Automatic parking method and device, electronic equipment, vehicle, storage medium and product
By using visual sensors to detect encrypted signs in vehicles of automatic parking systems, the problem of redundancy and inefficiency in fixed parking space operations is solved, automatic parking without user operation is achieved, and user experience and system efficiency are improved.
Patent Information
- Application Number
- CN202510465640.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-14
- Publication Date
- 2025-06-17
AI Technical Summary
When facing fixed parking spaces, the existing automatic parking system has too redundant operational processes and low interaction efficiency, which violates users' expectations of "automation" and reduces users' automatic parking experience.
By installing a visual sensor in the vehicle, an environmental image around the vehicle is obtained and the parking space exists whether there is an encrypted identifier generated based on the vehicle identification code and the preset parking space number. If present, the vehicle can be parked directly into the parking space without additional operation by the user.
It realizes automatic parking without additional user operation when a vehicle needs to park in a fixed parking space, which reduces the driver's operating burden, improves automatic parking efficiency, realizes automation and intelligence of the parking process, and improves the user's automatic parking experience.
Smart Images
Figure CN120156508A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of automatic parking, and in particular, to an automatic parking method, device, electronic device, vehicle, storage medium and product. Background Art
[0002] The existing automatic parking systems have made remarkable progress in environmental perception and path planning technologies, but there are still systematic defects in the human-computer interaction design. Especially in the user operation process, it seriously restricts the practicality and user experience of the automatic parking technology.
[0003] Currently, the operation process of the existing automatic parking systems is relatively complex. The automatic parking function needs to be started through a complete multi-level operation such as "user wakes up the system → interface loads the parking space → user confirms the parking space". This cumbersome design causes the existing automatic parking systems to need to forcibly repeat the complete multi-level operation process every time when facing fixed parking spaces (such as home parking spaces, company parking spaces, etc.) that are frequently used by users to automatically park the vehicle into the fixed parking space. The operation process is too redundant, the interaction efficiency is low, which violates the user's expectation of "automation" and reduces the user's automatic parking experience. Summary of the Invention
[0004] In view of the above, it is necessary to provide an automatic parking method, device, electronic device, vehicle, storage medium and product to solve the technical problem that the existing automatic parking systems have too redundant operation processes, low interaction efficiency, violate the user's expectation of "automation", and reduce the user's automatic parking experience when facing fixed parking spaces.
[0005] In a first aspect, this application provides an automatic parking method. The method is applied to a vehicle, and the vehicle includes a vision sensor. The method includes: obtaining an environmental image around the vehicle through the vision sensor, and detecting whether there is a preset identifier in the parking space in the environmental image. The preset identifier is an encrypted identifier corresponding to the preset parking space generated based on the identification code of the vehicle and the number of the preset parking space; if there is the preset identifier in the parking space in the environmental image, controlling the vehicle to park in the parking space with the preset identifier.
[0006] In the automatic parking method according to the embodiments of the present application, first, an environmental image around the vehicle is acquired through the vision sensor, and whether a preset identifier exists in the parking space in the environmental image is detected, where the preset identifier is an encrypted identifier corresponding to the preset parking space generated based on the identification code of the vehicle and the number of the preset parking space; further, if the preset identifier exists in the parking space in the environmental image, the vehicle is controlled to park in the parking space where the preset identifier exists. Based on this, in the automatic parking method of the present application, when the vehicle needs to park in a fixed parking space, automatic parking can be achieved without additional operations by the user, reducing the operation burden of the driver, improving the automatic parking efficiency, realizing the automation and intelligence of the parking process, and improving the user's automatic parking experience.
[0007] In a second aspect, the present application further provides an automatic parking device applied to a vehicle, where the vehicle includes a vision sensor, and the device includes: a detection module configured to acquire an environmental image around the vehicle through the vision sensor and detect whether a preset identifier exists in the parking space in the environmental image, where the preset identifier is an encrypted identifier corresponding to the preset parking space generated based on the identification code of the vehicle and the number of the preset parking space; a parking module configured to control the vehicle to park in the parking space where the preset identifier exists if the preset identifier exists in the parking space in the environmental image.
[0008] In a third aspect, the present application further provides an electronic device, where the electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the computer program is executed by the processor, it implements the automatic parking method as described in the above embodiments.
[0009] In a fourth aspect, the present application further provides a vehicle, where the vehicle includes the electronic device and the vision sensor as described in the above embodiments, the electronic device is communicatively connected to the vision sensor, and the vision sensor is configured to acquire an environmental image around the vehicle and send it to the electronic device.
[0010] In a fifth aspect, the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it implements the automatic parking method as described in the above embodiments.
[0011] In a sixth aspect, the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, it is used to implement the automatic parking method as described in the above embodiments.
[0012] Understandably, the automatic parking device in the second aspect, the electronic device in the third aspect, the vehicle in the fourth aspect, the computer-readable storage medium in the fifth aspect, and the computer program product in the sixth aspect provided above all correspond to the automatic parking method in the first aspect. Therefore, the beneficial effects they can achieve can refer to the beneficial effects in the corresponding automatic parking method provided above, and will not be elaborated here. Description of the Drawings
[0013] Figure 1 FIG. is a schematic diagram of an application scenario of an automatic parking method provided by an embodiment of the present application.
[0014] Figure 2 FIG. is a schematic flowchart of an automatic parking method provided by an embodiment of the present application.
[0015] Figure 3 FIG. is a schematic diagram of a parking space including a preset identifier provided by an embodiment of the present application.
[0016] Figure 4 is Figure 1 FIG. is a detailed flowchart of step S10 of the automatic parking method shown.
[0017] Figure 5 is Figure 1 FIG. is a detailed flowchart of step S11 of the automatic parking method shown.
[0018] Figure 6 FIG. is a schematic flowchart of an automatic parking method provided by another embodiment of the present application.
[0019] Figure 7 FIG. is a schematic diagram of functional modules of an automatic parking device provided by an embodiment of the present application.
[0020] Description of Component Symbols Vehicle 1 Electronic Device 10 Memory 11 Processor 12 Vision Sensor 20 Brake Pedal 30 Position Sensor 31 On-vehicle Terminal 40 Speaker 50 Microphone 60 Automatic Parking Device 100 Detection Module 110 Parking Module 120 The following specific embodiments will further illustrate the present application in conjunction with the above drawings. Specific Embodiments
[0021] 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 only for explaining the present application and should not be construed as limiting the present application.
[0022] In the embodiments of the present application, it should be noted that, unless otherwise clearly specified and defined, words such as "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "for example" is intended to present relevant concepts in a specific manner.
[0023] In the description of the present application, it should be noted that, unless otherwise clearly specified and defined, the terms "mounted", "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection, an electrical connection or a connection capable of mutual communication; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.
[0024] In the description of the present application, it should be noted that, unless otherwise clearly specified and defined, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In addition, in the description of the present application, the meaning of "a plurality" is two or more unless otherwise clearly and specifically defined.
[0025] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
[0026] Please refer to Figure 1 , which is a schematic diagram of an application scenario of an automatic parking method provided by an embodiment of the present application.
[0027] Specifically, the automatic parking method provided by the embodiments of the present application can be applied to one or more electronic devices 10. An electronic device 10 is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, a microprocessor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.
[0028] In some embodiments of the present application, the electronic device 10 can be communicatively connected to devices such as a desktop computer, a notebook, a palm computer, and the electronic device 10.
[0029] In some embodiments of the present application, the electronic device 10 can perform human-computer interaction with the user through means such as a keyboard, a mouse, a remote control, a touchpad, or a voice control device.
[0030] In some embodiments of the present application, the electronic device 10 may further include a network device and / or a client device. Among them, the network device includes, but is not limited to, a single network server, a server group composed of multiple network servers, etc.
[0031] In some embodiments of the present application, the network where the electronic device 10 is located includes, but is not limited to, the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.
[0032] In some embodiments of the present application, the present application further provides a vehicle 1, and the vehicle 1 includes an electronic device 10. Among them, the electronic device 10 can be an in-vehicle device of the vehicle 1, such as a body control module (BCM), a vehicle control unit (VCU), etc.
[0033] In some embodiments of the present application, the vehicle 1 further includes a vision sensor 20, and the electronic device 10 is communicatively connected to the vision sensor 20. The vision sensor 20 can be installed at key positions such as the front, rear, left, and right of the vehicle 1, and is used to collect environmental images of the surrounding environment of the vehicle 1 in real time and send them to the electronic device 10. The vision sensor 20 can send the environmental image to the electronic device 10 when the collected environmental image reaches a preset data threshold. In other embodiments, the vision sensor 20 can also send the collected environmental image to the electronic device 10 in real time. The preset data threshold is not limited in the embodiments of the present application and can be set according to actual situations. Among them, the vision sensor 20 includes but is not limited to a surround view camera, a front view camera, a rear view camera, a side view camera, an infrared camera, etc.
[0034] Specifically, the electronic device 10 is configured to: obtain an environmental image around the vehicle 1 through the vision sensor 20, and detect whether there is a preset identifier in the parking space in the environmental image, where the preset identifier is an encrypted identifier corresponding to a preset parking space generated based on the identification code of the vehicle 1 and the number of the preset parking space; if there is a preset identifier in the parking space in the environmental image, control the vehicle 1 to park in the parking space with the preset identifier.
[0035] It should be noted that the above scenario is only an example of an application scenario provided by the embodiments of the present application. The embodiments of the present application do not limit the actual forms of various devices included in this scenario, nor do they limit the interaction methods between devices. In the specific application of the solution, it can be set according to actual needs.
[0036] Please refer to Figure 2 , which is a schematic diagram of the steps of an automatic parking method provided by an embodiment of the present application.
[0037] Specifically, the automatic parking method specifically includes the following steps. According to different requirements, the order of some steps in this flowchart can be changed, and some steps can be omitted.
[0038] Step S10, obtain an environmental image around the vehicle through the vision sensor, and detect whether there is a preset identifier in the parking space in the environmental image.
[0039] Among them, the preset identifier is an encrypted identifier corresponding to a preset parking space generated based on the identification code of the vehicle 1 and the number of the preset parking space.
[0040] In some embodiments of the present application, the encrypted identifier is a two-dimensional code pattern converted from an encrypted combined code, and the combined code includes the identification code of the vehicle 1 and the number of the preset parking space.
[0041] In some embodiments of the present application, the preset parking space in the present application refers to a fixed parking space frequently used by users (such as a home parking space, a company parking space, etc.).
[0042] In some embodiments of the present application, to enhance the portability of the preset identifier, different forms of marking tools can be pre-produced, such as Figure 3 the carpet printed with a QR code pattern shown in the figure (the carpet can be directly placed in the preset parking space in advance). In other embodiments, the marking tool can also be a warning sign printed with a QR code pattern (the warning sign can be directly placed in the preset parking space in advance), a spray paint shielding sticker (the QR code pattern can be sprayed on the ground in advance using the spray paint shielding sticker), a projection lamp (the QR code pattern can be projected on the ground in advance using the projection lamp), or other forms, and the present application does not limit this.
[0043] Specifically, when vehicle 1 is in the planning stage of production, the identification code (Vehicle Identification Number, VIN) of vehicle 1 and the number of the preset parking space are combined into a combined code. Among them, the combination form of the combined code can be the VIN of vehicle 1 + the number of the preset parking space. For example, the combined code formed by the VIN of vehicle 1: HACAXXXXXXXXX0350 and the number of the preset parking space: 1 is: HACAXXXXXXXXX03501. Further, based on a preset encryption algorithm, the combined code is encrypted to obtain the encrypted combined code. Finally, the encrypted combined code can be converted into a QR code pattern using a QR code generation software or an image processing software. Among them, the VIN is the ID number of the vehicle, which is determined according to the national vehicle management standard.
[0044] For example, the encryption algorithm can be an encryption method that performs an exclusive OR operation on the encoded value obtained by converting each character in the combined code with a secret key. Among them, the secret key can be PRIVATEPSLOT. The specific calculation process is shown in Table 1 below: Table 1 Specifically, first, each character in the combined code is converted into a decimal code, and each encoded value is converted into a binary representation. Using the secret key PRIVATEPSLOT, the binary representation of each character is subjected to an exclusive OR operation with the corresponding character of the secret key, and the binary result after the exclusive OR operation is converted into a character. For example, the character 'H' is encoded as 18, and the encoded value 18 is converted into binary as 0001 0010. The 0001 0010 (the binary of 'H') is subjected to an exclusive OR operation with a certain character in the secret key (such as 'P') to obtain 0001 1010, and 0001 1010 is converted into the character '8'. Then, the above steps are repeated for each character in the combined code to obtain the encrypted character corresponding to each character. Finally, all the encrypted characters are concatenated to obtain the encrypted combined code, such as 8JXXXXXXXXXXXIOU.
[0045] In some embodiments of the present application, when the vehicle 1 is planned for production, a certain number of preset parking space numbers need to be reserved in advance. For example, 10 numbers are reserved, that is, the reserved numbers are 1 - 10, and each number corresponds to a preset parking space. Furthermore, the VIN of the vehicle 1 can be combined with each number to form a combined code, thereby generating multiple preset identifiers, and the multiple preset identifiers are pre - stored in the electronic device 10.
[0046] Specifically, detecting whether a preset identifier exists in the parking space in the environmental image includes: extracting the identifier information contained in the image area corresponding to the parking space in the environmental image; matching and verifying the identifier information with the combined code corresponding to each preset identifier in at least one preset identifier; if the identifier information matches the combined code corresponding to any one of the at least one preset identifier, it is determined that a preset identifier exists in the parking space.
[0047] It should be noted that how to detect whether a preset identifier exists in the parking space in the environmental image is described in detail in the subsequent Figure 4 steps shown, and to avoid repetition, it will not be elaborated here.
[0048] In some embodiments of the present application, before the electronic device 10 detects whether a preset identifier exists in the parking space in the environmental image, the environmental image can be pre - processed to enhance the visibility of target features (such as parking spaces, identifiers). Among them, the pre - processing operations include but are not limited to grayscale conversion, noise removal, edge detection, etc.
[0049] In some embodiments of the present application, if a preset identifier exists in the parking space in the environmental image, the electronic device 10 continues to execute step S11.
[0050] In some embodiments of the present application, if no preset identifier exists in the parking space in the environmental image, the electronic device 10 continues to execute step S12.
[0051] Step S11, controlling the vehicle to park in the parking space where a preset identifier exists.
[0052] In some embodiments of the present application, if a preset identifier exists in the parking space in the environmental image, it indicates that the electronic device 10 has recognized the preset parking space, and further controls the vehicle 1 to park in the parking space where a preset identifier exists, that is, a fixed parking space.
[0053] Specifically, controlling the vehicle 1 to park in the parking space where a preset identifier exists includes: determining the parking trajectory of the vehicle 1 according to the environmental image, and obtaining the position information of the preset identifier; adjusting the parking trajectory based on the position information of the preset identifier so that the adjusted parking trajectory avoids the preset identifier; controlling the vehicle 1 to park in the parking space where a preset identifier exists according to the adjusted parking trajectory.
[0054] It should be noted that how to control the vehicle 1 to park in the parking space where a preset identifier exists is described in detail in the subsequentFigure 5 As described in detail in the steps shown, to avoid repetition, it will not be elaborated here.
[0055] In some embodiments of the present application, the vehicle 1 further includes a brake pedal 30 and a position sensor 31. The user can control the deceleration and stop of the vehicle 1 by stepping on the brake pedal 30. The position sensor 31 is installed on the non-driving side of the brake pedal 30 and is used to detect the stroke of the brake pedal, so as to judge the braking operation of the driver on the brake pedal 30.
[0056] Furthermore, before the automatic parking method controls the vehicle 1 to park in a parking space with a preset identifier, it further includes: detecting in real time the braking release signal corresponding to the brake pedal 30; in response to the braking release signal, controlling the vehicle 1 to park in a parking space with a preset identifier.
[0057] Specifically, the electronic device 10 can detect in real time the braking release signal corresponding to the brake pedal 30 through the position sensor 31. When the pressure signal collected by the position sensor 31 drops from a high voltage (pressed) to a low voltage (released) and tends to be stable, it indicates that the user has controlled the vehicle 1 to stop by stepping on the brake pedal 30 and released the braking operation on the brake pedal 30. Furthermore, the braking release signal corresponding to the brake pedal 30 can be triggered and sent to the electronic device 10. When the electronic device 10 detects the braking release signal corresponding to the brake pedal 30, it indicates that the user has released the braking operation on the brake pedal 30 and the vehicle 1 has stopped. At this time, the electronic device 10 can control the vehicle 1 to park in a parking space with a preset identifier.
[0058] In the automatic parking method of the above embodiments, first, the surrounding environment image of the vehicle 1 is obtained through a vision sensor, and whether there is a preset identifier in the environment image is detected, where the preset identifier is an encrypted identifier corresponding to a preset parking space generated based on the identification code of the vehicle 1 and the number of the preset parking space; further, if there is a preset identifier in the parking space in the environment image, the vehicle 1 is controlled to park in the parking space with the preset identifier. Based on this, the automatic parking method of the present application can achieve automatic parking without additional operations by the user when the vehicle 1 needs to park in a fixed parking space, reducing the operation burden of the driver, improving the automatic parking efficiency, realizing the automation and intelligence of the parking process, and improving the user's automatic parking experience.
[0059] In some embodiments of the present application, the automatic parking method further includes: Step S12, detecting in real time a preset parking instruction.
[0060] In some embodiments of the present application, if there is a preset identifier in the parking space in the environment image, it indicates that the vehicle 1 has not recognized the preset parking space, that is, the fixed parking space. Further, the electronic device 10 needs to detect in real time the parking instruction input by the user.
[0061] In some embodiments of the present application, the vehicle 1 further includes an in-vehicle terminal 40, and the electronic device 10 is communicatively connected to the in-vehicle terminal 40. Among them, the in-vehicle terminal 40 has an image interaction interface and / or physical buttons, and the electronic device 10 can receive operation instructions input by the user through the image interaction interface and / or physical buttons. Further, the user can trigger a parking instruction through the image interaction interface and / or physical buttons.
[0062] In other embodiments, the vehicle 1 further includes a speaker 50 and a microphone 60, and the electronic device 10 is communicatively connected to the speaker 50 and the microphone 60 respectively. Among them, the speaker 50 and the microphone 60 can be installed in the driving area of the vehicle 1. The electronic device 10 can convey voice information to the user through the speaker 50 and can also receive voice instructions input by the user through the microphone 60. Further, the user can input a parking instruction through the microphone 60.
[0063] Step S13, if a parking instruction is detected, display a plurality of recommended parking spaces on the in-vehicle terminal and / or the terminal device based on a preset rendering technique and the environmental image.
[0064] In some embodiments of the present application, the electronic device 10 is communicatively connected to a terminal device. For example, the terminal device can be a mobile phone used by the user.
[0065] Specifically, the electronic device 10 constructs a 3D model based on the environmental image, and then uses a 3D rendering engine to convert this 3D model into a 2D image, which is displayed on the in-vehicle terminal 40 or the terminal device, so that the user can more clearly understand the spatial layout of the recommended parking space and the range where parking is possible.
[0066] Step S14, in response to a parking space confirmation instruction for any one of the plurality of recommended parking spaces by the user, and control the vehicle to park into any one of the recommended parking spaces based on the environmental image.
[0067] Specifically, the user can input a parking space confirmation instruction through the image interaction interface. When the electronic device 10 receives the parking space confirmation instruction for any one of the plurality of recommended parking spaces by the user, it controls the vehicle 1 to park into any one of the recommended parking spaces based on the environmental image, thereby completing the automatic parking in a non-fixed parking space.
[0068] In the automatic parking method of the above embodiments, when the electronic device 10 does not detect a preset parking space, the vehicle 1 is controlled to park into other parking spaces based on general parking operations, which improves the flexibility and applicability of the automatic parking method.
[0069] Please refer to Figure 4 for Figure 1 the detailed flowchart of step S10 of the automatic parking method shown.
[0070] This embodiment specifically describes step S10 in the foregoing embodiment, and further illustrates how to detect whether there is a preset identifier in the parking space in the environmental image. The specific steps are as follows: Step S101, extract the identifier information included in the image area corresponding to the parking space in the environmental image.
[0071] Specifically, the electronic device 10 uses image processing algorithms (such as edge detection, shape recognition, etc.) to identify the parking space in the image; further, according to the position information of the parking space, the image area corresponding to the parking space is extracted, where the image area corresponding to the parking space may include identifier information; further, in the image area corresponding to the parking space, a target detection algorithm (such as template matching, feature extraction, etc.) is used to detect whether there is identifier information (such as characters, patterns, etc.).
[0072] Step S102, match and verify the identifier information with the combined code corresponding to each preset identifier in at least one preset identifier.
[0073] In some embodiments of the present application, if the identifier information is encrypted, the above secret key is used to decrypt the representation information to obtain the decrypted identifier information.
[0074] Specifically, a corresponding combined code is generated according to the decrypted identifier information, and the generated combined code is compared one by one with the combined codes of each preset identifier.
[0075] Step S103, if the identifier information matches the combined code corresponding to any one of the at least one preset identifier, determine that there is a preset identifier in the parking space.
[0076] Specifically, if the generated combined code matches the combined code of any one preset identifier, the match is successful, that is, it indicates that there is a preset identifier in the parking space containing the above identifier information, and the above parking space is a preset parking space, that is, a fixed parking space.
[0077] In the above embodiment, by extracting the identifier information included in the parking space from the environmental image, and further matching and verifying the identifier information with the combined code of the preset identifier, the accuracy of the identified preset parking space is ensured.
[0078] Please refer to Figure 5 , for Figure 1 the detailed flowchart of step S11 of the automatic parking method shown.
[0079] This embodiment specifically describes step S11 in the foregoing embodiment, and further illustrates how to control the vehicle 11 to park in the parking space with a preset identifier. The specific steps are as follows: Step S111, determine the parking trajectory of the vehicle according to the environmental image, and obtain the position information of the preset identifier.
[0080] Specifically, the electronic device 10 determines the position of the preset parking space according to the environmental image. Further, in combination with the kinematic model of the vehicle 1, a path planning algorithm (such as , RRT, etc.) is used to plan and generate a parking trajectory according to the current position of the vehicle 1 and the position of the preset parking space.
[0081] Step S112: Adjust the parking trajectory based on the position information of the preset identifier so that the adjusted parking trajectory avoids the preset identifier.
[0082] Specifically, the electronic device 10 detects and determines the position information of the preset identifier from the environmental image, such as the coordinates, size, and orientation of the preset identifier. Further, the initially planned parking trajectory is compared with the position information of the preset identifier to detect whether the parking trajectory conflicts with the preset identifier (such as collision or being too close). Further, according to the result of the conflict detection, the parking trajectory is adjusted to ensure that the vehicle 1 avoids the preset identifier during the parking process.
[0083] Step S113: Control the vehicle to park into the parking space with the preset identifier according to the adjusted parking trajectory.
[0084] In the above embodiment, controlling the vehicle 1 to park into the parking space with the preset identifier according to the adjusted parking trajectory can avoid the preset identifier, prevent damage to the preset identifier, and ensure the integrity of the preset identifier.
[0085] Please refer to Figure 6 , which is a schematic diagram of the steps of the automatic parking method provided by another embodiment of the present application.
[0086] Specifically, the automatic parking method specifically includes the following steps. According to different requirements, the order of some steps in this flowchart can be changed, and some steps can be omitted.
[0087] Step S20: Obtain the environmental image around the vehicle through a vision sensor and detect whether there is a preset identifier in the environmental image.
[0088] Wherein, the preset identifier is an encrypted identifier corresponding to the preset parking space generated based on the identification code of the vehicle 1 and the number of the preset parking space.
[0089] In some embodiments of the present application, the encrypted identifier is a two-dimensional code pattern converted from an encrypted combined code, and the combined code includes the identification code of the vehicle 1 and the number of the preset parking space.
[0090] In some embodiments of the present application, the preset parking space herein refers to a fixed parking space frequently used by the user (such as a home parking space, a company parking space, etc.).
[0091] In some embodiments of the present application, to enhance the portability of the preset identifier, different forms of marking tools can be pre-produced, such as Figure 3 the carpet printed with a QR code pattern shown in the figure (the carpet can be directly placed in the preset parking space in advance). In other embodiments, the marking tool can also be a warning sign printed with a QR code pattern (the warning sign can be directly placed in the preset parking space in advance), a spray paint shielding sticker (the QR code pattern can be sprayed on the ground in advance using the spray paint shielding sticker), a projection lamp (the QR code pattern can be projected on the ground in advance using the projection lamp), or other forms, and the present application does not limit this.
[0092] Specifically, when the vehicle 1 is in the planning stage of production, the identification code (Vehicle Identification Number, VIN) of the vehicle 1 and the number of the preset parking space are combined into a combined code. Among them, the combination form of the combined code can be the VIN of the vehicle 1 + the number of the preset parking space. For example, the combined code formed by the VIN of the vehicle 1: HACAXXXXXXXXX0350 and the number of the preset parking space: 1 is: HACAXXXXXXXXX03501. Further, based on a preset encryption algorithm, the combined code is encrypted to obtain an encrypted combined code. Finally, the encrypted combined code can be converted into a QR code pattern using a QR code generation software or an image processing software. Among them, the VIN is the ID number of the vehicle, which is determined according to the national vehicle management standard.
[0093] For example, the encryption algorithm can be an encryption method that performs an exclusive OR operation on the encoded value obtained by converting each character in the combined code with a secret key. Among them, the secret key can be PRIVATEPSLOT. The specific calculation process is shown in Table 1 below: Table 1 Specifically, first, each character in the combined code is converted into a decimal code, and each code value is converted into a binary representation. Using the secret key PRIVATEPSLOT, the binary representation of each character is subjected to an exclusive OR operation with the corresponding character of the secret key, and the binary result after the exclusive OR operation is converted into a character. For example, the character 'H' is encoded as 18, and the encoded value 18 is converted into binary as 0001 0010. The 0001 0010 (the binary of 'H') is subjected to an exclusive OR operation with a certain character in the secret key (such as 'P') to obtain 0001 1010, and 0001 1010 is converted into the character '8'. Then, the above steps are repeated for each character in the combined code to obtain the encrypted character corresponding to each character. Finally, all the encrypted characters are concatenated to obtain the encrypted combined code, such as 8JXXXXXXXXXXXIOU.
[0094] In some embodiments of the present application, when the vehicle 1 is planned for production, a certain number of preset parking space numbers need to be reserved in advance, for example, 10 numbers, that is, the reserved numbers are 1 - 10, and each number corresponds to a preset parking space. Furthermore, the VIN of the vehicle 1 can be combined with each number to form a combined code, thereby generating multiple preset identifiers, and the multiple preset identifiers are pre - stored in the electronic device 10.
[0095] Specifically, detecting whether a preset identifier exists in the parking space in the environmental image includes: extracting the identifier information contained in the image area corresponding to the parking space in the environmental image; matching and verifying the identifier information with the combined code corresponding to each preset identifier in at least one preset identifier; if the identifier information matches the combined code corresponding to any one of the at least one preset identifier, it is determined that a preset identifier exists in the parking space.
[0096] It should be noted that how to detect whether a preset identifier exists in the parking space in the environmental image is described in detail in the steps shown above. Figure 4 To avoid repetition, it will not be elaborated here.
[0097] In some embodiments of the present application, before the electronic device 10 detects whether a preset identifier exists in the parking space in the environmental image, the environmental image can be pre - processed to enhance the visibility of target features (such as parking spaces, identifiers). Among them, the pre - processing operations include but are not limited to grayscale conversion, noise removal, edge detection, etc.
[0098] In some embodiments of the present application, if a preset identifier exists in the parking space in the environmental image, the electronic device 10 continues to execute step S21.
[0099] In some embodiments of the present application, if a preset identifier does not exist in the parking space in the environmental image, the electronic device 10 continues to execute step S24.
[0100] Step S21: Send out a preset parking confirmation message to prompt the user to confirm whether to start parking.
[0101] In some embodiments of the present application, if a preset identifier exists in the parking space in the environmental image, it indicates that the electronic device 10 has recognized the preset parking space. Further, the electronic device 10 sends out a preset parking confirmation message to prompt the user to confirm whether to start parking.
[0102] In some embodiments of the present application, the electronic device 10 can display a pop - up box of the parking confirmation message through the image interaction interface of the in - vehicle terminal 40, and / or convert the parking confirmation message into a voice confirmation message and send out the voice confirmation message through the speaker 50.
[0103] Step S22: If a confirmation parking instruction from the user is received, detect the brake release signal corresponding to the brake pedal in real time.
[0104] In some embodiments of the present application, the vehicle 1 further includes a brake pedal 30 and a position sensor 31. The user can control the deceleration and stop of the vehicle 1 by stepping on the brake pedal 30. The position sensor 31 is installed on the non-driving side of the brake pedal 30 and is used to detect the stroke of the brake pedal, so as to judge the braking operation of the driver on the brake pedal 30.
[0105] Specifically, if the electronic device 10 receives a confirmation parking instruction from the user, indicating that the user confirms that the vehicle 1 can be parked in a preset parking space, further, the electronic device 10 can detect the brake release signal corresponding to the brake pedal 30 in real time through the position sensor 31. When the pressure signal collected by the position sensor 31 drops from a high voltage (pressed) to a low voltage (released) and tends to be stable, it indicates that the user has controlled the vehicle 1 to stop by stepping on the brake pedal 30 and released the braking operation on the brake pedal 30. Further, the brake release signal corresponding to the brake pedal 30 can be triggered and sent to the electronic device 10.
[0106] Step S23, if a brake release signal is detected, control the vehicle to park in a parking space with a preset identifier.
[0107] In some embodiments of the present application, when the electronic device 10 detects the brake release signal corresponding to the brake pedal 30, it indicates that the user has released the braking operation on the brake pedal 30 and the vehicle 1 has stopped. At this time, the electronic device 10 can control the vehicle 1 to park in a parking space with a preset identifier.
[0108] Specifically, controlling the vehicle 1 to park in a parking space with a preset identifier includes: determining the parking trajectory of the vehicle 1 according to the environmental image and obtaining the position information of the preset identifier; adjusting the parking trajectory based on the position information of the preset identifier so that the adjusted parking trajectory avoids the preset identifier; controlling the vehicle 1 to park in a parking space with a preset identifier according to the adjusted parking trajectory.
[0109] It should be noted that how to control the vehicle 1 to park in a parking space with a preset identifier is described in detail in the above Figure 5 shown steps. To avoid repetition, it will not be elaborated here.
[0110] In the automatic parking method of the above embodiments, first, an environmental image around vehicle 1 is acquired through a vision sensor, and it is detected whether there is a preset identifier in the environmental image. Herein, the preset identifier is an encrypted identifier corresponding to a preset parking space generated based on the identification code of vehicle 1 and the number of the preset parking space. Then, a preset parking confirmation message is sent to prompt the user to confirm whether to start parking. Next, if a confirmation parking instruction from the user is received, the braking release signal corresponding to the brake pedal is detected in real time. Then, if the braking release signal is detected, vehicle 1 is controlled to park in the parking space with the preset identifier. Based on this, in the automatic parking method of the present application, when vehicle 1 needs to park in a fixed parking space, a parking confirmation message is actively sent to the user to prompt the user to confirm whether to start parking, enhancing the user's sense of control and trust in the parking process. Once the user confirms parking, automatic parking can be achieved without additional operations by the user, reducing the driver's operation burden, improving the automatic parking efficiency, realizing the automation and intelligence of the parking process, and enhancing the user's automatic parking experience.
[0111] In some embodiments of the present application, the automatic parking method further includes: Step S24, detecting a preset parking instruction in real time.
[0112] In some embodiments of the present application, if there is a preset identifier in the parking space in the environmental image, it indicates that vehicle 1 has not recognized the preset parking space, that is, the fixed parking space. Further, the electronic device 10 needs to detect the parking instruction input by the user in real time.
[0113] In some embodiments of the present application, vehicle 1 further includes an in-vehicle terminal 40, and the electronic device 10 is communicatively connected to the in-vehicle terminal 40. Herein, the in-vehicle terminal 40 has an image interaction interface and / or physical buttons, and the electronic device 10 can receive the operation instructions input by the user through the image interaction interface and / or physical buttons. Further, the user can trigger the parking instruction through the image interaction interface and / or physical buttons.
[0114] In other embodiments, vehicle 1 further includes a speaker 50 and a microphone 60, and the electronic device 10 is communicatively connected to the speaker 50 and the microphone 60 respectively. Herein, the speaker 50 and the microphone 60 can be installed in the driving area of vehicle 1. The electronic device 10 can convey voice information to the user through the speaker 50, and can also receive the voice instructions input by the user through the microphone 60. Further, the user can input the parking instruction through the microphone 60.
[0115] Step S25, if a parking instruction is detected, based on a preset rendering technique and the environmental image, display a plurality of recommended parking spaces on the in-vehicle terminal and / or the terminal device.
[0116] In some embodiments of the present application, the electronic device 10 is communicatively connected to a terminal device. For example, the terminal device can be a mobile phone used by a user.
[0117] Specifically, the electronic device 10 constructs a 3D model based on the environmental image, and then uses a 3D rendering engine to convert this 3D model into a 2D image, which is displayed on the in-vehicle terminal 40 or the terminal device, so that the user can more clearly understand the spatial layout of the recommended parking spaces and the range where parking is possible.
[0118] Step S26: In response to a parking space confirmation instruction from the user for any one of the multiple recommended parking spaces, and based on the environmental image, control the vehicle to park in any one of the recommended parking spaces.
[0119] Specifically, the user can input a parking space confirmation instruction through the image interaction interface. When the electronic device 10 receives the parking space confirmation instruction from the user for any one of the multiple recommended parking spaces, it controls the vehicle 1 to park in any one of the recommended parking spaces based on the environmental image, thereby completing the automatic parking in a non-fixed parking space.
[0120] In the automatic parking method of the above embodiments, when the electronic device 10 does not detect a preset parking space, it controls the vehicle 1 to park in other parking spaces based on general parking operations, improving the flexibility and applicability of the automatic parking method.
[0121] Please refer to Figure 7 , which is a schematic diagram of the functional modules of an automatic parking device 100 provided by an embodiment of the present application.
[0122] In this embodiment, based on the same concept as the automatic parking method in the above Figure 2 shown embodiment, the present application also provides an automatic parking device 100, which can be used to execute the above automatic parking method. For the sake of convenience of description, in the schematic diagram of the composition of the embodiment of the automatic parking device 100, only the parts related to the embodiment of the present application are shown. Those skilled in the art can understand that the illustrated structure does not limit the automatic parking device 100, and it may include more or fewer components than those illustrated, or combine certain components, or arrange different components.
[0123] Specifically, the automatic parking device 100 provided by the embodiment of the present application includes a detection module 110 and a parking module 120.
[0124] The detection module 110 is used to obtain the environmental image around the vehicle 1 through a vision sensor, and detect whether there is a preset identifier in the environmental image. The preset identifier is an encrypted identifier corresponding to a preset parking space generated based on the identification code of the vehicle 1 and the number of the preset parking space.
[0125] Wherein, the preset identifier is an encrypted identifier corresponding to a preset parking space generated based on the identification code of vehicle 1 and the number of the preset parking space.
[0126] The parking module 120 is configured to control vehicle 1 to park in the parking space with the preset identifier if the preset identifier exists in the parking space in the environmental image.
[0127] In some embodiments of the present application, if the preset identifier exists in the parking space in the environmental image, it indicates that the electronic device 10 has recognized the preset parking space, and further controls vehicle 1 to park in the parking space with the preset identifier, that is, the fixed parking space.
[0128] Specifically, controlling vehicle 1 to park in the parking space with the preset identifier includes: determining the parking trajectory of vehicle 1 according to the environmental image, and obtaining the position information of the preset identifier; adjusting the parking trajectory based on the position information of the preset identifier so that the adjusted parking trajectory avoids the preset identifier; controlling vehicle 1 to park in the parking space with the preset identifier according to the adjusted parking trajectory.
[0129] It should be noted that how to control vehicle 1 to park in the parking space with the preset identifier is described in detail in the steps shown above. Figure 5 To avoid repetition, it will not be elaborated here.
[0130] In some embodiments of the present application, vehicle 1 further includes a brake pedal 30 and a position sensor 31. The user can control the deceleration and stop of vehicle 1 by stepping on the brake pedal 30. The position sensor 31 is installed on the non-driving side of the brake pedal 30 and is used to detect the stroke of the brake pedal, so as to judge the braking operation of the driver on the brake pedal 30.
[0131] Further, before the automatic parking method controls vehicle 1 to park in the parking space with the preset identifier, it further includes: detecting the brake release signal corresponding to the brake pedal 30 in real time; in response to the brake release signal, controlling vehicle 1 to park in the parking space with the preset identifier.
[0132] Specifically, the electronic device 10 can detect the brake release signal corresponding to the brake pedal 30 through the position sensor 31 in real time. When the pressure signal collected by the position sensor 31 drops from a high voltage (pressed) to a low voltage (released) and tends to be stable, it indicates that the user has controlled vehicle 1 to stop by stepping on the brake pedal 30 and released the braking operation on the brake pedal 30. Furthermore, the brake release signal corresponding to the brake pedal 30 can be triggered and sent to the electronic device 10. When the electronic device 10 detects the brake release signal corresponding to the brake pedal 30, it indicates that the user has released the braking operation on the brake pedal 30 and vehicle 1 has stopped. At this time, the electronic device 10 can control vehicle 1 to park in the parking space with the preset identifier.
[0133] In the automatic parking device 100 of the above embodiment, first, an environmental image around the vehicle 1 is obtained through a vision sensor, and it is detected whether a preset identifier exists in the environmental image. The preset identifier is an encrypted identifier corresponding to a preset parking space generated based on the identification code of the vehicle 1 and the number of the preset parking space. Further, if a preset identifier exists in the parking space in the environmental image, the vehicle 1 is controlled to park in the parking space with the preset identifier. Based on this, in the automatic parking method of the present application, when the vehicle 1 needs to park in a fixed parking space, automatic parking can be achieved without additional operations by the user, reducing the operation burden of the driver, improving the automatic parking efficiency, realizing the automation and intelligence of the parking process, and improving the user's automatic parking experience.
[0134] Combined with Figure 1 As shown, the electronic device 10 includes, but is not limited to, a memory 11, a processor 12, and a computer program stored in the memory 11 and executable on the processor 12, such as an automatic parking program. When the computer program is executed by the processor, the automatic parking method of the above embodiment is implemented.
[0135] Among them, the electronic device 10 can be a body control module (BCM), a vehicle control unit (VCU), etc.
[0136] Figure 1 Only the electronic device 10 with the memory 11 and the processor 12 is shown. Those skilled in the art can understand that Figure 1 The shown structure does not constitute a limitation on the electronic device 10, and it may include fewer or more components than shown, or combine some components, or have different component arrangements.
[0137] The memory 11 in the electronic device 10 stores multiple computer-readable instructions to implement an automatic parking method. The processor 12 can execute multiple instructions to achieve: obtaining an environmental image around the vehicle 1 through the vision sensor 20, and detecting whether a preset identifier exists in the parking space in the environmental image. The preset identifier is an encrypted identifier corresponding to a preset parking space generated based on the identification code of the vehicle 1 and the number of the preset parking space. If a preset identifier exists in the parking space in the environmental image, the vehicle 1 is controlled to park in the parking space with the preset identifier.
[0138] Specifically, for the specific implementation method of the above instructions by the processor 12, reference can be made to Figure 2 、 Figure 4 、 Figure 5 、 Figure 6 The descriptions of the relevant steps in the corresponding embodiments are not repeated here.
[0139] Those skilled in the art can understand that the schematic diagram is only an example of the electronic device 10, and does not constitute a limitation on the electronic device 10. The electronic device 10 can be a bus structure or a star structure. The electronic device 10 can also include more or fewer other hardware or software than shown in the figure, or different component arrangements. For example, the electronic device 10 can also include input and output devices, network access devices, etc.
[0140] It should be noted that the electronic device 10 is only an example. Other existing or future electronic products that can be adapted to this application should also be included within the protection scope of this application and are included herein by reference.
[0141] Among them, the memory 11 includes at least one type of computer-readable storage medium. The computer-readable storage medium can be non-volatile or volatile. The computer-readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (such as SD memory, DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. The memory 11 can be an internal storage unit of the electronic device 10 in some embodiments, such as the mobile hard disk of the electronic device 10. The memory 11 can also be an external storage device of the electronic device 10 in other embodiments, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device 10. The memory 11 can be used not only to store application software installed in the electronic device 10 and various types of information, such as the code of an automatic parking program, etc., but also to temporarily store information that has been output or will be output.
[0142] The processor 12 can be composed of integrated circuits in some embodiments. For example, it can be composed of a single packaged integrated circuit, or can be composed of multiple integrated circuits with the same or different functions, including the combination of one or more central processing units (CPU), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 12 is the control core (Control Unit) of the electronic device 10, connecting various components of the entire electronic device 10 through various interfaces and lines. By running or executing programs or modules stored in the memory 11 (such as executing an automatic parking program, etc.), and calling information stored in the memory 11, it can execute various functions of the electronic device 10 and process information.
[0143] The processor 12 executes the operating system of the electronic device 10 and various installed application programs. The processor 12 executes the application programs to implement the steps in the above embodiments of each automatic parking method, for exampleFigure 2 , Figure 4 , Figure 5 , Figure 6 the steps shown.
[0144] Exemplarily, the computer program can be divided into one or more modules / units, and one or more modules / units are stored in the memory 11 and executed by the processor 12 to complete the present application. One or more modules / units can be a series of computer-readable instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program in the electronic device 10. For example, the computer program can be divided into a detection module 110 and a parking module 120.
[0145] The above integrated units implemented in the form of software function modules can be stored in a computer-readable storage medium. The above software function modules are stored in a storage medium, including several instructions for causing a computer device (which can be a personal computer, a computer device, or a network device, etc.) or a processor (Processor) to execute a part of an automatic parking method according to various embodiments of the present application.
[0146] If the modules / units integrated in the electronic device 10 are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-described embodiment methods of the present application, it can also be completed by a computer program instructing relevant hardware devices. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above various method embodiments can be implemented.
[0147] Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory, and other memories, etc.
[0148] The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the automatic parking method as in the above embodiments.
[0149] Furthermore, the computer-readable storage medium mainly includes a storage program area and a storage information area. Among them, the storage program area can store an operating system, application programs required for at least one function, etc.; the storage information area can store information created according to the use of the blockchain node, etc.
[0150] The bus can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, in Figure 1 it is only represented by a single arrow, but it does not mean that there is only one bus or one type of bus. The bus is set to implement the connection and communication between the memory 11 and at least one processor 12, etc.
[0151] This application also provides a computer program product, including a computer program, which when executed by a processor is used to implement the automatic parking method as described in the above embodiments.
[0152] In several embodiments provided by this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules is only a logical function division, and there may be other division methods in actual implementation.
[0153] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0154] In addition, in each embodiment of this application, the functional modules can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware, or in the form of a combination of hardware and software functional modules.
[0155] Furthermore, obviously, the term "including" does not exclude other units or steps, and the singular does not exclude the plural. The multiple units or devices described in the specification can also be implemented by one unit or device through software or hardware. The terms such as first and second are used to represent names and do not represent any specific order.
[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and not to limit them. Although this application has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of this application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of this application.
Claims
1. An automatic parking method, characterized in that: The method is applied to a vehicle, the vehicle comprising a visual sensor, and the method comprises: Acquire an environmental image of the vehicle's surroundings through the visual sensor, and detect whether there is a preset mark on the parking space in the environmental image, wherein the preset mark is an encrypted mark corresponding to the preset parking space generated based on the identification code of the vehicle and the number of the preset parking space; If the parking space in the environment image has the preset mark, the vehicle is controlled to park in the parking space with the preset mark.
2. The automatic parking method according to claim 1, characterized in that: The encrypted mark is a two-dimensional code pattern converted from the encrypted combination code, and the combination code includes the identification code of the vehicle and the number of the preset parking space.
3. The automatic parking method according to claim 2, characterized in that: At least one preset mark is pre-stored in the vehicle, and detecting whether there is a preset mark in the parking space in the environment image includes: Extracting identification information contained in an image area corresponding to a parking space in the environment image; Matching and verifying the identification information with a combination code corresponding to each preset identification in the at least one preset identification; If the identification information matches a combination code corresponding to any one of the at least one preset identification, it is determined that the preset identification is present in the parking space.
4. The automatic parking method according to claim 1, characterized in that: The vehicle includes a brake pedal, and the method further includes: Real-time detection of a brake release signal corresponding to the brake pedal; In response to the brake release signal, the vehicle is controlled to park in a parking space having the preset mark.
5. The automatic parking method according to claim 1, characterized in that: The controlling the vehicle to park in the parking space with the preset mark comprises: Determining the parking trajectory of the vehicle according to the environmental image, and acquiring the position information of the preset mark; adjusting the parking trajectory based on the position information of the preset mark so that the adjusted parking trajectory avoids the preset mark; The vehicle is controlled to park in a parking space having the preset mark according to the adjusted parking trajectory.
6. An automatic parking device, characterized in that: Applied to a vehicle, the vehicle includes a visual sensor, and the device includes: a detection module, configured to obtain an environmental image of the vehicle's surroundings through the visual sensor, and detect whether there is a preset mark on a parking space in the environmental image, wherein the preset mark is an encrypted mark corresponding to the preset parking space generated based on the identification code of the vehicle and the number of the preset parking space; The parking module is used to control the vehicle to park in the parking space with the preset mark if the parking space in the environment image has the preset mark.
7. An electronic device, characterized in that: The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the automatic parking method as claimed in any one of claims 1 to 5 when executed by the processor.
8. A vehicle, characterized in that: The vehicle comprises the electronic device and the visual sensor as claimed in claim 7, wherein the electronic device is communicatively connected with the visual sensor, and the visual sensor is used to obtain an environmental image of the surroundings of the vehicle and send the image to the electronic device.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the automatic parking method according to any one of claims 1 to 5 is implemented.
10. A computer program product, characterized in that It comprises a computer program, which, when executed by a processor, is used to implement the automatic parking method as described in any one of claims 1 to 5.