entry record route, that is, the last parking space among the parking spaces in the driving record route has been occupied by a vehicle and needs to be set as a non-vacant parking space, and the status of the other parking spaces in the parking spaces remains unchanged. If the starting point of the driving record route is a parking space, it means that the reference vehicle finally drives out of the parking space, and the driving record route can be called the parking space exit record route, that is, the first parking space among the parking spaces in the driving record route has no vehicle occupied and needs to be set as a vacant parking space, and the status of the other parking spaces in the parking spaces remains unchanged.

[0082] The benefit of the above embodiment is that by updating the vacant parking space according to whether the starting point or the end point of the route is a parking space, it is possible to accurately understand whether the parking space is a vacant parking space, which helps to subsequently determine the accuracy of the parking space navigation route.

[0083] In one embodiment, before step 102, the driving record route is obtained by detecting reference vehicles, and the number of reference vehicles may be too many or too few. Figure 3 The parking space navigation method provided in this embodiment may further include:

[0084] Step 301, determining the number of reference vehicles in a parking lot within a predetermined period of time to obtain a reference number;

[0085] Step 302, if the reference number is less than or equal to the first predetermined number threshold, increase the duration of the predetermined period;

[0086] Step 303: if the reference number is greater than or equal to a second predetermined number threshold, reduce the duration of the predetermined time period; wherein the first predetermined number threshold is less than the second predetermined number threshold.

[0087] For example, if the first predetermined number threshold is 5 and the reference number is 3, the duration of the predetermined period needs to be increased, such as increasing 1 hour from 09:00:00 to 13:00:00 to obtain 08:00:00 to 13:00:00 or 09:00:00 to 14:00:00. For another example, if the second predetermined number threshold is 10 and the reference number is 15, the duration of the predetermined period needs to be reduced, such as reducing 1 hour from 09:00:00 to 13:00:00 to obtain 10:00:00 to 13:00:00 or 09:00:00 to 12:00:00. The increase duration gradient and the decrease duration gradient can be set according to the requirements, and this embodiment does not specifically limit this.

[0088] The benefit of the above-mentioned embodiment of step 301 to step 303 is that the number of reference vehicles within a predetermined period can be controlled, thereby effectively controlling the number of driving record routes, and taking into account both parking navigation accuracy and navigation efficiency.

[0089] Considering that the duration of the predetermined period cannot be increased arbitrarily, in one embodiment, after increasing the duration of the predetermined period if the reference number is less than or equal to the first predetermined number threshold, the parking space navigation method provided in this embodiment may further include:

[0090] If the number of reference vehicles in the predetermined additional time period is less than the first predetermined number threshold, the reporting authority is configured for the vehicles belonging to the non-target category in the parking lot, and the auxiliary vehicle is obtained; wherein the predetermined additional time period is the time period after the length of the predetermined time period is increased;

[0091] Add the auxiliary vehicle to the reference vehicle.

[0092] Specifically, the reference vehicles initially include vehicles that have route reporting authority and belong to the target category, but the number of these vehicles is insufficient, so auxiliary vehicles are added to the reference vehicles, so that the reference vehicles also include vehicles that have reporting authority and belong to the non-target category. The target vehicle is also a vehicle that belongs to the target category, that is, the driving record route provided by the vehicle that also belongs to the target category is used to determine the parking navigation route for the target vehicle. In one example, the target category can refer to the category of the target manufacturer to which the vehicle manufacturer belongs, and the non-target category can refer to the category of the non-target manufacturer to which the vehicle manufacturer belongs. In this way, the reference vehicles include both vehicles of the target manufacturer and vehicles of the non-target manufacturer, which can provide assistance for determining the parking navigation route for the target vehicle belonging to the target manufacturer, and help improve the accuracy of route determination when the number of vehicles in the target category is relatively small.

[0093] The benefit of this embodiment is that, when the duration of the predetermined period cannot be increased arbitrarily, the accuracy of parking navigation can be ensured by increasing the number of auxiliary vehicles to expand the reference number.

[0094] In one embodiment, referring to Figure 4 , step 103 comprises:

[0095] Step 401, using the driving record route containing the predetermined key position as the first parking space navigation route;

[0096] Step 402, screening out vacant parking spaces from the parking spaces, and using the first parking space navigation route including the vacant parking space as the second parking space navigation route;

[0097] Step 403: Filter out a parking space navigation route from the second parking space navigation route.

[0098] For example, referring to Table 1 above, the driving record route includes X1 as {L01, (H01, H02, H03)}, X2 as {L02, (H04, H05, H06)}, and X3 as {L03, (H07, H08, H09)}. Assuming that L01 contains the predetermined key position, X1 is used as the first parking space navigation route. Assuming that L02 contains the predetermined key position, X2 is used as the first parking space navigation route. Assuming that L03 does not contain the predetermined key position, X3 cannot be used as the first parking space navigation route. After determining that the first parking space navigation route includes X1 and X2, assuming that H01 is a non-idle parking space and H02 and H03 are idle parking spaces, X1 is used as the second parking space navigation route. Assuming that H04, H05 and H06 in X2 are not idle parking spaces, X2 cannot be used as the second parking space navigation route. In this example, X1 is the second parking space navigation route, and finally X1 is used as the parking space navigation route. The target vehicle will drive according to L01 in X1, and then select H02 or H03 as the target parking space.

[0099] The benefit of the above-mentioned embodiment of step 401 to step 403 is that a route having an empty parking space and including a predetermined key position can be preferentially determined as a parking navigation route, thereby improving the reliability of finding an empty parking space for a vehicle.

[0100] In one embodiment, there is more than one second parking navigation route, and at least two second parking navigation routes may be randomly selected to obtain the parking navigation route, or all second parking navigation routes may be directly used as the parking navigation route.

[0101] In one embodiment, referring to Figure 5 , step 403 may include:

[0102] Step 501, obtaining the number of vacant parking spaces of the second parking navigation route;

[0103] Step 502, determining the distance between the free parking spaces according to the distance between the predetermined key position and each free parking space;

[0104] Step 503, generating a route score according to the detection timestamp, the number of free parking spaces, and the distance to the free parking spaces corresponding to the second parking space navigation route;

[0105] Step 504: select the second parking space navigation route according to the route score to obtain the parking space navigation route.

[0106] In step 501, the number of free parking spaces refers to the number of free parking spaces in the parking spaces of the second parking navigation route. For example, the second parking navigation route is X1 in the above text, and X1 is {L01, (H01, H02, H03)}, assuming that H01 and H02 are free parking spaces, and H03 is a non-free parking space, then the number of free parking spaces is 2.

[0107] In step 502, the free parking space distance refers to the sum of the distances between the predetermined key position and each free parking space. For example, the distance between the predetermined key position and H01 is 10 meters, and the distance between the predetermined key position and H02 is 15 meters, then the free parking space distance is 10+15=25 meters.

[0108] In step 503, for each second parking space navigation route, an evaluation is performed based on the three dimensions of detection timestamp, number of free parking spaces, and distance to free parking spaces to obtain a route score. The detection timestamp mainly considers timeliness. Specifically, the closer to the current timestamp, the greater the certainty that the empty parking space still exists, and a descending operation can be performed based on the detection timestamp. The closer the detection timestamp is to the current timestamp, the higher the route score. The number of free parking spaces mainly considers whether there are more free parking spaces in the route. The more free parking spaces there are, the higher the route score. The distance to the free parking spaces mainly considers the time it takes to reach the free parking spaces. The shorter the distance to the free parking spaces, the higher the route score.

[0109] In step 504 , the higher the route score is, the more likely the second parking space navigation route is to be used as the parking space navigation route.

[0110] The benefit of the embodiment of the above steps 501 to 504 is that by performing route evaluation in multiple dimensions and then selecting a route, the possibility of vacant parking spaces in the parking navigation route being still vacant is increased, and the reliability of parking navigation can be further improved.

[0111] In one embodiment, step 503 may include:

[0112] According to the detection timestamp, a first score is calculated;

[0113] The second score is calculated based on the number of vacant parking spaces;

[0114] The third score is calculated based on the distance to the free parking space;

[0115] A route score is obtained by performing a weighted calculation based on the first score, the second score, and the third score.

[0116] Specifically, the closer the detection timestamp is to the current timestamp, the higher the first score. The more free parking spaces there are, the higher the second score. The shorter the distance to the free parking spaces, the higher the third score. The first weight can be configured for the detection timestamp, the second weight can be configured for the number of free parking spaces, and the third weight can be configured for the distance to the free parking spaces. Then, the route score can be calculated based on the first score and the first weight, the second score and the second weight, and the third score and the third weight. The first weight, the second weight, and the third weight can be trained by deep learning based on the inferred route to verify whether an empty parking space can be found, so as to determine the appropriate value. For example, f(t, n, s) = Neural Network(w1*t, w2*n, w3*s), where f refers to the route score, t refers to the detection timestamp, n refers to the number of free parking spaces, s refers to the distance to the free parking spaces, w1 refers to the first weight, w2 refers to the second weight, and w3 refers to the third weight.

[0117] The benefit of the above embodiment is that it can flexibly consider the impact of factors of different dimensions on the route score, thereby improving the accuracy and flexibility of determining the route score.

[0118] In one embodiment, after step 104, the parking space navigation method provided in this embodiment may further include: acquiring an image of the target vehicle during its driving based on the parking space navigation route to obtain a vehicle driving image; performing vacant parking space detection on the parking space included in the vehicle driving image; if the parking space is detected to be an vacant parking space, generating a prompt message, the prompt message being used to remind the user that there is an vacant parking space where parking can be done in advance.

[0119] The benefit of this embodiment is that more vacant parking spaces can be provided with the help of image recognition, thereby improving the parking success rate.

[0120] In one embodiment, the above parking navigation route is the one that the owner has walked and recorded before. After the amount of data increases, the cloud can customize the route based on the 3D model of the parking lot, and plan a new route with short time and high accuracy based on a certain vacant parking space found (this route does not exist in the second parking navigation route above), and store it in the cloud to form a route similar to the one that the owner has walked. In this way, the number of routes can be expanded, which helps to improve the reliability of parking navigation.

[0121] In one example, refer to Figure 6 The parking space navigation method may include the following steps:

[0122] (1) In response to detecting that the target vehicle arrives at the entrance of the parking lot, obtaining a predetermined key position, and proceeding to step (2) and step (3);

[0123] (2) generating a key position navigation route with the predetermined key position as the end position according to the starting position of the target vehicle and the predetermined key position, so as to guide the target vehicle to reach the predetermined key position;

[0124] (3) Obtaining a driving record route of the parking lot within a predetermined period of time, the driving record route having parking spaces, screening the driving record route according to the predetermined key locations and parking spaces, and proceeding to steps (4) and (5);

[0125] (4) If a parking navigation route with an available parking space and including a predetermined key location is screened out, proceed to step (6);

[0126] (4) If a route with an available parking space and not including the predetermined key position is screened out, or if a route with no available parking space and including the predetermined key position is screened out, or if a route with no available parking space and not including the predetermined key position is screened out, proceed to step (7);

[0127] (6) providing feedback of the parking navigation route to the owner of the target vehicle;

[0128] (7) Feedback to the owner of the target vehicle on the reason why the parking navigation route was not found. For example, the reason may be that there is a route containing the predetermined key location but the route does not have an available parking space, or there is a route with an available parking space but the route does not contain the predetermined key location, or there is neither a route containing the predetermined key location nor an available parking space.

[0129] The benefit of this example is at least that the probability of finding an empty parking space is greatly improved, and this example is based on the parking navigation route deduced from the existence of empty parking spaces, rather than looking for parking spaces based on the driving route, so the target is more accurate, and the real-time and reliability are both higher.

[0130] The various technical features in the above embodiments can be arbitrarily combined as long as there is no conflict or contradiction between the combinations of features. However, due to space limitations, they are not described one by one. Therefore, any combination of the various technical features in the above embodiments also falls within the scope of this specification.

[0131] The present application also discloses a parking navigation device, referring to Figure 7 The parking navigation device includes: a key position acquisition module 701, a route information acquisition module 702 and a route screening module 703. The key position acquisition module 701 is used to acquire the predetermined key position of the parking lot; the route information acquisition module 702 is used to acquire the driving record route of the parking lot within the predetermined period, and the driving record route has a parking space; the route screening module 703 is used to screen the driving record route according to the predetermined key position and the parking space, and obtain a parking navigation route with an empty parking space, and the parking navigation route contains the predetermined key position.

[0132] In one embodiment, the parking space navigation device also includes: a key position guidance module, which is used to: obtain the position of the target vehicle to obtain the starting position; generate a key position navigation route with the predetermined key position as the end position based on the starting position and the predetermined key position; wherein the key position navigation route is used to navigate the target vehicle.

[0133] In one embodiment, before obtaining the driving record route of the parking lot within a predetermined time period, the parking space navigation device also includes: a parking space status update module, which is used to: obtain the driving record route detected by the reference vehicle in the parking lot, and the driving record route has at least one parking space; if the end point of the driving record route is a parking space, the last parking space among the parking spaces in the driving record route is set as a non-vacant parking space; if the starting point of the driving record route is a parking space, the first parking space among the parking spaces in the driving record route is set as a vacant parking space.

[0134] In one embodiment, the parking navigation device also includes: a duration update module, which is used to: determine the number of reference vehicles in the parking lot within a predetermined time period to obtain a reference number; if the reference number is less than or equal to a first predetermined number threshold, increase the duration of the predetermined time period; if the reference number is greater than or equal to a second predetermined number threshold, reduce the duration of the predetermined time period; wherein the first predetermined number threshold is less than the second predetermined number threshold, and the driving record route is obtained through reference vehicle detection.

[0135] In one embodiment, the parking navigation device also includes: a vehicle adding module, which is used to: if the number of reference vehicles within a predetermined increase period is less than a first predetermined number threshold, configure reporting permissions for vehicles belonging to non-target categories in the parking lot to obtain auxiliary vehicles; wherein the predetermined increase period is a period after the length of the predetermined period is increased; and add the auxiliary vehicle to the reference vehicle.

[0136] It should be noted that the specific implementation of the parking navigation device is substantially the same as the specific implementation of the above-mentioned parking navigation method, and will not be described in detail herein.

[0137] The embodiment of the present application also discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned parking navigation method when executing the computer program. The electronic device is, for example, a mobile phone, a computer, and the like.

[0138] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the parking space navigation method as described above is implemented.

[0139] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0140] The embodiment of the present application also provides a vehicle, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the parking navigation method as described above when executing the computer program. The vehicle can be a new energy vehicle, such as a hybrid vehicle or a pure electric vehicle. For example, the vehicle can be a sedan, SUV, MPV, pickup truck, van, bus, etc.

[0141] An embodiment of the present application also provides a computer program product, which includes a computer program. The computer program is read and executed by a processor of an electronic device, so that the processor implements the above-mentioned parking space navigation method when executing the computer program.

[0142] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0143] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0144] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0145] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0146] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application 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 interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0147] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0148] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0149] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0150] In addition, each functional unit in each embodiment of the present application 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.

[0151] 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 application, 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 multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0152] The preferred embodiments of the present application are described above with reference to the accompanying drawings, but the scope of the rights of the present application is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present application should be within the scope of the rights of the present application.

Claims

1. A parking navigation method, characterized in that: The method comprises: Get the scheduled key location of the parking lot; Acquire a driving record route of the parking lot within a predetermined period of time, wherein the driving record route has parking spaces; The driving record route is screened according to the predetermined key position and the parking space to obtain a parking navigation route with an empty parking space, wherein the parking navigation route includes the predetermined key position.

2. The method according to claim 1, characterized in that After obtaining the predetermined key position of the parking lot, the method further includes: Get the position of the target vehicle and get the starting position; A key position navigation route with the predetermined key position as the end position is generated according to the starting position and the predetermined key position; wherein the key position navigation route is used to navigate the target vehicle, and the parking space navigation route is used to navigate the target vehicle.

3. The method according to claim 1, characterized in that The step of screening the driving record route according to the predetermined key position and the parking space to obtain a parking space navigation route includes: Using the driving record route including the predetermined key position as a first parking space navigation route; Screening out an empty parking space from the parking spaces, and using the first parking space navigation route including the empty parking space as a second parking space navigation route; The parking space navigation route is filtered out from the second parking space navigation route.

4. The method according to claim 3, characterized in that The filtering out the parking space navigation route from the second parking space navigation route includes: Obtaining the number of available parking spaces on the second parking space navigation route; Determining the distance between the vacant parking spaces according to the distance between the predetermined key position and each of the vacant parking spaces; generating a route score according to a detection timestamp corresponding to the second parking space navigation route, the number of free parking spaces, and the distance to the free parking spaces; The second parking space navigation route is selected according to the route score to obtain the parking space navigation route.

5. The method according to claim 4, characterized in that The generating a route score according to the detection timestamp corresponding to the second parking space navigation route, the number of free parking spaces, and the distance to the free parking spaces includes: Calculate a first score according to the detection timestamp; Calculate a second score based on the number of available parking spaces; Calculate a third score based on the distance to the free parking space; The route score is obtained by performing weighted calculation according to the first score, the second score and the third score.

6. The method according to any one of claims 1 to 5, characterized in that: Before obtaining the driving record route of the parking lot within the predetermined period, the method further includes: Determining the number of reference vehicles in the parking lot within a predetermined period of time to obtain a reference number; If the reference number is less than or equal to a first predetermined number threshold, increasing the duration of the predetermined time period; If the reference number is greater than or equal to a second predetermined number threshold, reducing the duration of the predetermined period; The first predetermined number threshold is smaller than the second predetermined number threshold, and the driving record route is obtained by detecting the reference vehicle.

7. A parking navigation device, characterized in that: The device comprises: A key location acquisition module, used to acquire a predetermined key location of a parking lot; A route information acquisition module, used to acquire a driving record route of the parking lot within a predetermined period of time, wherein the driving record route has parking spaces; The route screening module is used to screen the driving record route according to the predetermined key position and the parking space to obtain a parking navigation route with an empty parking space, wherein the parking navigation route includes the predetermined key position.

8. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 6 is implemented.

10. A vehicle, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 6 when executing the computer program.

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