Parking space automatic recording method and device and vehicle

Abstract

The invention relates to the technical field of vehicles, in particular to a parking space automatic recording method and device and a vehicle, and the method comprises the steps: obtaining the driving direction and surrounding image data of the vehicle at the current moment in the parking process; on the basis of the surrounding image data of the vehicle at the current moment, updating the multiple pieces of parking space data stored at the last moment, and on the basis of the driving direction of the vehicle at the current moment and the updated multiple pieces of parking space data, updating the target parking space data stored at the last moment; and if the vehicle is identified to be parked, based on the target parking space data and the parking space data stored at the stopping moment of the vehicle, determining the parking space data where the vehicle is finally parked, and recording the parking space data where the vehicle is finally parked. Therefore, the problems that the user manually memorizes the parking position, the experience feeling is poor and the like in the related technology are solved.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and particularly to an automatic parking space recording method, device, and vehicle. Background Art

[0002] Currently, private cars are relatively popular means of transportation for daily travel. People often drive to various types of parking lots (such as large shopping malls, airports, etc.) for shopping or parking. However, such parking lots are generally large, so it is necessary to remember the parking location of the vehicle in order to find the vehicle when using the car.

[0003] In the related art, the method for remembering parking spaces is mainly that the user manually remembers the parking space number where the vehicle is parked each time. However, human memory has the risk of forgetting. The user may forget the specific parking space where their vehicle is parked due to negligence, too long time, or other factors, thus wasting a lot of time and energy when returning to find the car, causing unnecessary trouble. Moreover, frequently parking and manually remembering the parking space number will bring a cumbersome experience to the user. Especially for people who often drive, repeating this process for a long time is extremely likely to cause psychological boredom, seriously affecting the user's parking experience and satisfaction with vehicle intelligent services. Summary of the Invention

[0004] This application provides an automatic parking space recording method, device, and vehicle to solve problems such as poor experience caused by the user manually remembering the parking location in the related art.

[0005] The first aspect embodiment of this application provides an automatic parking space recording method, including the following steps: obtaining the driving direction and surrounding image data of the vehicle at the current moment during the parking process; updating a plurality of parking space data stored at the previous moment based on the surrounding image data of the vehicle at the current moment, and updating the target parking space data stored at the previous moment based on the driving direction of the vehicle at the current moment and the updated plurality of parking space data; if it is recognized that the vehicle has completed parking, determining the parking space data where the vehicle is finally parked based on the target parking space data and the plurality of parking space data stored at the moment when the vehicle stops, and recording the parking space data where the vehicle is finally parked.

[0006] According to the above technical means, the embodiment of the present application can update multiple parking space data stored at the previous moment according to the surrounding image data of the vehicle at the current moment, and update the target parking space data stored at the previous moment according to the driving direction of the vehicle at the current moment and the updated multiple parking space data. By continuously iterating and updating the process, the target parking space data and multiple parking space data stored at the final vehicle stop moment are determined to determine the parking space data where the vehicle finally parks, record the parking space data where the vehicle finally parks, so as to realize recording the parking position of the vehicle in a complex parking scenario, achieve automatic recording, avoid the user's manual memory of the parking space, improve the user's driving experience, and at the same time improve the intelligent level of the vehicle, thereby improving the subsequent vehicle searching efficiency of the user.

[0007] Optionally, determining the parking space data where the vehicle finally parks based on the target parking space data and multiple parking space data stored at the vehicle stop moment includes: identifying the parking space identifier and valid identifier of the target parking space in the target parking space data; if it is determined that the target parking space exists according to the valid identifier of the target parking space, determining the parking space data where the vehicle finally parks as the parking space identifier of the target parking space; if it is determined that the target parking space does not exist according to the valid identifier of the target parking space, determining the parking space data where the vehicle finally parks according to the multiple parking space data.

[0008] According to the above technical means, after the vehicle completes parking, the embodiment of the present application can perform a validity judgment on the target parking space stored at the stop moment. If the valid identifier of the target parking space exists, it is determined that the target parking space exists, and it is determined that the parking space where the vehicle finally parks is the target parking space; otherwise, the parking space data where the vehicle finally parks is determined according to other multiple parking space data, so as to ensure that even if the current target parking space is in an unavailable state, other parking spaces can still be considered to improve the adaptability in a complex parking scenario.

[0009] Optionally, determining the parking space data where the vehicle finally parks according to the multiple parking space data includes: identifying the parking space identifier, valid identifier, and priority of the parking space in the multiple parking space data; determining the judgment order of the multiple parking spaces according to the priority. During the current judgment process, it is determined whether the parking space exists according to the valid identifier; if it is determined that the parking space exists during the current judgment process, determining the parking space data where the vehicle finally parks as the parking space identifier of the corresponding parking space during the current judgment process.

[0010] According to the above technical means, the embodiment of the present application can determine the judgment order according to the priority of other parking spaces. During the current judgment process, it is determined whether the parking space exists according to the valid identifier. If it is determined that the parking space exists during the current judgment process, determining the parking space data where the vehicle finally parks as the parking space identifier of the corresponding parking space during the current judgment process, so as to realize determining the final target parking space.

[0011] Optionally, based on the driving direction of the vehicle at the current moment and the updated multiple parking space data, update the target parking space data stored at the previous moment, including: identifying the first parking space data and the second parking space data among the multiple parking space data, where the first parking space data is the parking space data in the same driving direction as the vehicle at the current moment, and the second parking space data is the parking space data in the opposite driving direction to the vehicle at the current moment; update the target parking space data stored at the previous moment according to at least one of the first parking space data and the second parking space data.

[0012] According to the above technical means, the embodiment of the present application can identify at least one of the first parking space data among the multiple parking space data in the same driving direction as the vehicle at the current moment and the second parking space data among the multiple parking space data in the opposite driving direction to the vehicle at the current moment, and update the target parking space data stored at the previous moment, making the update of the target parking space more in line with the driving state of the vehicle and the parking intention of the driver, and improving the rationality of the update of the target parking space data.

[0013] Optionally, updating the target parking space data stored at the previous moment according to at least one of the first parking space data and the second parking space data includes: identifying the valid identifier of the target parking space in the target parking space data stored at the previous moment; if it is determined that the target parking space does not exist according to the valid identifier of the target parking space, update the target parking space data stored at the previous moment according to the updated first parking space data; if it is determined that the target parking space exists according to the valid identifier of the target parking space, identify the memory source of the target parking space in the target parking space data stored at the previous moment, and update the target parking space data stored at the previous moment according to at least one of the memory source, the first parking space data, and the second parking space data.

[0014] According to the above technical means, the embodiment of the present application can identify the parking space identifier and the valid identifier of the target parking space in the target parking space stored at the previous moment. If it is determined that the target parking space does not exist according to the valid identifier of the target parking space, update the target parking space data stored at the previous moment according to the first parking space data in the same driving direction as the current vehicle. Otherwise, if it is determined that there is no target parking space at the previous moment, identify the memory source of the parking space identifier of the target parking space in the target parking space data stored at the previous moment, and update the target parking space data stored at the previous moment according to at least one of the memory source, the first parking space data, and the second parking space data. By judging whether the target parking space stored at the previous moment exists and its memory source, the determination of the target parking space data at the current moment is made more accurate and reasonable.

[0015] Optionally, update the target parking space data stored at the previous moment according to at least one of the memory source, the first parking space data, and the second parking space data, including: if the memory source is the first parking space data, identify the valid identifier of the first parking space in the first parking space data; if it is determined that the first parking space exists according to the valid identifier of the first parking space, update the target parking space data stored at the previous moment according to the first parking space data, otherwise update the target parking space data stored at the previous moment according to the second parking space data; if the memory source is the second parking space data, identify the valid identifier of the second parking space in the second parking space data; if it is determined that the second parking space does not exist according to the valid identifier of the second parking space, maintain the target parking space data stored at the previous moment, otherwise update the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment.

[0016] According to the above technical means, the embodiments of the present application can update the target parking space data stored at the previous moment according to at least one of the memory source, the first parking space data, and the second parking space data to ensure the rationality and safety of parking.

[0017] Optionally, updating the target parking space data stored at the previous moment according to the second parking space data includes: if the parking space identifier in the second parking space data is different from the parking space identifier in the target parking space data stored at the previous moment, maintain the target parking space data stored at the previous moment; if the parking space identifier in the second parking space data is the same as the parking space identifier in the target parking space data stored at the previous moment, update the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment.

[0018] According to the above technical means, when the first parking space at the current moment does not exist, the embodiments of the present application can further update the target parking space data stored at the previous moment according to the second parking space data to ensure that the selection of the target parking space is more in line with the actual parking situation and improve the accuracy of target parking space update.

[0019] Optionally, updating the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment includes: if the actual distance between the second parking space and the vehicle at the current moment is less than or equal to the update threshold, maintain the target parking space data stored at the previous moment; if the actual distance between the second parking space and the vehicle at the current moment is greater than the update threshold, update the target parking space data stored at the previous moment according to the first parking space data.

[0020] According to the above technical means, the embodiments of the present application can update the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment, and further ensure the safety and rationality of parking through the judgment of the actual distance.

[0021] The second aspect embodiment of this application provides a parking space automatic recording device, including: an acquisition module, configured to acquire the driving direction of the vehicle and surrounding image data at the current moment during the parking process; an update module, configured to update a plurality of parking space data stored at the previous moment based on the surrounding image data of the vehicle at the current moment, and update the target parking space data stored at the previous moment based on the driving direction of the vehicle at the current moment and the updated plurality of parking space data; a recording module, configured to, if it is recognized that the vehicle has completed parking, determine the parking space data where the vehicle is finally parked based on the target parking space data and the plurality of parking space data stored at the moment when the vehicle stops, and record the parking space data where the vehicle is finally parked.

[0022] Optionally, the recording module is further configured to: identify the parking space identifier and the valid identifier of the target parking space in the target parking space data; if it is determined that the target parking space exists according to the valid identifier of the target parking space, determine the parking space data where the vehicle is finally parked as the parking space identifier of the target parking space; if it is determined that the target parking space does not exist according to the valid identifier of the target parking space, determine the parking space data where the vehicle is finally parked according to the plurality of parking space data.

[0023] Optionally, the recording module is further configured to: identify the parking space identifier, the valid identifier, and the priority of the parking space in the plurality of parking space data; determine the judgment order of the plurality of parking spaces according to the priority, and in the current judgment process, determine whether the parking space exists according to the valid identifier; if it is determined that the parking space exists in the current judgment process, determine the parking space data where the vehicle is finally parked as the parking space identifier of the corresponding parking space in the current judgment process.

[0024] Optionally, the update module is further configured to: identify the first parking space data and the second parking space data in the plurality of parking space data, where the first parking space data is the parking space data with the same driving direction as the vehicle at the current moment, and the second parking space data is the parking space data with the opposite driving direction to the vehicle at the current moment; update the target parking space data stored at the previous moment according to at least one of the first parking space data and the second parking space data.

[0025] Optionally, the update module is further configured to: identify the valid identifier of the target parking space in the target parking space data stored at the previous moment; if it is determined that the target parking space does not exist according to the valid identifier of the target parking space, update the target parking space data stored at the previous moment according to the updated first parking space data; if it is determined that the target parking space exists according to the valid identifier of the target parking space, identify the memory source of the target parking space in the target parking space data stored at the previous moment, and update the target parking space data stored at the previous moment according to at least one of the memory source, the first parking space data, and the second parking space data.

[0026] Optionally, the updating module is further configured to: if the memory source is the first parking space data, identify the valid identifier of the first parking space in the first parking space data, and if it is determined that the first parking space exists according to the valid identifier of the first parking space, update the target parking space data stored at the previous moment according to the first parking space data; otherwise, update the target parking space data stored at the previous moment according to the second parking space data; if the memory source is the second parking space data, identify the valid identifier of the second parking space in the second parking space data, and if it is determined that the second parking space does not exist according to the valid identifier of the second parking space, maintain the target parking space data stored at the previous moment; otherwise, update the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment.

[0027] Optionally, the updating module is further configured to: if the parking space identifier in the second parking space data is different from the parking space identifier in the target parking space data stored at the previous moment, maintain the target parking space data stored at the previous moment; if the parking space identifier in the second parking space data is the same as the parking space identifier in the target parking space data stored at the previous moment, update the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment.

[0028] Optionally, the updating module is further configured to: if the actual distance between the second parking space and the vehicle at the current moment is less than or equal to the update threshold, maintain the target parking space data stored at the previous moment; if the actual distance between the second parking space and the vehicle at the current moment is greater than the update threshold, update the target parking space data stored at the previous moment according to the first parking space data.

[0029] An embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to perform the automatic parking space recording method as described in the above embodiment.

[0030] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium, on which a computer program or instruction is stored, and the computer program or instruction is executed by a processor to perform the automatic parking space recording method as described in the above embodiment.

[0031] An embodiment of the fifth aspect of the present application provides a computer program product, including a computer program or instruction, and when the computer program or instruction is executed, it realizes the automatic parking space recording method as described in the above embodiment.

[0032] Therefore, the present application has at least the following beneficial effects:

[0033] The embodiments of the present application can update multiple parking space data stored at the previous moment according to the surrounding image data of the vehicle at the current moment, and update the target parking space data stored at the previous moment according to the driving direction of the vehicle at the current moment and the updated multiple parking space data. Through the continuously iterative update process, the target parking space data and multiple parking space data stored at the final vehicle stop moment are determined to determine the parking space data where the vehicle finally parks, and record the parking space data where the vehicle finally parks, so as to realize recording the parking position of the vehicle in a complex parking scenario, realize automatic recording, avoid the user's manual memory of the parking space, improve the user's driving experience, and at the same time improve the intelligent level of the vehicle, thereby improving the subsequent vehicle searching efficiency of the user. Thus, the technical problems such as the user's manual memory of the parking position and poor experience in the related art are solved.

[0034] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Brief Description of the Drawings

[0035] The above-mentioned and / or additional aspects and advantages of the present application will become apparent and be easily understood from the following description of the embodiments in conjunction with the drawings, wherein:

[0036] Figure 1 is a flowchart of the automatic parking space recording method according to the embodiments of the present application;

[0037] Figure 2 is a schematic diagram of a valid parking space library and an invalid parking space library according to the embodiments of the present application;

[0038] Figure 3 is a schematic diagram of the parking lot type according to the embodiments of the present application;

[0039] Figure 4 is a schematic diagram of the hardware composition according to the embodiments of the present application;

[0040] Figure 5 is a specific execution flowchart of the automatic parking space recording method according to the embodiments of the present application;

[0041] Figure 6 is a flowchart of the D gear execution in the automatic parking space recording method according to the embodiments of the present application;

[0042] Figure 7 is a flowchart of the R gear execution in the automatic parking space recording method according to the embodiments of the present application;

[0043] Figure 8 is a schematic diagram of the vertical parking space parking process according to the specific embodiments of the present application;

[0044] Figure 9Schematic diagram of the parking process for a side parking space provided according to a specific embodiment of the present application;

[0045] Figure 10 Example diagram of a parking space automatic recording device provided according to an embodiment of the present application;

[0046] Figure 11 Schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. Detailed implementation manners

[0047] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation to the present application.

[0048] The automatic parking space recording method, device and vehicle according to embodiments of the present application will be described below with reference to the accompanying drawings. Regarding the problem in the prior art parking space memory method mentioned in the above background art that mainly the user manually memorizes the parking space number where the vehicle is parked each time when parking, but human memory has the risk of forgetting. The user may forget the specific parking space where their vehicle is parked due to negligence, too long time or other factors, thus consuming a lot of time and energy when returning to find the vehicle, causing unnecessary trouble, and frequent parking and manually memorizing the parking space number will bring a cumbersome experience to the user. The present application provides an automatic parking space recording method. In this method, multiple parking space data stored at the previous moment can be updated according to the surrounding image data of the vehicle at the current moment, and the target parking space data stored at the previous moment can be updated according to the driving direction of the vehicle at the current moment and the updated multiple parking space data. The target parking space data and multiple parking space data stored at the moment when the vehicle finally stops are determined through the continuously iterative update process to determine the parking space data where the vehicle finally parks, record the parking space data where the vehicle finally parks, so as to realize recording the parking position of the vehicle in a complex parking scenario, realize automatic recording, avoid the user from manually memorizing the parking space, improve the user's driving experience, and at the same time improve the intelligent level of the vehicle, thereby improving the subsequent vehicle searching efficiency for the user. Thus, the problems in the related art such as the user manually memorizing the parking position and having a poor experience are solved.

[0049] Specifically, Figure 1 Flow schematic diagram of an automatic parking space recording method provided by an embodiment of the present application.

[0050] As Figure 1 shown, the automatic parking space recording method includes the following steps:

[0051] In step S101, obtain the driving direction and surrounding image data of the vehicle at the current moment during the parking process.

[0052] Among them, the driving direction of the vehicle includes forward and backward, which is mainly distinguished by the gear of the vehicle. For example, when the vehicle is in the D gear, the driving direction is forward, and when it is in the R gear, the driving direction is backward; the surrounding image data can be collected by arranging devices with image or video recognition functions such as sensors, radars, or cameras around the vehicle, that is, in the front (corresponding to the vehicle head), rear (corresponding to the vehicle tail), left, and right.

[0053] It can be understood that the embodiments of the present application can obtain the driving direction and surrounding image data of the vehicle at the current moment during the parking process for subsequent determination of the parking space.

[0054] It should be noted that before implementing the solution of the present application, it can be first determined whether the user has a parking intention. If there is a parking intention, the process of the present application solution is executed. Among them, the parking intention can be determined based on the vehicle speed and the surrounding image data. When the vehicle speed is less than a preset value (such as 30 km / h), the surrounding image data of the vehicle is obtained. When an effective parking space library exists around, it is determined that the user has a parking intention and the process of the present application solution is executed; otherwise, it is not executed. And after determining that there is a parking intention, all data is cleared to the default value (NA) and then the process of the present application solution is executed.

[0055] Among them, the effective parking space library and the invalid parking space library can be determined based on the pre-set characteristics of the effective parking space library. For example, if at least one characteristic in the effective parking space library is satisfied, it can be determined that the parking space library is an effective parking space library; if one characteristic in the invalid parking space library is satisfied, it can be determined that the parking space library is an invalid parking space library. As Figure 2 shown, Figure 2 the elliptical dotted lines in the figure respectively correspond to the schematic ranges observable by the vehicle cameras in four directions. Figure 2 The upper part is the effective parking space library, and the lower part is the invalid parking space library.

[0056] Among them, the characteristics of the effective parking space library include the following characteristics: at least two different solid lines are recognized in any single-sided direction, and there is at least 1 intersection point (but not including the 3rd point in the characteristics of the invalid parking space library); a parking space number is recognized in any single-sided direction; the narrow side of the parking space line recognized in any single-sided direction is greater than 2 m; the long side of the parking space line recognized in any single-sided direction is greater than 4.5 m, etc.

[0057] The invalid parking space characteristics include the following: the parking lines recognized in all four directions are dotted lines; only one solid or dotted line is recognized in the left and right directions, and no solid line intersections are recognized in the front and rear directions; a solid line intersection of the parking line is recognized in the front direction, and only one solid line in each of the left and right directions, and at this time, no solid line intersections are recognized in the left, right, and rear directions (in the scenario of waiting for a traffic light); the narrow sides of the parking lines recognized in all four directions are less than 1.8 m; the long sides of the parking lines recognized in all four directions are less than 4 m, etc.

[0058] In step S102, based on the surrounding image data of the vehicle at the current moment, the multiple parking space data stored at the previous moment is updated, and based on the driving direction of the vehicle at the current moment and the updated multiple parking space data, the target parking space data stored at the previous moment is updated.

[0059] It can be understood that the embodiments of the present application can update the multiple parking space data stored at the previous moment based on the surrounding image data of the vehicle at the current moment, and update the target parking space data stored at the previous moment based on the driving direction at the current moment and the updated multiple parking space data, where the target parking space data is the parking space that the vehicle is to park in determined by analyzing the driving direction of the vehicle at the current moment and the updated multiple parking space data.

[0060] For example, when starting to park at the initial current moment, there is no target parking space data and multiple parking space data at the previous moment. Therefore, multiple parking space data can be determined according to the surrounding image data at the current moment, that is, the parking space data in the four directions of the front, rear, left, and right corresponding to the vehicle, and the four parking space data are updated to the initial parking space data in the corresponding directions.

[0061] In the embodiments of the present application, updating the target parking space data stored at the previous moment based on the driving direction of the vehicle at the current moment and the updated multiple parking space data includes: identifying the first parking space data and the second parking space data in the multiple parking space data, where the first parking space data is the parking space data in the same driving direction as the vehicle at the current moment, and the second parking space data is the parking space data in the opposite driving direction to the vehicle at the current moment; updating the target parking space data stored at the previous moment according to at least one of the first parking space data and the second parking space data.

[0062] It can be understood that the embodiments of the present application can identify at least one of the first parking space data in the multiple parking space data in the same driving direction as the vehicle at the current moment and the second parking space data in the multiple parking space data in the opposite driving direction to the vehicle at the current moment, and update the target parking space data stored at the previous moment, making the update of the target parking space more in line with the driving state of the vehicle and the parking intention of the driver, and improving the rationality of the update of the target parking space data.

[0063] Since during the vehicle parking process, the gear is mainly switched back and forth between the D gear and the R gear, that is, the driving direction of the vehicle is mainly forward and backward, and parking is achieved through the forward and backward driving operations. Therefore, during the process of updating the target parking space data, only the parking space data in the same or opposite direction as the vehicle driving direction is used for updating, that is, only the front and rear parking space data of the vehicle is used for updating.

[0064] For example, at the current moment, the vehicle is in the D gear and the driving direction is forward. Therefore, the first parking space is the front-side parking space, and the second parking space is the rear-side parking space. The target parking space data stored at the previous moment is updated according to at least one of the data of the front-side parking space and the rear-side parking space of the vehicle at the current moment.

[0065] In the embodiment of the present application, updating the target parking space data stored at the previous moment according to at least one of the first parking space data and the second parking space data includes: identifying the valid identifier of the target parking space in the target parking space data stored at the previous moment; if it is determined according to the valid identifier of the target parking space that the target parking space does not exist, then updating the target parking space data stored at the previous moment according to the updated first parking space data; if it is determined according to the valid identifier of the target parking space that the target parking space exists, then identifying the memory source of the target parking space in the target parking space data stored at the previous moment, and updating the target parking space data stored at the previous moment according to at least one of the memory source, the first parking space data, and the second parking space data.

[0066] Among them, the parking space identifier is a string used to mark the position of the parking space, which can be composed of numbers, English letters, etc., such as 001, A01, etc. The valid identifier is used to identify whether the parking space exists. When the parking space does not exist, it is the null value NA, and when the parking space exists, it is non-null and is the corresponding parking space identifier.

[0067] It can be understood that the embodiment of the present application can identify the parking space identifier and the valid identifier of the target parking space in the target parking space stored at the previous moment. If it is determined according to the valid identifier of the target parking space that the target parking space does not exist, then updating the target parking space data stored at the previous moment according to the updated first parking space data in the same driving direction as the vehicle at the current moment. Otherwise, if it is determined that there is no target parking space at the previous moment, then identifying the memory source of the parking space identifier of the target parking space in the target parking space data stored at the previous moment, and updating the target parking space data stored at the previous moment according to at least one of the memory source, the first parking space data, and the second parking space data. Among them, the memory source can be the parking space in the same direction as the driving direction of the vehicle at the current moment, or the parking space in the opposite direction to the driving direction of the vehicle at the current moment. By judging whether the target parking space stored at the previous moment exists and the memory source, the determination of the target parking space data at the current moment is made more accurate and reasonable.

[0068] In short, if the target parking space data stored at the previous moment is NA, then update the value of the target parking space stored at the previous moment according to the driving direction of the vehicle at the current moment and the updated first parking space data that is the same as the driving direction of the current vehicle, and update it to the first parking space data at the current moment; if the target parking space data stored at the previous moment is non-NA, then update the target parking space data stored at the previous moment according to the memory source of the parking space identifier of the target parking space stored at the previous moment and at least one of the first parking space data and the second parking space data at the current moment.

[0069] For example, if the target parking space stored at the previous moment is the NA value and the vehicle gear at the current moment is in the D gear, that is, the driving direction of the vehicle at the current moment is forward. Therefore, it is preferred to consider the data of the front parking space (i.e., the first parking space) that is the same as the driving direction of the vehicle as the target parking space data stored at the current moment; if the target parking space data stored at the previous moment is non-NA, it indicates that there is a corresponding target parking space at the previous moment. Therefore, it is necessary to determine whether the memory source of the target parking space at the previous moment is from the front side or the rear side to assist in the judgment of the parking space data of the target parking space stored at the current moment, and further update the target parking space data stored at the previous moment according to the memory source of the target parking space stored at the previous moment and at least one of the front parking space and the rear parking space at the current moment to achieve real-time update of the parking space data.

[0070] In the embodiment of the present application, updating the target parking space data stored at the previous moment according to at least one of the memory source, the first parking space data, and the second parking space data includes: if the memory source is the first parking space data, then identify the valid identifier of the first parking space in the first parking space data. If it is determined that the first parking space exists according to the valid identifier of the first parking space, then update the target parking space data stored at the previous moment according to the first parking space data, otherwise update the target parking space data stored at the previous moment according to the second parking space data; if the memory source is the second parking space data, then identify the valid identifier of the second parking space in the second parking space data. If it is determined that the second parking space does not exist according to the valid identifier of the second parking space, then keep the target parking space data stored at the previous moment, otherwise update the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment.

[0071] Among them, the memory source can be the first parking space data or the second parking space data, that is, the first parking space data of the parking space in the same direction as the driving direction of the vehicle at the current moment, and the second parking space data of the parking space in the opposite direction to the driving direction of the vehicle at the current moment, that is, whether the memory source is the front parking space or the rear parking space.

[0072] It can be understood that the embodiment of the present application can update the target parking space data stored at the previous moment according to at least one of the memory source, the first parking space data, and the second parking space data. Specifically:

[0073] If the memory source is the first parking space data in the same direction as the driving direction of the vehicle at the current moment, then identify the first parking space data at the current moment to determine whether the first parking space exists. If it exists, give priority to the parking space at the current moment in the same direction, and continue to select the parking space in the same direction as the target parking space stored at the current moment, which conforms to the normal driving and parking logic of the vehicle and avoids the parking trouble caused by frequently changing the target parking space. For example, if the vehicle originally planned to park in a certain parking space ahead, and during the slow driving process, this parking space remains valid, indicating that the user may be in the process of parking in this parking space. Therefore, the target parking space stored at the previous moment is still maintained at the current moment; if the first parking space at the current moment does not exist, it means that the target parking space stored at the previous moment is no longer available. Therefore, consider the second parking space data in the reverse direction to determine whether the target parking space data stored at the previous moment needs to be changed at the current moment;

[0074] If the memory source is the second parking space data in the opposite direction to the driving direction of the vehicle at the current moment, then determine whether the reverse parking space (the second parking space) exists. If it does not exist, maintain the target parking space data stored at the previous moment at the current moment to maintain the coherence of the parking decision and avoid frequently updating the target parking space. For example, if the vehicle originally planned to park in the second parking space in a certain direction, and during the parking process, due to some temporary interferences (such as other vehicles temporarily blocking the parking space sign), the second parking space cannot be recognized, but the parking space itself is a suitable one. Therefore, the originally stored target parking space remains unchanged, avoiding disrupting the parking rhythm due to a temporary abnormality in parking space recognition; if the second parking space exists at the current moment, update the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment.

[0075] For example, when the vehicle gear is in D gear and the driving direction of the vehicle is forward at the current moment, if the target parking space stored at the previous moment exists and the memory source is the front-side parking space, then further determine whether the front-side parking space at the current moment is NA. If it is not NA, update the stored target parking space at the current moment to the front-side parking space at the current moment; if it is NA, determine whether to update the target parking space data stored at the previous moment according to the rear-side parking space recognized at the current moment;

[0076] When the vehicle gear is in D gear and the driving direction of the vehicle is forward at the current moment, if the target parking space stored at the previous moment exists and the memory source is the rear-side parking space, then determine whether the rear-side parking space recognized at the current moment is NA. If it is NA, maintain the target parking space at the previous moment at the current moment, and the memory source is still the rear-side parking space; otherwise, update the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment.

[0077] In the embodiment of the present application, updating the target parking space data stored at the previous moment according to the second parking space data includes: if the parking space identifier in the second parking space data is different from the parking space identifier in the target parking space data stored at the previous moment, then keep the target parking space data stored at the previous moment; if the parking space identifier in the second parking space data is the same as the parking space identifier in the target parking space data stored at the previous moment, then update the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment.

[0078] It can be understood that when the first parking space at the current moment does not exist, the embodiment of the present application can further update the target parking space data stored at the previous moment according to the second parking space data, specifically:

[0079] If the parking space identifier of the second parking space in the second parking space data identified at the current moment is different from the parking space identifier of the target parking space stored at the previous moment, then keep the target parking space data stored at the previous moment at the current moment, that is, the target parking space remains unchanged and the memory source remains unchanged. At this time, although the current first parking space is unavailable, the second parking space identified at the current moment is different from the previous target parking space and may not be a better choice. Therefore, keep the target parking space at the previous moment to avoid blindly changing the target due to short-term parking space changes. For example, when the vehicle is driving towards the original target parking space and the original target parking space is occupied by other vehicles, the newly identified second parking space may have a bad location. Therefore, keep the original target parking space unchanged;

[0080] If the parking space identifier of the second parking space in the second parking space data identified at the current moment is the same as the parking space identifier of the target parking space stored at the previous moment, then update the target parking space data stored at the previous moment according to the distance between the second parking space and the vehicle at the current moment.

[0081] In the embodiment of the present application, updating the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment includes: if the actual distance between the second parking space and the vehicle at the current moment is less than or equal to the update threshold, then keep the target parking space data stored at the previous moment; if the actual distance between the second parking space and the vehicle at the current moment is greater than the update threshold, then update the target parking space data stored at the previous moment according to the first parking space data.

[0082] Among them, the update threshold can be set according to specific circumstances and is not specifically limited herein. For example, it can be 0.3m or 0.4m.

[0083] It can be understood that the embodiments of the present application can update the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment. By judging the actual distance, the safety and rationality of parking can be further ensured. If the actual distance between the second parking space and the vehicle at the current moment is less than or equal to the update threshold, the target parking space data stored at the previous moment is maintained, indicating that the vehicle is approaching the target parking space stored at the previous moment at the current moment. If the stored target parking space is changed at this time, the vehicle may need to travel a large distance to enter the parking space, which is difficult to operate and has a greater risk. Therefore, the original target parking space at the previous moment remains unchanged. If the actual distance between the second parking space and the vehicle at the current moment is greater than the update threshold, the target parking space data stored at the previous moment is updated to the first parking space data at the current moment, indicating that the vehicle may be moving away from the target parking space stored at the previous moment at this time. Therefore, the target parking space data stored at the previous moment is updated to the first parking space data at the current moment.

[0084] It should be noted that when the traveling direction of the vehicle at the current moment is forward, that is, when the gear is in D gear, the distance between the rear of the vehicle and the second parking space needs to be judged. When the traveling direction of the vehicle at the current moment is backward, that is, when the gear is in R gear, the distance between the front of the vehicle and the second parking space is compared. This is because during the process of the vehicle driving forward to find a parking space and adjusting the vehicle position, the driver pays more attention to the relationship between the rear of the vehicle and the parking space. Because when the vehicle is driving forward, the rear of the vehicle is the end close to the target parking space. Judging the distance between the rear of the vehicle and the parking space can directly reflect the proximity of the vehicle to the target parking space, helping the driver determine when to stop moving forward and start reversing into the parking space, etc. When the vehicle is in reverse, it is performing a reversing operation. At this time, the front of the vehicle is the end close to the target parking space, and the driver will naturally pay more attention to the situation of the front of the vehicle and the parking space. By comparing the distance between the front of the vehicle and the parking space, the driver can judge whether the vehicle will hit an obstacle in front of the parking space when reversing, or whether it has been accurately aligned with the parking space.

[0085] For example, at the current moment, the vehicle is in D gear and the traveling direction of the vehicle is forward. If the memory source of the target parking space stored at the previous moment is the front parking space, and the front parking space at the current moment is an NA value, and the rear parking space at the current moment is the same as the target parking space stored at the previous moment, further judge the distance between the rear parking space at the current moment and the rear of the vehicle. If the distance is less than or equal to the update threshold (such as 0.3m), the target parking space stored at the previous moment is maintained, otherwise the target parking space stored at the current moment is updated to the front parking space recognized at the current moment.

[0086] For another example, if the vehicle is in reverse gear (R) at the current moment and the driving direction of the vehicle is backward, and if the memory source of the target parking space stored at the previous moment is the rear parking space, and the rear parking space at the current moment is not a NA value, then determine the distance between the rear parking space at the current moment and the vehicle head. If the distance is less than or equal to the preset distance, maintain the target parking space stored at the previous moment; otherwise, update the target parking space stored at the current moment to the front parking space at the current moment.

[0087] In step S103, if it is recognized that the vehicle has completed parking, based on the target parking space data stored at the vehicle stop moment and multiple parking space data, determine the parking space data where the vehicle finally parks, and record the parking space data where the vehicle finally parks.

[0088] Among them, recognizing that the vehicle has completed parking can be determined by detecting the current gear and speed of the vehicle. For example, when the current gear of the vehicle is in park (P) and the speed is 0, it is determined that the vehicle has completed parking.

[0089] It can be understood that in the embodiment of the present application, when it is recognized that the vehicle has completed parking, based on the target parking space stored at the vehicle stop moment and multiple parking space data, the parking space data where the vehicle finally parks can be determined, and the parking space data where the vehicle finally parks can be recorded, so as to realize memorizing the parking space in a complex parking scenario, without the need for manual memory of the parking space, improving the user's driving experience, and at the same time improving the intelligent level of the vehicle.

[0090] In the embodiment of the present application, based on the target parking space data stored at the vehicle stop moment and multiple parking space data, determining the parking space data where the vehicle finally parks includes: identifying the parking space identifier and the valid identifier of the target parking space in the target parking space data; if it is determined that the target parking space exists according to the valid identifier of the target parking space, then determine the parking space data where the vehicle finally parks as the parking space identifier of the target parking space; if it is determined that the target parking space does not exist according to the valid identifier of the target parking space, then determine the parking space data where the vehicle finally parks according to multiple parking space data.

[0091] Among them, the valid identifier is used to identify whether this parking space is a valid value, that is, whether it is a NA value or a non-NA value. The parking space identifier is a string used to identify the position of the parking space, which has been described above and will not be elaborated here.

[0092] It can be understood that in the embodiment of the present application, after the vehicle has completed parking, the validity of the target parking space stored at the current moment (i.e., the stop moment) can be judged. If the valid identifier of the target parking space exists, it is determined that the target parking space exists, and the parking space where the vehicle finally parks is determined as the target parking space; otherwise, the parking space data where the vehicle finally parks is determined according to other multiple parking space data, so as to ensure that even if the current target parking space is in an unavailable state, other parking spaces can still be considered to improve the adaptability in a complex parking scenario.

[0093] In the embodiments of the present application, determining the parking space data where the vehicle finally parks according to multiple parking space data includes: identifying the parking space identifier, valid identifier, and priority of the parking space in multiple parking space data; determining the judgment order of multiple parking spaces according to the priority, and in the current judgment process, determining whether the parking space exists according to the valid identifier; if it is determined that the parking space exists in the current judgment process, determining the parking space data where the vehicle finally parks as the parking space identifier of the corresponding parking space in the current judgment process.

[0094] Among them, the priority can be set according to specific situations. For example, the left parking space has a higher priority than the right parking space.

[0095] Since the vehicle has made multiple judgments on the first parking space and the second parking space, that is, the front parking space and the rear parking space of the vehicle, during the parking process, that is, the target parking space stored at the parking moment is determined by comparing the front parking space and the rear parking space. Therefore, when the target parking space stored at the stop moment in the embodiments of the present application does not exist, it is only necessary to judge whether the left parking space and the rear parking space are valid, without repeating the judgment on the front parking space and the rear parking space, and determine whether to judge the left parking space or the right parking space first according to the priority. In the current judgment process, determine whether the parking space exists according to the valid identifier. If it is determined that the parking space exists in the current judgment process, determine the parking space data where the vehicle finally parks as the parking space identifier of the corresponding parking space in the current judgment process.

[0096] For example, the left parking space has a higher priority than the right parking space. Therefore, first judge whether the left parking space exists. If the left parking space exists, the finally parked parking space is the left parking space. If the left parking space does not exist, judge the right parking space. If the right parking space exists, the finally parked parking space is the right parking space. If the right parking space does not exist, output that the final target parking space is not recognized.

[0097] In the embodiments of the present application, when the finally recognized target parking space exists, the vehicle will send the recognized parking space identifier information to the in-vehicle central control entertainment module and the mobile phone Bluetooth module, and then confirm the recognition result of the corresponding parking space number on the in-vehicle central control screen before the user gets off the vehicle. After receiving the parking space identifier, the mobile phone Bluetooth module can also always remember the parking space number after the user leaves the vehicle, so as to play a role in positioning the vehicle when the user returns to find the vehicle.

[0098] In addition, it should be noted that generally speaking, parking spaces can be divided into three types: vertical type, inclined type, and side type. Vertical parking spaces and inclined parking spaces are the most common types of parking spaces in shopping malls or parking lots. Side parking spaces are common on the roadside and account for a relatively small proportion in shopping malls or parking lots. These three types of parking spaces are as Figure 3As shown in the figure. From the perspectives of parking space type and parking method, on the surface, the parking logics of the vertical parking space and the inclined parking space seem to be the same, while the parking method logic of the side parking space is different from the previous two. However, essentially, the length and width of the side parking space are just the length and width of the vertical parking space with their directions swapped. And the most common parking method for all three types of parking spaces is to reverse the vehicle into the parking space with the rear end first, and then repeatedly switch between the D gear and the R gear to drive, and finally adjust the vehicle body to enter the designated parking space. Therefore, the parking logics of the above three types of parking spaces can be conventionally considered approximately the same, and thus the logics in the parking method are the same.

[0099] The following describes the automatic parking space recording method of the embodiments of the present application through a specific embodiment. The specific vehicle hardware involved includes: a parking space intelligent perception and memory module, an intelligent camera module, a vehicle power module, an in-vehicle central control entertainment module, a transmission gear module, a vehicle speed monitoring module, and a mobile phone Bluetooth module. Data is shared and transmitted between the nodes of each module through a CANFD network or an Ethernet network, as Figure 4 shown.

[0100] The specific method process is described in combination with the hardware composition, as Figure 5 shown, including:

[0101] S1: The vehicle speed monitoring module is responsible for detecting the vehicle speed during the vehicle driving process and sending a vehicle speed signal on the communication network. When the parking space intelligent perception and memory module receives the vehicle speed signal and determines that the vehicle speed signal is less than or equal to the preset threshold 1 (30 km / h), it turns on the parking intention analysis function and sends an image acquisition instruction to the intelligent camera module. After receiving the instruction, the intelligent camera module simultaneously starts the data acquisition of the front, left, right, and rear four cameras and acquires a set of image data around the vehicle at a certain period. The acquired groups of image data are sent to the parking space intelligent perception and memory module through the communication method of CANFD or Ethernet. If the vehicle speed is greater than the preset threshold 1, all parking space recognition and analysis functions are stopped, and then the vehicle speed is judged at the next moment Δt1.

[0102] The defined Δt 1 , is the periodic interval time, and Δt 1 can be initially set to 100 ms (the interval time needs to be actually determined according to the capabilities of the main chip MCU and the different performance target requirements of the host factory, and the overall setting range can be 50 ms to 250 ms). The purpose of the periodic moment analysis is to perform real-time judgment on the entire dynamic process of parking to accurately grasp the different parking intention target parking spaces of the vehicle at different moments. A set of image data is defined as: the four-direction shooting angle photos at the same shooting time sequence are a set of data; the time interval for the periodic acquisition and shooting is Δt 2 , and Δt 2 can be defined in the range of 20 ms to 50 ms.

[0103] In addition, the intelligent parking space perception and memory module stores the acquired image data in a cache space of a fixed size; when the cache space is about to be full and a new set of data is received, the intelligent parking space perception and memory module will delete the earliest set of data in time sequence to continuously update the vehicle environment information at the latest moment, and save the chip storage space requirements and improve the storage space utilization rate.

[0104] S2: The intelligent parking space perception and memory module makes a real-time parking intention judgment on the user's current behavior according to the received real-time image data and its own certain parking intention software algorithm logic. If the judgment result at the current moment is no parking intention, the intelligent parking space recognition function is turned off, and the vehicle speed at the next moment is returned for judgment; if the judgment result at the current moment has a parking intention, the intelligent parking space recognition function is turned on, and all parameters of the recognized parking spaces and target parking spaces in the directions of the 4 cameras are reset to the default values (NA).

[0105] Among them, the parking intention software algorithm logic is as follows: for the real-time vehicle image data in the directions of the four cameras received, it is respectively determined whether there is an effective parking space library in the four directions, and the determination basis of the effective parking space library features comes from the effective parking space library features predefined into the software manually. When at least one of the real-time image data collected in any one or more of the four directions conforms to the effective parking space library feature type in the database, the intelligent parking space perception and memory module will consider that there is an effective parking space library and a parking intention; when the collected real-time data conforms to the invalid parking space library features, it is considered that there is no effective parking space library and no parking intention. The effective parking space library features can be obtained by judging multiple factors such as whether the parking space lines are solid lines, the number of solid lines, whether there is a parking space number, whether there are intersections, the width and length of the parking space lines, etc. In practical applications, the effective parking space library and invalid parking space library feature types can also be added and supplemented, so as to be compatible with more and more complex actual parking scenarios and non-parking scenarios.

[0106] S3: After recognizing the parking intention and resetting the parameters, the intelligent parking space perception and memory module will judge the vehicle gear at the current moment. If the vehicle is in D gear at the current moment, the D gear execution process is as Figure 6 shown, including S4 - S6; if it is in R gear at the current moment, the R gear execution process is as Figure 7 shown, and the judgment logic of each step is approximately the opposite of that of steps S4 - S6 in D gear. For the detailed working process, please refer to Figure 6 shown; if the vehicle gear at the current moment is N gear, the intelligent parking space perception and memory module will keep the above parameter values at the current moment corresponding to the parameter values recorded at the previous moment unchanged.

[0107] Before describing the following execution steps, first explain the meanings of the parameters involved. PDtL is the temporarily stored target parking space at the previous moment (i.e., the target parking space stored at the previous moment above); P Dt is the temporarily stored target parking space at the current moment, P F’ is the intended parking space at the front side at the current moment (i.e., the front parking space), P L’ is the intended parking space at the left side at the current moment (i.e., the left parking space), P R’ is the intended parking space at the right side at the current moment (i.e., the right parking space), P T’ is the intended parking space at the rear side at the current moment (i.e., the rear parking space), P F’ / P L’ / P R’ / P T’， will be updated at all times, P F / P L / P R / P T are the intended parking spaces saved for the corresponding directions of the vehicles identified by the front, left, right, and rear cameras respectively, and will not be updated at all times, but will be updated logically, P D is the final target intended parking space (i.e., the final output parking target space).

[0108] S4: Taking the D gear as an example, the parking space intelligent perception and memory module will perform the next step of judging whether the temporarily stored target parking space P DtL at the previous moment is a null value (NA). If the temporarily stored target parking space P DtL at the previous moment is NA, then further judge whether the current forward intended parking space P F’ is a null value (NA). If P F’ is equal to NA, then output that the temporarily stored target parking space P Dt at the current moment is a null value NA, and save the left intended parking space P L’ , right intended parking space P R’ , and rear intended parking space P T’ identified by the left, right, and rear cameras at the current moment respectively as the corresponding left intended parking space P L , right intended parking space P R , and rear intended parking space P T . If P F’ is not equal to NA and is a valid value, then update the temporarily stored target parking space P Dt =P F =P F’ , and record that the recognition of the temporarily stored target parking space P Dt at the current moment comes from the front parking space. At the same time, save the left intended parking space P L’ , right intended parking space P R’ , and rear intended parking space P T’ identified by the left, right, and rear cameras at the current moment respectively as the corresponding left intended parking space P L, the intended parking space P on the right R , the intended parking space P at the rear T .

[0109] S5: If the temporarily stored target parking space P DtL at the previous moment is not equal to NA and is a valid value, it is necessary to further judge the source of P DtL . If it comes from the intended parking space P in the front F , then further judge whether the intended parking space P in the front recognized by the front camera at the current moment F’ is a null value NA. If it is a valid value, update the temporarily stored target parking space P at the current moment Dt = P F = P F’ . If P F’ is a null value NA, then further judge whether the intended parking space P at the rear recognized by the rear camera T’ is the same as the temporarily stored target parking space P at the previous moment DtL . If they are different, keep P Dt = P F unchanged and the memory source unchanged. If the intended parking space P at the rear T’ is the same as the temporarily stored target parking space P at the previous moment DtL , then further judge whether the distance between P T’ and the vehicle tail is greater than 0.3m (this distance can be set and modified by software). If the distance is less than 0.3m, keep P Dt = P F unchanged and the memory source of P Dt unchanged. If the distance is greater than 0.3m, update the temporarily stored target parking space P at the current moment Dt = P F = P F’ . If P at this moment F’ is a null value NA, reset the memory source of P Dt to NA.

[0110] S6: If it is judged that P DtL comes from the intended parking space P at the rear T , then further judge whether the intended parking space P at the rear recognized by the rear camera at the current moment T’ is a null value NA. If P T’ is a null value NA, keep P Dt = P T unchanged and the memory source of P Dt unchanged. If P T’ is a valid value, then further judge whether the distance between P T’ and the vehicle tail is greater than 0.3m (this distance can be set and modified by software). If the distance is less than 0.3m, keep P Dt = P T unchanged and the memory source of P DtIf the memory source remains unchanged and the distance is greater than 0.3m, update the temporarily stored target parking space P at the current moment Dt = P F = P F’ , if P at this moment F’ is the null value NA, then reset the memory source of P Dt to NA.

[0111] S7: Regardless of the gear at the current moment of the vehicle, after completing the process judgment set at the current moment, it will obtain the temporarily stored target parking space P at the current moment Dt to determine whether it is an invalid parking space. If the judgment result is NA, it is considered that no temporarily stored target parking space is found at the current moment, and the system returns to the initial state defined by the system process (the system is running normally and enters the first step of judging the vehicle speed condition); if the judgment result of the temporarily stored target parking space P at the previous moment Dt is a valid parking space, then perform the analysis at the next moment of Δt 1 , and judge whether the vehicle gear at the current moment of the new round of cycle returns to the P gear and the vehicle speed is 0.

[0112] S8: If the user has not completed parking and is still in the process of driving and parking (switching between D gear / R gear / N gear), the parking space intelligent perception memory module will perform a new judgment on the temporarily stored target parking space P at the current moment according to the system-defined process Dt ; when the user adjusts and confirms the parking position, finally shift the vehicle gear back to the P gear. At this time, the parking space intelligent perception memory module judges that the condition of "the vehicle gear returns to the P gear and the vehicle speed is 0" is met, and performs a judgment on the temporarily stored target parking space P at the current moment Dt . If the temporarily stored target parking space P at the current moment Dt is not equal to NA, that is, when it is a valid value, directly output P D = P Dt as the final target parking space. If the temporarily stored target parking space P at the current moment Dt is equal to NA, that is, no valid target parking space is found, then judge whether the left parking space intention parking space P at the current moment L’ is valid. If the left intention parking space at the current moment is valid, output the final target parking space result P Dt = P L = P L’ . If the left parking space intention parking space P at the current moment L’ is an invalid value, then judge whether the right parking space intention parking space P at the current moment R’ is valid. If the right intention parking space at the current moment is valid, output the final target parking space result P Dt = P R = P R’ . If the right intention parking space at the current moment is invalid, output that no final target parking space is recognized.

[0113] S9: If the final valid target parking space is recognized, the parking space intelligent perception and memory module will send the recognized parking space number information to the in-vehicle central control entertainment module and the mobile phone Bluetooth module, and then confirm the recognition result of the corresponding parking space number on the in-vehicle central control screen before the user gets out of the car. In addition, after the mobile phone Bluetooth module receives the parking space number, it can always remember the parking space number after the user leaves the car, so as to play a role in positioning the vehicle when the user returns to find the vehicle, thus realizing the true mass production and implementation of intelligent perception and memory of parking spaces.

[0114] According to the parking space automatic recording method proposed in the embodiments of the present application, the multiple parking space data stored at the previous moment can be updated according to the surrounding image data of the vehicle at the current moment, and the target parking space data stored at the previous moment can be updated according to the driving direction of the vehicle at the current moment and the updated multiple parking space data. The target parking space data and the multiple parking space data stored at the final vehicle stop moment are determined through the continuously iterative update process to determine the parking space data where the vehicle finally parks, record the parking space data where the vehicle finally parks, so as to realize recording the parking position of the vehicle in a complex parking scenario, realize automatic recording, avoid the user's manual memory of the parking space, improve the user's driving experience, and at the same time improve the intelligent level of the vehicle, thereby improving the subsequent vehicle searching efficiency of the user.

[0115] The following will describe the complete process of the parking space automatic recording method of the present application through a specific embodiment, and will be described in detail by taking the actual dynamic parking process of the vertical parking space type as an example. The complete parking process is as Figure 8 shown.

[0116] S11: When the car equipped with this parking space intelligent recognition system drives to the shopping mall garage and the vehicle speed is below 30 km / h, the camera starts to recognize the surrounding parking space lines. When a parking space line is recognized, the system turns on the parking space recognition calculation function step by step. When the user drives the car to the Figure 5 shown parking space and finds that there is an empty space in parking space No. 005 and decides to park the vehicle in parking space No. 5 at this time, the vehicle is driven to the Figure 5 position of step 1 shown. At this moment, the vehicle is in D gear, and the intended parking spaces (P F’ and P T’ ) recognized by the front and rear cameras at the current moment and the current temporarily stored target parking space (P Dt ) are both invalid values NA, and at the next moment, the vehicle switches from D gear to R gear and starts to reverse.

[0117] S12: When the vehicle reverses to the Figure 5 position of step 2, assuming that the intended parking space P T’ recognized by the rear camera just recognizes the number of parking space No. 005, at this moment according to the system working process, the system will output that the intended parking space at the current moment is PDt = P T’ = 005, and the parking space memory source is from the rear camera direction.

[0118] S13: After step 2, the user continues to reverse in R gear. Before the user reaches the position of step 3 in Figure 5 , P Dt Judges according to the system working process that the intended parking space source is from the rear camera direction for the next judgment. Between the time of step 2 and the time of step 3, P T’ Will still be able to find that the intended parking space is 005 within a period of time. At this time, according to the system process definition, P Dt Is updated to P Dt = P T = P T’ = 005, the actual value remains unchanged, and the parking space memory source also remains unchanged. But after the rear of the vehicle exceeds the parking space line number, P T’ Will not be able to recognize the intended parking space identified by the rear camera at the current moment. After this moment, P T’ = NA. According to the system process definition, the system will judge whether P F’ Is consistent with the temporarily stored target parking space P DtL At the previous moment, the purpose is to judge whether the front of the vehicle is in the trend of reversing away from the current intended parking space when the vehicle is in reverse gear. At the moment of step 3, since P F’ = NA, so the system will continue to maintain P Dt = P T = P T’ = 005, and the memory source remains unchanged as the rear camera direction.

[0119] S14: After the position of step 3, the user finds that the parking space angle is not good at this time and needs to move forward to adjust the vehicle body angle. So switch to D gear and move forward to adjust. That is, at the next moment, the gear is switched to D gear. Assuming that it stays in N gear for 1 second in the middle, according to the system process definition, the parameters at the N gear moment will be the same as those at the previous moment, that is, P Dt = P T = P T’ = 005, and the memory source is the rear camera direction. After 1 second, the gear changes from N gear to D gear. According to the system process definition, judge whether the intended parking space P T’ At the current moment is consistent with the temporarily stored target parking space P DtL At the previous moment, the purpose is to judge whether the rear of the vehicle is in the trend of moving forward away from the current intended parking space when the vehicle is in the forward gear. From the schematic diagram at this moment, it is found that P T’ Is NA, so P Dt And the memory source remain unchanged.

[0120] S15: During the process of the user shifting to D gear and moving forward to adjust, PT’ For accounting from P T’ =NA and then changes to P T’ =005 until the position shown in the 4th step (the distance between the rear camera and the 005th parking space is just greater than 0.3m), and at this time the front camera can recognize P F’ =the 002nd parking space. According to the definition of the system working process, it will be judged that the intended parking space P T’ is more than 0.3m away from the rear of the vehicle. According to the position of the vehicle in the 4th step, the system will update the temporarily stored target parking space P Dt =P F =P F’ =002, and update the memory parking space source to the front camera direction.

[0121] S16: Assume that 2s after the moment of the position in the 4th step, the user has adjusted the vehicle body direction, stepped on the brake to stop moving forward, and shifted the gear back to the R gear, preparing to park in the 005th parking space. During the process of reaching the position shown in the 5th step, the temporarily stored target parking space P Dt will be updated again because the distance between the front camera and the 002nd parking space is greater than 0.3m Dt =P T =P T’ =005, and the memory source is also updated to the rear camera direction again.

[0122] S17: At the moment 1s after the position in the 5th step, assume that the user changes his mind and the target parking space is changed to the 002nd parking space. Therefore, operate the gear to shift into the D gear again. When the vehicle travels to the position shown in the 6th step, according to the definition of the system process, at the current moment, the distance between the rear camera parking space P T’ from the rear of the vehicle is greater than 0.3m again. The parking space intelligent perception memory system will judge that the vehicle will drive away from the 005th parking space, so the temporarily stored target parking space will be updated again to the forward intended parking space P F’ (that is, P Dt =P F =P F’ =002).

[0123] S18: During the process of the vehicle driving forward into the 002nd parking space, the vehicle will pass through the representative moment of the position shown in the 7th step. At this position, the forward intended parking space P F’ and the backward intended parking space P T’ are both NA. In this scenario, according to the definition of the system process, the judgment process of the system is successively D gear, the temporarily stored target parking space in the previous moment is valid, the memory source is P F’ , P T’ is inconsistent with the temporarily stored target parking space P DtL in the previous moment. Therefore, at the moment of the position shown in the 7th step, the system will directly output PDt = P F = 002, and the memory source remains P F Remain unchanged.

[0124] S19: The vehicle will correctly drive to the position shown in step 8. At this moment, due to P T’ still being inconsistent with the temporarily stored target parking space P at the previous moment DtL (i.e., the rear of the vehicle has not left parking space 002), the system will continue to output P Dt = P F = 002, and the memory source remains P F Remain unchanged. At the next moment, the user shifts the gear from D to P, and the vehicle speed is also 0 at this time. According to the system-defined process, the system will determine that the process is P Dt = valid, and directly output the final target intention parking space P D = P Dt = parking space No. 002.

[0125] S20: The parking space intelligent perception and memory module transmits the final target intention parking space through the network signal and then sends it to nodes such as the mobile phone Bluetooth module and the in-vehicle central control entertainment module. The in-vehicle central control screen module can then perform some simple logical information interaction and confirmation. The mobile phone Bluetooth module can still keep real-time viewing of the user's vehicle position after the vehicle is locked and powered off, thus realizing the mass production and implementation of vehicle parking space intelligent perception and memory after parking.

[0126] For diagonal parking spaces and side parking spaces, their parking methods are almost exactly the same as the logic of vertical parking spaces, so they will not be described in detail. However, to help understanding, this application also gives a breakdown diagram of the parking steps for side parking spaces, as Figure 9 shown, which can approximately correspond to the above analysis steps description.

[0127] Next, refer to the accompanying drawings to describe the parking space automatic recording device according to an embodiment of the present application.

[0128] Figure 10 is a block diagram of the parking space automatic recording device according to an embodiment of the present application.

[0129] As Figure 10 shown, the parking space automatic recording device 10 includes: an acquisition module 100, an update module 200, and a recording module 300.

[0130] Among them, the acquisition module 100 is used to acquire the driving direction of the vehicle and the surrounding image data at the current moment during the parking process; the update module 200 is used to update the multiple parking space data stored at the previous moment based on the surrounding image data of the vehicle at the current moment, and update the target parking space data stored at the previous moment based on the driving direction of the vehicle at the current moment and the updated multiple parking space data; the recording module 300 is used to determine the parking space data where the vehicle is finally parked based on the target parking space data and the multiple parking space data stored at the moment when the vehicle stops if it is recognized that the vehicle has completed parking, and record the parking space data where the vehicle is finally parked.

[0131] In an embodiment of the present application, the recording module 300 is further configured to: identify the parking space identifier and the valid identifier of the target parking space in the target parking space data; if it is determined that the target parking space exists according to the valid identifier of the target parking space, determine that the parking space data where the vehicle is finally parked is the parking space identifier of the target parking space; if it is determined that the target parking space does not exist according to the valid identifier of the target parking space, determine the parking space data where the vehicle is finally parked according to the multiple parking space data.

[0132] In an embodiment of the present application, the recording module 300 is further configured to: identify the parking space identifier, the valid identifier, and the priority of the parking space in the multiple parking space data; determine the judgment order of the multiple parking spaces according to the priority, and determine whether the parking space exists according to the valid identifier during the current judgment process; if it is determined that the parking space exists during the current judgment process, determine that the parking space data where the vehicle is finally parked is the parking space identifier of the corresponding parking space during the current judgment process.

[0133] In an embodiment of the present application, the update module 200 is further configured to: identify the first parking space data and the second parking space data in the multiple parking space data, where the first parking space data is the parking space data in the same driving direction as the vehicle at the current moment, and the second parking space data is the parking space data in the opposite driving direction to the vehicle at the current moment; update the target parking space data stored at the previous moment according to at least one of the first parking space data and the second parking space data.

[0134] In an embodiment of the present application, the update module 200 is further configured to: identify the valid identifier of the target parking space in the target parking space data stored at the previous moment; if it is determined that the target parking space does not exist according to the valid identifier of the target parking space, update the target parking space data stored at the previous moment according to the updated first parking space data; if it is determined that the target parking space exists according to the valid identifier of the target parking space, identify the memory source of the target parking space in the target parking space data stored at the previous moment, and update the target parking space data stored at the previous moment according to at least one of the memory source, the first parking space data, and the second parking space data.

[0135] In an embodiment of the present application, the update module 200 is further configured to: if the memory source is the first parking space data, identify the valid identifier of the first parking space in the first parking space data; if it is determined that the first parking space exists according to the valid identifier of the first parking space, update the target parking space data stored at the previous moment according to the first parking space data, otherwise update the target parking space data stored at the previous moment according to the second parking space data; if the memory source is the second parking space data, identify the valid identifier of the second parking space in the second parking space data; if it is determined that the second parking space does not exist according to the valid identifier of the second parking space, maintain the target parking space data stored at the previous moment, otherwise update the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment.

[0136] In an embodiment of the present application, the update module 200 is further configured to: if the parking space identifier in the second parking space data is different from the parking space identifier in the target parking space data stored at the previous moment, maintain the target parking space data stored at the previous moment; if the parking space identifier in the second parking space data is the same as the parking space identifier in the target parking space data stored at the previous moment, update the target parking space data stored at the previous moment according to the actual distance between the second parking space and the vehicle at the current moment.

[0137] In an embodiment of the present application, the update module 200 is further configured to: if the actual distance between the second parking space and the vehicle at the current moment is less than or equal to the update threshold, maintain the target parking space data stored at the previous moment; if the actual distance between the second parking space and the vehicle at the current moment is greater than the update threshold, update the target parking space data stored at the previous moment according to the first parking space data.

[0138] It should be noted that the foregoing explanation of the embodiment of the parking space automatic recording method is also applicable to the parking space automatic recording device of this embodiment, and will not be elaborated here.

[0139] The parking space automatic recording device proposed according to an embodiment of the present application can update the multiple parking space data stored at the previous moment according to the surrounding image data of the vehicle at the current moment, and update the target parking space data stored at the previous moment according to the driving direction of the vehicle at the current moment and the updated multiple parking space data. The target parking space data and multiple parking space data stored at the final vehicle stop moment are determined through an iterative update process to determine the parking space data where the vehicle finally parks, record the parking space data where the vehicle finally parks, so as to realize recording the parking position of the vehicle in a complex parking scenario, realize automatic recording, avoid the user's manual memory of the parking space, improve the user's driving experience, and at the same time improve the intelligent level of the vehicle, thereby improving the subsequent vehicle searching efficiency of the user.

[0140] Figure 11 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application. The vehicle may include:

[0141] A memory 1101, a processor 1102, and a computer program stored on the memory 1101 and executable on the processor 1102.

[0142] When the processor 1102 executes the program, it implements the automatic parking space recording method provided in the above embodiments.

[0143] Furthermore, the vehicle further includes:

[0144] A communication interface 1103 for communication between the memory 1101 and the processor 1102.

[0145] The memory 1101 is used to store a computer program executable on the processor 1102.

[0146] The memory 1101 may include a high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0147] If the memory 1101, the processor 1102, and the communication interface 1103 are implemented independently, the communication interface 1103, the memory 1101, and the processor 1102 can be interconnected through a bus to complete communication with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 11 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0148] Optionally, in a specific implementation, if the memory 1101, the processor 1102, and the communication interface 1103 are integrated on a chip, the memory 1101, the processor 1102, and the communication interface 1103 can complete communication with each other through an internal interface.

[0149] The processor 1102 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0150] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the automatic parking space recording method as described above is implemented.

[0151] An embodiment of the present application further provides a computer program product, including a computer program or instruction. When the computer program or instruction is executed, the automatic parking space recording method as described above is implemented.

[0152] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0153] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0154] Any process or method description shown in the flowchart or described in other ways herein may be understood to represent a module, segment, or part of code including one or N executable instructions for implementing a customized logic function or process. The scope of the preferred embodiments of the present application includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed. This should be understood by those skilled in the art to which the embodiments of the present application belong.

[0155] It should be understood that each part of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays, field programmable gate arrays, and the like.

[0156] Those of ordinary skill in the art can understand that all or part of the steps carried out in the method of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

Claims

1. A method for automatically recording parking spaces, characterized in that: The following steps are involved: Obtain the current driving direction and surrounding image data of the vehicle during parking; Based on the surrounding image data of the vehicle at the current moment, the plurality of parking space data stored at the previous moment are updated, and based on the driving direction of the vehicle at the current moment and the plurality of updated parking space data, the target parking space data stored at the previous moment are updated; If it is recognized that the vehicle has completed parking, the parking space data where the vehicle is finally parked is determined based on the target parking space data and multiple parking space data stored at the time when the vehicle stops, and the parking space data where the vehicle is finally parked is recorded.

2. The automatic parking space recording method according to claim 1, characterized in that: The step of determining the parking space data where the vehicle is finally parked based on the target parking space data and the plurality of parking space data stored at the time when the vehicle stops comprises: Identify a parking space identifier and a valid identifier of a target parking space in the target parking space data; If the target parking space is determined to exist according to the valid identification of the target parking space, then the parking space data where the vehicle is finally parked is determined to be the parking space identification of the target parking space; If it is determined that the target parking space does not exist according to the valid identifier of the target parking space, the parking space data where the vehicle is finally parked is determined according to the multiple parking space data.

3. The automatic parking space recording method according to claim 2, characterized in that: The determining the parking space data where the vehicle is finally parked according to the plurality of parking space data comprises: Identifying parking space identifiers, valid identifiers, and priorities of parking spaces in the plurality of parking space data; Determining a judgment order of the plurality of parking spaces according to the priority, and determining whether a parking space exists according to the valid identifier in the current judgment process; If it is determined in the current judgment process that a parking space exists, the parking space data where the vehicle is finally parked is determined to be the parking space identifier of the corresponding parking space in the current judgment process.

4. The automatic parking space recording method according to claim 1, characterized in that: The updating of the target parking space data stored at the previous moment based on the current driving direction of the vehicle and the updated plurality of parking space data comprises: Identify first parking space data and second parking space data from a plurality of parking space data, wherein the first parking space data is parking space data with the same driving direction as the vehicle at the current moment, and the second parking space data is parking space data with the opposite driving direction of the vehicle at the current moment; The target parking space data stored at the last moment is updated according to at least one of the first parking space data and the second parking space data.

5. The automatic parking space recording method according to claim 4, characterized in that: The updating of the target parking space data stored at the last moment according to at least one of the first parking space data and the second parking space data comprises: Identifying a valid identifier of a target parking space in the target parking space data stored at the last moment; If it is determined according to the valid identifier of the target parking space that the target parking space does not exist, updating the target parking space data stored at the last moment according to the updated first parking space data; If it is determined that the target parking space exists according to the valid identification of the target parking space, the memory source of the target parking space in the target parking space data stored at the last moment is identified, and the target parking space data stored at the last moment is updated according to at least one of the memory source, the first parking space data and the second parking space data.

6. The automatic parking space recording method according to claim 5, characterized in that: The updating of the target parking space data stored at the last moment according to at least one of the memory source, the first parking space data and the second parking space data comprises: If the memory source is the first parking space data, identifying a valid identifier of the first parking space in the first parking space data, and if it is determined that the first parking space exists according to the valid identifier of the first parking space, updating the target parking space data stored at the last moment according to the first parking space data, otherwise updating the target parking space data stored at the last moment according to the second parking space data; If the memory source is the second parking space data, the valid identifier of the second parking space in the second parking space data is identified; if it is determined that the second parking space does not exist based on the valid identifier of the second parking space, the target parking space data stored at the last moment is maintained; otherwise, the target parking space data stored at the last moment is updated based on the actual distance between the second parking space and the vehicle at the current moment.

7. The automatic parking space recording method according to claim 6, characterized in that: The updating of the target parking space data stored at the last moment according to the second parking space data comprises: If the second parking space data is different from the parking space identifier in the target parking space data stored at the last moment, retaining the target parking space data stored at the last moment; If the second parking space data is identical to the parking space identifier in the target parking space data stored at the last moment, the target parking space data stored at the last moment is updated according to the actual distance between the second parking space and the vehicle at the current moment.

8. The automatic parking space recording method according to claim 6 or 7, characterized in that: The updating of the target parking space data stored at the last moment according to the actual distance between the second parking space and the vehicle at the current moment comprises: If the actual distance between the second parking space and the vehicle at the current moment is less than or equal to the update threshold, the target parking space data stored at the previous moment is retained; If the actual distance between the second parking space and the vehicle at the current moment is greater than the update threshold, the target parking space data stored at the previous moment is updated according to the first parking space data.

9. A parking space automatic recording device, characterized in that: include: An acquisition module is used to acquire the driving direction and surrounding image data of the vehicle at the current moment during the parking process; An updating module, used to update the multiple parking space data stored at the previous moment based on the surrounding image data of the vehicle at the current moment, and to update the target parking space data stored at the previous moment based on the driving direction of the vehicle at the current moment and the updated multiple parking space data; The recording module is used to determine the final parking space data of the vehicle based on the target parking space data and multiple parking space data stored at the time when the vehicle stops, and record the final parking space data of the vehicle.

10. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the automatic parking space recording method according to any one of claims 1 to 8.

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